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IamZLT
258
common/cameras.py
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258
common/cameras.py
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import sys
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import numpy as np
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import torch
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def normalize_screen_coordinates(X, w, h):
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assert X.shape[-1] == 2
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return X / w * 2 - [1, h / w]
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def world_to_camera(X, R, t): # https://blog.csdn.net/Hurt_Town/article/details/125071279
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Rt = wrap(qinverse, R)
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# return wrap(qrot, np.tile(Rt, (*X.shape[:-1], 1)), X - t)
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return wrap(qrot, Rt.repeat(*X.shape[:-1], 1), X - t)
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def camera_to_world(X, R, t):
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return wrap(qrot, np.tile(R, (*X.shape[:-1], 1)), X) + t
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def wrap(func, *args, unsqueeze=False):
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args = list(args)
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for i, arg in enumerate(args):
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if type(arg) == np.ndarray:
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args[i] = torch.from_numpy(arg)
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if unsqueeze:
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args[i] = args[i].unsqueeze(0)
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result = func(*args)
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if isinstance(result, tuple):
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result = list(result)
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for i, res in enumerate(result):
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if type(res) == torch.Tensor:
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if unsqueeze:
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res = res.squeeze(0)
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result[i] = res.numpy()
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return tuple(result)
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elif type(result) == torch.Tensor:
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if unsqueeze:
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result = result.squeeze(0)
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# return result.numpy()
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return result
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else:
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return result
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def qrot(q, v):
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assert q.shape[-1] == 4
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assert v.shape[-1] == 3
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assert q.shape[:-1] == v.shape[:-1]
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qvec = q[..., 1:]
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uv = torch.cross(qvec, v, dim=len(q.shape) - 1)
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uuv = torch.cross(qvec, uv, dim=len(q.shape) - 1)
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return (v + 2 * (q[..., :1] * uv + uuv))
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def qinverse(q, inplace=False):
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if inplace:
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q[..., 1:] *= -1
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return q
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else:
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w = q[..., :1]
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xyz = q[..., 1:]
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return torch.cat((w, -xyz), dim=len(q.shape) - 1)
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h36m_cameras_intrinsic_params = [
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{
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'id': '54138969',
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'center': [512.54150390625, 515.4514770507812],
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'focal_length': [1145.0494384765625, 1143.7811279296875],
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'radial_distortion': [-0.20709891617298126, 0.24777518212795258, -0.0030751503072679043],
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'tangential_distortion': [-0.0009756988729350269, -0.00142447161488235],
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'res_w': 1000,
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'res_h': 1002,
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'azimuth': 70,
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},
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{
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'id': '55011271',
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'center': [508.8486328125, 508.0649108886719],
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'focal_length': [1149.6756591796875, 1147.5916748046875],
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'radial_distortion': [-0.1942136287689209, 0.2404085397720337, 0.006819975562393665],
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'tangential_distortion': [-0.0016190266469493508, -0.0027408944442868233],
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'res_w': 1000,
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'res_h': 1000,
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'azimuth': -70,
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},
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{
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'id': '58860488',
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'center': [519.8158569335938, 501.40264892578125],
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'focal_length': [1149.1407470703125, 1148.7989501953125],
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'radial_distortion': [-0.2083381861448288, 0.25548800826072693, -0.0024604974314570427],
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'tangential_distortion': [0.0014843869721516967, -0.0007599993259645998],
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'res_w': 1000,
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'res_h': 1000,
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'azimuth': 110,
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},
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{
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'id': '60457274',
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'center': [514.9682006835938, 501.88201904296875],
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'focal_length': [1145.5113525390625, 1144.77392578125],
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'radial_distortion': [-0.198384091258049, 0.21832367777824402, -0.008947807364165783],
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'tangential_distortion': [-0.0005872055771760643, -0.0018133620033040643],
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'res_w': 1000,
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'res_h': 1002,
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'azimuth': -110,
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},
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]
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h36m_cameras_extrinsic_params = {
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'S1': [
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{
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'orientation': [0.1407056450843811, -0.1500701755285263, -0.755240797996521, 0.6223280429840088],
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'translation': [1841.1070556640625, 4955.28466796875, 1563.4454345703125],
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},
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{
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'orientation': [0.6157187819480896, -0.764836311340332, -0.14833825826644897, 0.11794740706682205],
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'translation': [1761.278564453125, -5078.0068359375, 1606.2650146484375],
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},
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{
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'orientation': [0.14651472866535187, -0.14647851884365082, 0.7653023600578308, -0.6094175577163696],
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'translation': [-1846.7777099609375, 5215.04638671875, 1491.972412109375],
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},
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{
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'orientation': [0.5834008455276489, -0.7853162288665771, 0.14548823237419128, -0.14749594032764435],
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'translation': [-1794.7896728515625, -3722.698974609375, 1574.8927001953125],
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},
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],
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'S2': [
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{},
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{},
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{},
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{},
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],
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'S3': [
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{},
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{},
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{},
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{},
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],
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'S4': [
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{},
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{},
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{},
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{},
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],
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'S5': [
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{
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'orientation': [0.1467377245426178, -0.162370964884758, -0.7551892995834351, 0.6178938746452332],
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'translation': [2097.3916015625, 4880.94482421875, 1605.732421875],
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},
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{
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'orientation': [0.6159758567810059, -0.7626792192459106, -0.15728192031383514, 0.1189815029501915],
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'translation': [2031.7008056640625, -5167.93310546875, 1612.923095703125],
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},
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{
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'orientation': [0.14291371405124664, -0.12907841801643372, 0.7678384780883789, -0.6110143065452576],
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'translation': [-1620.5948486328125, 5171.65869140625, 1496.43701171875],
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},
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{
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'orientation': [0.5920479893684387, -0.7814217805862427, 0.1274748593568802, -0.15036417543888092],
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'translation': [-1637.1737060546875, -3867.3173828125, 1547.033203125],
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},
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],
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'S6': [
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{
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'orientation': [0.1337897777557373, -0.15692396461963654, -0.7571090459823608, 0.6198879480361938],
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'translation': [1935.4517822265625, 4950.24560546875, 1618.0838623046875],
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},
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{
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'orientation': [0.6147197484970093, -0.7628812789916992, -0.16174767911434174, 0.11819244921207428],
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'translation': [1969.803955078125, -5128.73876953125, 1632.77880859375],
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},
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{
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'orientation': [0.1529948115348816, -0.13529130816459656, 0.7646096348762512, -0.6112781167030334],
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'translation': [-1769.596435546875, 5185.361328125, 1476.993408203125],
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},
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{
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'orientation': [0.5916101336479187, -0.7804774045944214, 0.12832270562648773, -0.1561593860387802],
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'translation': [-1721.668701171875, -3884.13134765625, 1540.4879150390625],
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},
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],
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'S7': [
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{
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'orientation': [0.1435241848230362, -0.1631336808204651, -0.7548328638076782, 0.6188824772834778],
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'translation': [1974.512939453125, 4926.3544921875, 1597.8326416015625],
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},
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{
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'orientation': [0.6141672730445862, -0.7638262510299683, -0.1596645563840866, 0.1177929937839508],
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'translation': [1937.0584716796875, -5119.7900390625, 1631.5665283203125],
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},
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{
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'orientation': [0.14550060033798218, -0.12874816358089447, 0.7660516500473022, -0.6127139329910278],
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'translation': [-1741.8111572265625, 5208.24951171875, 1464.8245849609375],
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},
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{
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'orientation': [0.5912848114967346, -0.7821764349937439, 0.12445473670959473, -0.15196487307548523],
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'translation': [-1734.7105712890625, -3832.42138671875, 1548.5830078125],
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},
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],
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'S8': [
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{
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'orientation': [0.14110587537288666, -0.15589867532253265, -0.7561917304992676, 0.619644045829773],
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'translation': [2150.65185546875, 4896.1611328125, 1611.9046630859375],
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},
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{
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'orientation': [0.6169601678848267, -0.7647668123245239, -0.14846350252628326, 0.11158157885074615],
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'translation': [2219.965576171875, -5148.453125, 1613.0440673828125],
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},
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{
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'orientation': [0.1471444070339203, -0.13377119600772858, 0.7670128345489502, -0.6100369691848755],
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'translation': [-1571.2215576171875, 5137.0185546875, 1498.1761474609375],
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},
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{
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'orientation': [0.5927824378013611, -0.7825870513916016, 0.12147816270589828, -0.14631995558738708],
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'translation': [-1476.913330078125, -3896.7412109375, 1547.97216796875],
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},
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],
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'S9': [
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{
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'orientation': [0.15540587902069092, -0.15548215806484222, -0.7532095313072205, 0.6199594736099243],
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'translation': [2044.45849609375, 4935.1171875, 1481.2275390625],
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},
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{
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'orientation': [0.618784487247467, -0.7634735107421875, -0.14132238924503326, 0.11933968216180801],
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'translation': [1990.959716796875, -5123.810546875, 1568.8048095703125],
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},
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{
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'orientation': [0.13357827067375183, -0.1367100477218628, 0.7689454555511475, -0.6100738644599915],
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'translation': [-1670.9921875, 5211.98583984375, 1528.387939453125],
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},
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{
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'orientation': [0.5879399180412292, -0.7823407053947449, 0.1427614390850067, -0.14794869720935822],
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'translation': [-1696.04345703125, -3827.099853515625, 1591.4127197265625],
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},
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],
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'S11': [
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{
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'orientation': [0.15232472121715546, -0.15442320704460144, -0.7547563314437866, 0.6191070079803467],
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'translation': [2098.440185546875, 4926.5546875, 1500.278564453125],
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},
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{
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'orientation': [0.6189449429512024, -0.7600917220115662, -0.15300633013248444, 0.1255258321762085],
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'translation': [2083.182373046875, -4912.1728515625, 1561.07861328125],
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},
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{
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'orientation': [0.14943228662014008, -0.15650227665901184, 0.7681233882904053, -0.6026304364204407],
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'translation': [-1609.8153076171875, 5177.3359375, 1537.896728515625],
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},
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{
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'orientation': [0.5894251465797424, -0.7818877100944519, 0.13991211354732513, -0.14715361595153809],
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'translation': [-1590.738037109375, -3854.1689453125, 1578.017578125],
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},
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],
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}
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