diff --git "a/models/NRHints/Cat/point_cloud/iteration_100000/transforms_train.json" "b/models/NRHints/Cat/point_cloud/iteration_100000/transforms_train.json"
new file mode 100644--- /dev/null
+++ "b/models/NRHints/Cat/point_cloud/iteration_100000/transforms_train.json"
@@ -0,0 +1 @@
+{"camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755], "frames": [{"file_path": "r_446", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_446.png", "R_opt": [[-0.26542484760284424, -0.38908347487449646, 0.882135808467865], [0.0675632506608963, -0.9202106595039368, -0.38554826378822327], [0.9617613554000854, -0.04273403435945511, 0.270534485578537]], "T_opt": [0.03557834029197693, 0.06672657281160355, 5.017285346984863], "pl_pos": [-0.09647852927446365, 1.2076551914215088, 0.5196171998977661], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_64", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_64.png", "R_opt": [[-0.7785160541534424, -0.2896644175052643, 0.5567829608917236], [0.06713097542524338, -0.920469343662262, -0.3850058615207672], [0.6240241527557373, -0.2623558044433594, 0.7360457181930542]], "T_opt": [0.03485517576336861, 0.051716260612010956, 5.049840927124023], "pl_pos": [-0.6738433241844177, 1.2396796941757202, 0.007346190046519041], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_306", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_306.png", "R_opt": [[0.11722821742296219, -0.41740545630455017, 0.9011272192001343], [0.06977640837430954, -0.9016793370246887, -0.4267384707927704], [0.9906507134437561, 0.11290320754051208, -0.07657718658447266]], "T_opt": [0.09196340292692184, 0.1020217090845108, 5.113187313079834], "pl_pos": [-0.374176949262619, 1.306769847869873, -1.1671791076660156], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_381", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_381.png", "R_opt": [[0.9725896716117859, -0.11765630543231964, 0.2005644291639328], [0.03482081741094589, -0.7791197299957275, -0.6259074807167053], [0.22990566492080688, 0.6157348155975342, -0.7536669969558716]], "T_opt": [-0.04861704260110855, 0.20549240708351135, 5.470569610595703], "pl_pos": [1.1681126356124878, 0.7769951820373535, -0.013645428232848644], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_178", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_178.png", "R_opt": [[-0.9975406527519226, -0.03810632973909378, 0.05882522836327553], [-0.000580824795179069, -0.8347674608230591, -0.550602376461029], [0.07008682936429977, -0.5492825508117676, 0.8326924443244934]], "T_opt": [0.02713838219642639, 0.13382163643836975, 5.214712619781494], "pl_pos": [-0.7299281358718872, 1.1910204887390137, -1.0119081735610962], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_56", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_56.png", "R_opt": [[0.9786350131034851, 0.1313851773738861, -0.15815070271492004], [0.061171263456344604, -0.920418381690979, -0.38611915707588196], [-0.1962951272726059, 0.36819541454315186, -0.9087905287742615]], "T_opt": [-0.06435675173997879, 0.07065478712320328, 4.976839542388916], "pl_pos": [-1.1188671588897705, 0.9551962614059448, 0.1427781879901886], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_17", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_17.png", "R_opt": [[-0.9336709380149841, -0.14974454045295715, 0.3253231346607208], [0.029927466064691544, -0.9378347992897034, -0.3457893431186676], [0.3568793833255768, -0.31311729550361633, 0.8801106214523315]], "T_opt": [0.1732235550880432, 0.01965772733092308, 4.964446067810059], "pl_pos": [0.9890714287757874, 1.034409761428833, -0.25243884325027466], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_375", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_375.png", "R_opt": [[-0.46442511677742004, -0.40708068013191223, 0.7865078449249268], [0.07018686085939407, -0.9022201895713806, -0.42552638053894043], [0.8828267455101013, -0.1424226015806198, 0.44758543372154236]], "T_opt": [0.10536452382802963, 0.08830501139163971, 5.143974304199219], "pl_pos": [0.5269680023193359, 1.0939654111862183, -0.22049809992313385], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_219", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_219.png", "R_opt": [[0.9872135519981384, -0.06734360754489899, 0.14448019862174988], [0.03899608552455902, -0.7768058180809021, -0.6285315752029419], [0.1545606255531311, 0.6261289715766907, -0.7642470002174377]], "T_opt": [-0.05294102430343628, 0.20533788204193115, 5.501644134521484], "pl_pos": [-0.34145259857177734, 1.235259771347046, 0.13090936839580536], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_58", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_58.png", "R_opt": [[-0.5991153717041016, -0.34640249609947205, 0.7218490839004517], [0.06771697849035263, -0.9202566742897034, -0.3854115903377533], [0.7977939248085022, -0.18202444911003113, 0.5747972130775452]], "T_opt": [0.037971075624227524, 0.057886362075805664, 5.037820816040039], "pl_pos": [-0.5547137260437012, 1.2360472679138184, 0.13624654710292816], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_26", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_26.png", "R_opt": [[0.1456373780965805, 0.48891183733940125, -0.8600900769233704], [0.024415241554379463, -0.8708705306053162, -0.49090576171875], [-0.9890366196632385, 0.05049493908882141, -0.1387682557106018]], "T_opt": [-0.0944209098815918, 0.13894346356391907, 5.251954555511475], "pl_pos": [0.08683080226182938, 1.267788290977478, 0.4077374041080475], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_510", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_510.png", "R_opt": [[0.9811192154884338, 0.10376766324043274, -0.1632099449634552], [-0.0032606679014861584, -0.8348849415779114, -0.5504148006439209], [-0.19337677955627441, 0.5405547022819519, -0.8187832832336426]], "T_opt": [-0.050882015377283096, 0.18703870475292206, 5.136780261993408], "pl_pos": [0.4618033170700073, 1.2550172805786133, -0.11479486525058746], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_73", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_73.png", "R_opt": [[-0.6677988767623901, -0.3595758080482483, 0.6517283916473389], [0.07051675766706467, -0.9022009372711182, -0.4255126714706421], [0.7409939169883728, -0.23819905519485474, 0.6278448700904846]], "T_opt": [0.1045270785689354, 0.08166312426328659, 5.156813621520996], "pl_pos": [0.3055357336997986, 1.1074259281158447, -0.4125215709209442], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_346", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_346.png", "R_opt": [[-0.871024489402771, 0.1352081149816513, -0.4722658395767212], [0.06530690938234329, -0.9209707379341125, -0.38411974906921387], [-0.4868790805339813, -0.3654199540615082, 0.7933580875396729]], "T_opt": [-0.020516287535429, 0.032392073422670364, 5.086923599243164], "pl_pos": [0.9771221876144409, 1.194355845451355, -0.5170038342475891], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_292", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_292.png", "R_opt": [[0.7376476526260376, 0.199799582362175, -0.6449465155601501], [0.047051478177309036, -0.9681026935577393, -0.24609656631946564], [-0.6735442876815796, 0.15118686854839325, -0.7235195636749268]], "T_opt": [-0.07314832508563995, 0.04046729579567909, 4.889311790466309], "pl_pos": [1.3513975143432617, 1.3519543409347534, 0.6775144934654236], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_194", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_194.png", "R_opt": [[-0.4605756998062134, 0.5437039732933044, -0.7016096115112305], [0.04020250216126442, -0.7768496870994568, -0.628401517868042], [-0.8867095112800598, -0.317632794380188, 0.33593979477882385]], "T_opt": [-0.06069972738623619, 0.13531629741191864, 5.576117515563965], "pl_pos": [-0.8163598775863647, 1.0573906898498535, -1.0248432159423828], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_146", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_146.png", "R_opt": [[0.3997672200202942, -0.3685934841632843, 0.8392407894134521], [0.06734219938516617, -0.9013005495071411, -0.42792800068855286], [0.9141395092010498, 0.22758784890174866, -0.3354884684085846]], "T_opt": [0.07862631976604462, 0.10589344054460526, 5.101047992706299], "pl_pos": [-0.36923152208328247, 0.8463506102561951, 1.1345564126968384], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_202", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_202.png", "R_opt": [[-0.32957229018211365, 0.587892472743988, -0.7387587428092957], [0.03844032436609268, -0.7734711766242981, -0.6326647400856018], [-0.9433475136756897, -0.236906960606575, 0.23231589794158936]], "T_opt": [-0.06695408374071121, 0.13781826198101044, 5.582286357879639], "pl_pos": [1.1135205030441284, 0.8971959352493286, -1.0524795055389404], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_216", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_216.png", "R_opt": [[-0.8269204497337341, 0.16600550711154938, -0.5372567176818848], [0.06544551998376846, -0.9205257296562195, -0.38516148924827576], [-0.5584973692893982, -0.35365891456604004, 0.7503371238708496]], "T_opt": [-0.025673454627394676, 0.0318792462348938, 5.08873987197876], "pl_pos": [0.25064510107040405, 1.078959345817566, -1.3678920269012451], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_353", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_353.png", "R_opt": [[-0.9986839294433594, 0.002882428467273712, -0.0512051060795784], [0.02235397882759571, -0.8741234540939331, -0.4851890206336975], [-0.04615812748670578, -0.48569509387016296, 0.8729088306427002]], "T_opt": [-0.007626797072589397, 0.12620176374912262, 5.253675937652588], "pl_pos": [-0.7521263957023621, 0.9985259771347046, 0.5120619535446167], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_331", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_331.png", "R_opt": [[0.5360866189002991, 0.30528756976127625, -0.7870266437530518], [0.028991175815463066, -0.9384239315986633, -0.34426718950271606], [-0.8436650633811951, 0.16174015402793884, -0.5119271278381348]], "T_opt": [0.06199722737073898, 0.029723607003688812, 4.928603649139404], "pl_pos": [1.034341812133789, 1.080782413482666, 0.20925503969192505], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_384", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_384.png", "R_opt": [[0.5316447019577026, 0.3584780693054199, -0.7673639059066772], [0.06257924437522888, -0.9201626777648926, -0.386502742767334], [-0.8446523547172546, 0.15746107697486877, -0.5116329193115234]], "T_opt": [-0.08360034972429276, 0.0517178475856781, 5.017090797424316], "pl_pos": [-0.3936324417591095, 1.2354209423065186, 0.712122917175293], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_90", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_90.png", "R_opt": [[0.3914153277873993, 0.5071423053741455, -0.767854630947113], [0.00034436769783496857, -0.8345110416412354, -0.5509911179542542], [-0.9202139973640442, 0.21540182828903198, -0.32681506872177124]], "T_opt": [-0.06997471302747726, 0.15655280649662018, 5.183935642242432], "pl_pos": [0.44013512134552, 1.302537441253662, 0.2777395248413086], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_150", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_150.png", "R_opt": [[-0.3643149733543396, 0.5165539979934692, -0.7748848795890808], [-0.0036569153890013695, -0.832855224609375, -0.5534787774085999], [-0.9312686324119568, -0.19880688190460205, 0.3053106367588043]], "T_opt": [-0.04548799246549606, 0.13451778888702393, 5.221782207489014], "pl_pos": [0.26391705870628357, 1.0292712450027466, 1.0724669694900513], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_407", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_407.png", "R_opt": [[0.8271676898002625, 0.2907499074935913, -0.4808928966522217], [0.020278409123420715, -0.8706358671188354, -0.49150991439819336], [-0.5615891218185425, 0.39680948853492737, -0.7260578870773315]], "T_opt": [-0.09316980838775635, 0.16303738951683044, 5.20695686340332], "pl_pos": [0.7468231916427612, 1.06208336353302, 0.5150747895240784], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_281", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_281.png", "R_opt": [[-0.750644862651825, 0.3653396666049957, -0.5505080819129944], [-0.002226178999990225, -0.8346059322357178, -0.5508429408073425], [-0.6607021689414978, -0.4122619926929474, 0.6273059844970703]], "T_opt": [-0.018947696313261986, 0.12851059436798096, 5.229562759399414], "pl_pos": [0.25622403621673584, 1.3298977613449097, -0.19509552419185638], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_367", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_367.png", "R_opt": [[0.4943695664405823, 0.43494316935539246, -0.7526108622550964], [0.021200384944677353, -0.8715900778770447, -0.4897767901420593], [-0.8689931631088257, 0.22617512941360474, -0.4401085674762726]], "T_opt": [-0.09846105426549911, 0.1502542793750763, 5.232342720031738], "pl_pos": [-0.22850634157657623, 1.3028076887130737, 0.3493911027908325], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_330", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_330.png", "R_opt": [[0.3858036398887634, -0.3354211449623108, 0.8594464659690857], [0.06554784625768661, -0.9192477464675903, -0.3881843388080597], [0.9202494025230408, 0.20609775185585022, -0.3326629102230072]], "T_opt": [0.012911124154925346, 0.07740340381860733, 4.991796493530273], "pl_pos": [-0.9308825731277466, 0.9628902673721313, 0.6039900183677673], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_371", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_371.png", "R_opt": [[0.794018030166626, 0.40666502714157104, -0.45183929800987244], [0.04049926623702049, -0.7770230174064636, -0.6281681060791016], [-0.6065436005592346, 0.48047754168510437, -0.6334399580955505]], "T_opt": [-0.08622211217880249, 0.18169213831424713, 5.519622325897217], "pl_pos": [-0.34514591097831726, 1.0163944959640503, -0.01160726509988308], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_259", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_259.png", "R_opt": [[-0.4523598551750183, 0.3505961000919342, -0.8200321793556213], [0.06924757361412048, -0.9029045104980469, -0.42422670125961304], [-0.8891430497169495, -0.24868836998939514, 0.38415977358818054]], "T_opt": [0.011980115436017513, 0.05831132084131241, 5.203908920288086], "pl_pos": [-0.9769397377967834, 0.6459176540374756, 0.6763600707054138], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_238", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_238.png", "R_opt": [[0.9092912077903748, 0.29065436124801636, -0.2978416681289673], [0.03830792382359505, -0.7711090445518494, -0.6355497241020203], [-0.41439369320869446, 0.5664899349212646, -0.7122969627380371]], "T_opt": [-0.07967174798250198, 0.18859368562698364, 5.514249801635742], "pl_pos": [-0.2533065676689148, 1.2307902574539185, -0.4402500092983246], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_508", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_508.png", "R_opt": [[0.753203809261322, -0.36728066205978394, 0.5457003712654114], [-0.0048341695219278336, -0.8326685428619385, -0.5537506937980652], [0.657769501209259, 0.4144490659236908, -0.6289445757865906]], "T_opt": [0.0011665635975077748, 0.195040762424469, 5.125335693359375], "pl_pos": [0.2636675238609314, 0.7099130153656006, 1.242141604423523], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_91", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_91.png", "R_opt": [[-0.9529494643211365, -0.169151172041893, 0.25154560804367065], [0.02445479854941368, -0.8700246214866638, -0.49240151047706604], [0.30214112997055054, -0.46308237314224243, 0.8332259654998779]], "T_opt": [0.009591074660420418, 0.1333942860364914, 5.268931865692139], "pl_pos": [0.9742165207862854, 1.0285834074020386, -0.12020070850849152], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_192", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_192.png", "R_opt": [[-0.9501769542694092, 0.1719234734773636, -0.2600115239620209], [0.03121349774301052, -0.7774725556373596, -0.6281419396400452], [-0.31014418601989746, -0.6049617528915405, 0.7333701848983765]], "T_opt": [-0.012728653848171234, 0.13227269053459167, 5.5801100730896], "pl_pos": [-0.4844203293323517, 1.1497920751571655, -0.05735340341925621], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_24", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_24.png", "R_opt": [[0.7633383870124817, -0.22959718108177185, 0.6038209199905396], [0.06582357734441757, -0.902199923992157, -0.42626577615737915], [0.6426365971565247, 0.36513060331344604, -0.6735708117485046]], "T_opt": [0.05330745503306389, 0.10919227451086044, 5.088407516479492], "pl_pos": [0.2632831633090973, 0.9716038107872009, 0.044651299715042114], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_164", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_164.png", "R_opt": [[0.9537370204925537, 0.21780681610107422, -0.20723465085029602], [0.03986422345042229, -0.7748372554779053, -0.6309025287628174], [-0.29798802733421326, 0.5934537649154663, -0.7476734519004822]], "T_opt": [-0.07537490129470825, 0.19354839622974396, 5.512869834899902], "pl_pos": [0.747075080871582, 0.8641428351402283, 0.7838456034660339], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_237", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_237.png", "R_opt": [[0.7506861090660095, 0.33780524134635925, -0.5677657723426819], [0.019763654097914696, -0.8704910278320312, -0.4917873740196228], [-0.6603633761405945, 0.35795679688453674, -0.6601417660713196]], "T_opt": [-0.09566424787044525, 0.1597457230091095, 5.211214542388916], "pl_pos": [-0.4771185517311096, 1.3023966550827026, 0.4390062987804413], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_118", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_118.png", "R_opt": [[-0.725924551486969, -0.33863162994384766, 0.5986337065696716], [0.0698905736207962, -0.9022068381309509, -0.42560333013534546], [0.6842142343521118, -0.2671169340610504, 0.6786010265350342]], "T_opt": [0.10366012156009674, 0.07959315925836563, 5.163743495941162], "pl_pos": [0.3494449555873871, 1.085542917251587, 0.369650274515152], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_348", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_348.png", "R_opt": [[0.34167739748954773, 0.4681783616542816, -0.8149021863937378], [0.020783258602023125, -0.8706377148628235, -0.4914853870868683], [-0.9395875334739685, 0.15099313855171204, -0.30720749497413635]], "T_opt": [-0.09719870984554291, 0.14502748847007751, 5.249324798583984], "pl_pos": [-0.2423928827047348, 1.4258618354797363, -0.7023218870162964], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_130", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_130.png", "R_opt": [[0.5673001408576965, 0.3506262004375458, -0.7451388239860535], [0.06520058214664459, -0.9211146235466003, -0.3837924897670746], [-0.8209258317947388, 0.16914205253124237, -0.5454095602035522]], "T_opt": [-0.0844142958521843, 0.05348832160234451, 5.022640228271484], "pl_pos": [1.2062331438064575, 0.364402174949646, -0.15188172459602356], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_191", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_191.png", "R_opt": [[-0.9965081810951233, -0.07880749553442001, 0.027586692944169044], [0.043803855776786804, -0.7747061252593994, -0.6308024525642395], [0.07108354568481445, -0.6273911595344543, 0.7754529714584351]], "T_opt": [0.006761162541806698, 0.13939206302165985, 5.588297367095947], "pl_pos": [1.2292447090148926, 0.6661226153373718, -0.7478839159011841], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_105", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_105.png", "R_opt": [[-0.7398727536201477, 0.4007698595523834, -0.5403442978858948], [0.03944917023181915, -0.7759632468223572, -0.6295433640480042], [-0.6715893149375916, -0.48709797859191895, 0.5583040714263916]], "T_opt": [-0.04013744741678238, 0.13149751722812653, 5.592580318450928], "pl_pos": [-0.42852041125297546, 1.1423786878585815, -0.23243236541748047], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_68", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_68.png", "R_opt": [[0.4774598777294159, 0.5665056109428406, -0.6716423034667969], [0.03982730582356453, -0.7775673866271973, -0.6275370121002197], [-0.8777504563331604, 0.27287402749061584, -0.3938196897506714]], "T_opt": [-0.08986758440732956, 0.16591989994049072, 5.545013904571533], "pl_pos": [1.2415765523910522, 0.7932096719741821, 0.4692360460758209], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_352", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_352.png", "R_opt": [[0.06635275483131409, -0.4925509989261627, 0.8677504658699036], [0.02380421757698059, -0.8686380982398987, -0.4948750138282776], [0.99751216173172, 0.053492471575737, -0.04591174051165581]], "T_opt": [0.012451761402189732, 0.17042326927185059, 5.204054355621338], "pl_pos": [-1.0882697105407715, 0.3650502860546112, -0.6310944557189941], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_343", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_343.png", "R_opt": [[-0.07779780775308609, 0.42000165581703186, -0.904182493686676], [0.06662227213382721, -0.9027138352394104, -0.42505180835723877], [-0.9947407841682434, -0.09330679476261139, 0.04224763438105583]], "T_opt": [-0.00539595540612936, 0.0638716071844101, 5.1785197257995605], "pl_pos": [-0.3184695243835449, 0.7450131773948669, 1.2050912380218506], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_431", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_431.png", "R_opt": [[0.8057307004928589, -0.33061662316322327, 0.4914170205593109], [-0.006108202040195465, -0.8342952728271484, -0.5512840151786804], [0.5922505855560303, 0.4411848485469818, -0.6742368340492249]], "T_opt": [-0.0033597592264413834, 0.1958271861076355, 5.123480796813965], "pl_pos": [0.6760692596435547, 1.1539020538330078, 0.2238500565290451], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_131", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_131.png", "R_opt": [[-0.584690511226654, -0.2975141704082489, 0.7547332048416138], [0.031605493277311325, -0.9379738569259644, -0.3452625572681427], [0.8106404542922974, -0.1780180037021637, 0.5578276515007019]], "T_opt": [0.18524011969566345, 0.03188539668917656, 4.938986301422119], "pl_pos": [0.7686884999275208, 1.1866209506988525, 0.2029445916414261], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_481", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_481.png", "R_opt": [[-0.41964155435562134, -0.456723153591156, 0.7844136953353882], [0.024393849074840546, -0.8695495128631592, -0.49324309825897217], [0.9073619246482849, -0.1878504455089569, 0.37604033946990967]], "T_opt": [0.024029212072491646, 0.1566658467054367, 5.224137306213379], "pl_pos": [0.06105681136250496, 0.5570709109306335, -1.4123926162719727], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_84", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_84.png", "R_opt": [[-0.9999634027481079, -0.0034240123350173235, 0.007837350480258465], [-0.0014683771878480911, -0.834026575088501, -0.5517224073410034], [0.008425663225352764, -0.551713764667511, 0.8339910507202148]], "T_opt": [0.02411324717104435, 0.1333691030740738, 5.230797290802002], "pl_pos": [0.3541300594806671, 1.1768823862075806, 0.10878345370292664], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_136", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_136.png", "R_opt": [[-0.7235507369041443, -0.46103566884994507, 0.5137317180633545], [0.04242920130491257, -0.7725439071655273, -0.6335420608520508], [0.6889658570289612, -0.43660271167755127, 0.5785362720489502]], "T_opt": [0.03041001781821251, 0.1623779833316803, 5.57834005355835], "pl_pos": [1.2911843061447144, 0.47494715452194214, -0.11159414798021317], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_205", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_205.png", "R_opt": [[-0.9113394021987915, -0.22645479440689087, 0.3437710106372833], [-0.000314394012093544, -0.8347107172012329, -0.550688624382019], [0.41165533661842346, -0.5019723773002625, 0.7606335878372192]], "T_opt": [0.042326223105192184, 0.14321184158325195, 5.211188793182373], "pl_pos": [0.09573279321193695, 1.192193627357483, 0.19859325885772705], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_517", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_517.png", "R_opt": [[-0.819391667842865, -0.31523051857948303, 0.4787764847278595], [-0.001038373913615942, -0.8344024419784546, -0.5511546730995178], [0.5732330083847046, -0.452108770608902, 0.6833751201629639]], "T_opt": [0.04792501777410507, 0.14816728234291077, 5.199271202087402], "pl_pos": [-1.1316698789596558, 1.2029104232788086, -0.5546149015426636], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_44", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_44.png", "R_opt": [[-0.9986146688461304, -0.05249892920255661, -0.00354013592004776], [0.04299367964267731, -0.7753201127052307, -0.6301034092903137], [0.030335012823343277, -0.6293827295303345, 0.7765030860900879]], "T_opt": [0.004752021282911301, 0.13799910247325897, 5.58339262008667], "pl_pos": [0.4617482125759125, 0.48201432824134827, -1.3750029802322388], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_264", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_264.png", "R_opt": [[-0.9765884280204773, -0.10383179038763046, 0.18839797377586365], [0.03259149566292763, -0.9371047616004944, -0.34752368927001953], [0.21263258159160614, -0.3332475423812866, 0.9185495972633362]], "T_opt": [0.16644710302352905, 0.016636278480291367, 4.976964473724365], "pl_pos": [-0.46045777201652527, 0.8320797681808472, -1.349436640739441], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_127", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_127.png", "R_opt": [[-0.7073192000389099, -0.31430965662002563, 0.6331737637519836], [0.06484876573085785, -0.9207863807678223, -0.3846389055252075], [0.7039135098457336, -0.23100191354751587, 0.6716724038124084]], "T_opt": [0.0374685563147068, 0.05429690703749657, 5.04364538192749], "pl_pos": [1.052299976348877, 0.949218213558197, -0.7597402334213257], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_184", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_184.png", "R_opt": [[0.8699868321418762, -0.15744242072105408, 0.4672630727291107], [0.06535562872886658, -0.9024690985679626, -0.4257675111293793], [0.48872441053390503, 0.4009504020214081, -0.774846613407135]], "T_opt": [0.04124407842755318, 0.10823895037174225, 5.080348491668701], "pl_pos": [0.23007464408874512, 0.993294894695282, 1.1357898712158203], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_116", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_116.png", "R_opt": [[-0.3656902313232422, 0.576270580291748, -0.7308781743049622], [0.039463259279727936, -0.7749620079994202, -0.6307745575904846], [-0.9298996329307556, -0.2595108449459076, 0.2606544494628906]], "T_opt": [-0.06559924781322479, 0.1376873254776001, 5.586551666259766], "pl_pos": [1.1267194747924805, 0.6936236619949341, 0.6875919103622437], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_279", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_279.png", "R_opt": [[-0.42135199904441833, 0.32420116662979126, -0.8469687700271606], [0.0654512420296669, -0.920613169670105, -0.38495153188705444], [-0.9045323133468628, -0.21763524413108826, 0.3666827976703644]], "T_opt": [-0.05688346549868584, 0.034270260483026505, 5.080860614776611], "pl_pos": [0.21082042157649994, 1.3836318254470825, 0.3872227966785431], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_518", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_518.png", "R_opt": [[-0.9609769582748413, 0.1568690836429596, -0.22784939408302307], [-0.0049100397154688835, -0.8332089185714722, -0.5529364943504333], [-0.2765847444534302, -0.5302404761314392, 0.8014647960662842]], "T_opt": [0.008450666442513466, 0.12843835353851318, 5.230100631713867], "pl_pos": [0.27247321605682373, 1.2725684642791748, -0.6037593483924866], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_258", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_258.png", "R_opt": [[0.8366121649742126, -0.18304918706417084, 0.5163072347640991], [0.06574857234954834, -0.902150571346283, -0.4263816177845001], [0.5438358187675476, 0.3906625211238861, -0.7427150011062622]], "T_opt": [0.04552103579044342, 0.10897771269083023, 5.088451862335205], "pl_pos": [-1.0866782665252686, 1.005034327507019, -0.40955767035484314], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_393", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_393.png", "R_opt": [[0.1451723277568817, 0.5447592735290527, -0.8259312510490417], [-0.0029740408062934875, -0.8345303535461426, -0.5509539246559143], [-0.9894018769264221, 0.0824396014213562, -0.11953059583902359]], "T_opt": [-0.0649600699543953, 0.14861558377742767, 5.198813438415527], "pl_pos": [1.1946980953216553, 0.30688604712486267, 0.7722314596176147], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_125", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_125.png", "R_opt": [[0.8863276839256287, -0.2712940275669098, 0.37526383996009827], [0.03255428373813629, -0.7718905806541443, -0.6349213123321533], [0.4619130492210388, 0.5749646425247192, -0.6753161549568176]], "T_opt": [-0.03261738270521164, 0.20833805203437805, 5.506822109222412], "pl_pos": [1.1292893886566162, 0.7245320081710815, 0.42630794644355774], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_415", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_415.png", "R_opt": [[-0.859414279460907, 0.15189829468727112, -0.48819464445114136], [0.030978495255112648, -0.9376236200332642, -0.34626924991607666], [-0.5103405714035034, -0.3127121329307556, 0.8011013269424438]], "T_opt": [0.12415722757577896, 0.009354246780276299, 4.989813804626465], "pl_pos": [-0.24188460409641266, 0.30240774154663086, -1.1369258165359497], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_458", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_458.png", "R_opt": [[0.3071012496948242, 0.6115820407867432, -0.7291476130485535], [0.0423462949693203, -0.774194061756134, -0.6315301060676575], [-0.9507342576980591, 0.16306695342063904, -0.2636541426181793]], "T_opt": [-0.08910506963729858, 0.15798147022724152, 5.555913925170898], "pl_pos": [0.6729822754859924, 0.7399746179580688, -1.0843743085861206], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_466", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_466.png", "R_opt": [[-0.4953414499759674, 0.304478257894516, -0.8135906457901001], [0.06561409682035446, -0.9207740426063538, -0.3845386207103729], [-0.8662168383598328, -0.24386093020439148, 0.4361193776130676]], "T_opt": [-0.05234533175826073, 0.03346491605043411, 5.081423282623291], "pl_pos": [0.5702367424964905, 0.9261359572410583, -1.1322156190872192], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_134", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_134.png", "R_opt": [[-0.619177520275116, 0.3707164525985718, -0.692234456539154], [0.02370026521384716, -0.8723211884498596, -0.48835837841033936], [-0.784893274307251, -0.31878671050071716, 0.5313356518745422]], "T_opt": [-0.05878139287233353, 0.12365064024925232, 5.273311614990234], "pl_pos": [-0.5784977674484253, 1.059915542602539, -0.6064032912254333], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_314", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_314.png", "R_opt": [[-0.7429749369621277, -0.25475671887397766, 0.6189404129981995], [0.03361397236585617, -0.9377666115760803, -0.34563571214675903], [0.6684744954109192, -0.23599372804164886, 0.7053004503250122]], "T_opt": [0.18232804536819458, 0.027045108377933502, 4.945392608642578], "pl_pos": [-0.14199531078338623, 0.6271956562995911, -1.4290775060653687], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_27", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_27.png", "R_opt": [[-0.9192168116569519, 0.21954351663589478, -0.32686540484428406], [0.03924599662423134, -0.7749126553535461, -0.63084876537323], [-0.39179086685180664, -0.5927148461341858, 0.703696608543396]], "T_opt": [-0.019645756110548973, 0.1318410187959671, 5.5930562019348145], "pl_pos": [-0.40937870740890503, 1.013810396194458, 0.6813075542449951], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_62", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_62.png", "R_opt": [[-0.8477489352226257, -0.2545570433139801, 0.46531960368156433], [0.06518245488405228, -0.9206544160842896, -0.38489821553230286], [0.5263771414756775, -0.2959664463996887, 0.7970765233039856]], "T_opt": [0.03284267708659172, 0.0490240752696991, 5.059223175048828], "pl_pos": [0.5895000696182251, 1.2019717693328857, -0.5611475706100464], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_57", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_57.png", "R_opt": [[0.7445868849754333, -0.3187328577041626, 0.5865150094032288], [0.019899936392903328, -0.867651104927063, -0.49677515029907227], [0.6672288775444031, 0.38156381249427795, -0.63969886302948]], "T_opt": [-0.026404229924082756, 0.18172217905521393, 5.1844377517700195], "pl_pos": [0.6913331151008606, 0.7653721570968628, 0.857330322265625], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_471", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_471.png", "R_opt": [[-0.49996277689933777, -0.40103963017463684, 0.7675965428352356], [0.06995896995067596, -0.9021275639533997, -0.4257601499557495], [0.8632165193557739, -0.15916401147842407, 0.4790864884853363]], "T_opt": [0.10548084229230881, 0.08708513528108597, 5.140905380249023], "pl_pos": [0.3281871974468231, 1.3504763841629028, -1.1319957971572876], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_437", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_437.png", "R_opt": [[-0.5825281143188477, -0.5304626226425171, 0.6158494353294373], [0.040344659239053726, -0.7756151556968689, -0.6299154162406921], [0.8118086457252502, -0.3420970141887665, 0.47321897745132446]], "T_opt": [0.03264086693525314, 0.1691586673259735, 5.555056571960449], "pl_pos": [-0.36009329557418823, 1.1946645975112915, -0.09613664448261261], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_103", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_103.png", "R_opt": [[-0.2303074449300766, -0.42987966537475586, 0.8730188608169556], [0.06874469667673111, -0.9020816683769226, -0.42605504393577576], [0.9706867337226868, -0.03810824081301689, 0.237308070063591]], "T_opt": [0.10256632417440414, 0.09456707537174225, 5.129672527313232], "pl_pos": [-0.017931578680872917, 1.3565994501113892, -1.2142140865325928], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_151", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_151.png", "R_opt": [[-0.8185209035873413, -0.31645116209983826, 0.4794602692127228], [-0.0004531121230684221, -0.8342475891113281, -0.5513898134231567], [0.5744765400886536, -0.4515414535999298, 0.6827056407928467]], "T_opt": [0.048068441450595856, 0.1489110291004181, 5.2034220695495605], "pl_pos": [0.20975513756275177, 1.211595892906189, 0.35629644989967346], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_377", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_377.png", "R_opt": [[0.2676662802696228, 0.6152880787849426, -0.7414684295654297], [0.04180271923542023, -0.7762390971183777, -0.6290510892868042], [-0.9626044631004333, 0.13738033175468445, -0.23349371552467346]], "T_opt": [-0.08794839680194855, 0.15736275911331177, 5.5584001541137695], "pl_pos": [-0.11383990198373795, 1.187567114830017, -0.22044160962104797], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_1", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_1.png", "R_opt": [[-0.12605765461921692, 0.6235160231590271, -0.7715809345245361], [0.03968512639403343, -0.7739933729171753, -0.6319489479064941], [-0.9912288188934326, -0.11028222739696503, 0.07282344251871109]], "T_opt": [-0.07618344575166702, 0.1434495598077774, 5.5785722732543945], "pl_pos": [1.4479289054870605, 0.9169689416885376, -0.6099973917007446], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_49", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_49.png", "R_opt": [[-0.08294915407896042, 0.5508826971054077, -0.8304502964019775], [-0.003919679671525955, -0.8334960341453552, -0.5525116324424744], [-0.9965460300445557, -0.04257527366280556, 0.0712970644235611]], "T_opt": [-0.057768404483795166, 0.14151206612586975, 5.20885705947876], "pl_pos": [0.9519520401954651, 0.7846753597259521, 0.9956055283546448], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_480", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_480.png", "R_opt": [[0.3108913004398346, 0.6085080504417419, -0.7301127314567566], [0.04343609884381294, -0.7764732241630554, -0.6286513805389404], [-0.9494525194168091, 0.16372895240783691, -0.26782992482185364]], "T_opt": [-0.08911621570587158, 0.15873534977436066, 5.553280353546143], "pl_pos": [-0.3510119915008545, 1.0777263641357422, -0.732089102268219], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_28", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_28.png", "R_opt": [[-0.8841060400009155, 0.21147704124450684, -0.41669413447380066], [0.02275131642818451, -0.8711934089660645, -0.49041250348091125], [-0.4667322337627411, -0.44305703043937683, 0.7654159069061279]], "T_opt": [-0.03325788676738739, 0.1220039427280426, 5.282002925872803], "pl_pos": [0.5328536629676819, 1.3147177696228027, 0.36913418769836426], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_385", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_385.png", "R_opt": [[-0.965965211391449, 0.146528422832489, -0.21316826343536377], [-0.004661995451897383, -0.8338145017623901, -0.5520251393318176], [-0.2586301863193512, -0.5322431921958923, 0.8061187863349915]], "T_opt": [0.009246956557035446, 0.1291866898536682, 5.230235576629639], "pl_pos": [-0.8616147637367249, 0.9707427024841309, -0.6978908181190491], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_132", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_132.png", "R_opt": [[-0.4012865126132965, -0.3778046667575836, 0.8344055414199829], [0.06682050973176956, -0.9206181168556213, -0.38470450043678284], [0.9135119915008545, -0.09862133115530014, 0.3946765959262848]], "T_opt": [0.037935271859169006, 0.06335103511810303, 5.025705337524414], "pl_pos": [-0.4629341959953308, 1.240315556526184, 0.20712493360042572], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_345", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_345.png", "R_opt": [[-0.5845947861671448, -0.44716787338256836, 0.6769709587097168], [0.00010861910413950682, -0.834444522857666, -0.5510919690132141], [0.8113254308700562, -0.3220919966697693, 0.4878605306148529]], "T_opt": [0.05290194973349571, 0.15992261469364166, 5.1871185302734375], "pl_pos": [0.2915470600128174, 1.0749993324279785, -0.7173675894737244], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_236", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_236.png", "R_opt": [[0.890243411064148, 0.23993894457817078, -0.3871641755104065], [0.0209067240357399, -0.8706331253051758, -0.49148836731910706], [-0.45500510931015015, 0.42945000529289246, -0.7800916433334351]], "T_opt": [-0.08994228392839432, 0.1667230725288391, 5.200170993804932], "pl_pos": [0.23108446598052979, 1.2717976570129395, -1.244095802307129], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_307", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_307.png", "R_opt": [[0.7922134399414062, 0.41011834144592285, -0.45188581943511963], [0.044047463685274124, -0.7769981622695923, -0.6279600262641907], [-0.6086524128913879, 0.47757387161254883, -0.6336129903793335]], "T_opt": [-0.08734294027090073, 0.18025484681129456, 5.504334449768066], "pl_pos": [1.100002646446228, 0.5228841304779053, -0.811034083366394], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_332", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_332.png", "R_opt": [[0.04110261797904968, 0.6311176419258118, -0.7745973467826843], [0.039372388273477554, -0.775673508644104, -0.6299051642417908], [-0.9983789920806885, -0.004607066977769136, -0.056730788201093674]], "T_opt": [-0.08235515654087067, 0.14932018518447876, 5.571722030639648], "pl_pos": [-0.23860609531402588, 1.187130093574524, -0.22878992557525635], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_440", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_440.png", "R_opt": [[-0.6924692392349243, -0.3705117106437683, 0.6190375685691833], [0.024276839569211006, -0.8695303797721863, -0.49328216910362244], [0.7210388779640198, -0.32655447721481323, 0.6111180186271667]], "T_opt": [0.023163747042417526, 0.1471337080001831, 5.248594284057617], "pl_pos": [0.9658983945846558, 0.8232558965682983, -0.6320722699165344], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_187", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_187.png", "R_opt": [[-0.737433671951294, -0.4485761821269989, 0.5049464702606201], [0.03947557881474495, -0.7749508619308472, -0.6307873725891113], [0.6742650270462036, -0.4452308118343353, 0.5891827344894409]], "T_opt": [0.030596554279327393, 0.16109979152679443, 5.565115451812744], "pl_pos": [-0.45553839206695557, 1.258744239807129, -0.10512293130159378], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_262", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_262.png", "R_opt": [[-0.9634093642234802, -0.19373375177383423, 0.18522867560386658], [0.034632910043001175, -0.7752454876899719, -0.6307097673416138], [0.2657875120639801, -0.6012167930603027, 0.7535884380340576]], "T_opt": [0.017636297270655632, 0.14399248361587524, 5.579290390014648], "pl_pos": [0.13659131526947021, 0.5414581298828125, -1.4203088283538818], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_392", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_392.png", "R_opt": [[-0.4840007722377777, -0.3179299533367157, 0.8152691721916199], [0.03299391642212868, -0.9376320242881775, -0.3460601568222046], [0.874445378780365, -0.14059440791606903, 0.4643043279647827]], "T_opt": [0.18482139706611633, 0.034119680523872375, 4.933568000793457], "pl_pos": [-0.9222710132598877, 1.3539894819259644, -0.40040162205696106], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_354", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_354.png", "R_opt": [[0.48012635111808777, -0.3106691539287567, 0.8203434348106384], [0.06550126522779465, -0.9198766946792603, -0.386699378490448], [0.8747503161430359, 0.23939812183380127, -0.42130786180496216]], "T_opt": [0.007330766413360834, 0.07895869016647339, 4.991817474365234], "pl_pos": [-1.076542854309082, 0.9049040079116821, -0.18966129422187805], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_108", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_108.png", "R_opt": [[-0.9598527550697327, 0.04828529804944992, -0.27631717920303345], [0.06463781744241714, -0.9204885959625244, -0.3853863477706909], [-0.2729553282260895, -0.38777461647987366, 0.8804125189781189]], "T_opt": [-0.006124132312834263, 0.03372080996632576, 5.085180759429932], "pl_pos": [0.7875007390975952, 1.1921300888061523, -0.5991308093070984], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_299", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_299.png", "R_opt": [[0.5684559941291809, 0.38251587748527527, -0.728381335735321], [0.06332194805145264, -0.9030562043190002, -0.4248291254043579], [-0.8202732801437378, 0.19537413120269775, -0.5375693440437317]], "T_opt": [-0.0158938467502594, 0.07952418923377991, 5.128757476806641], "pl_pos": [-0.5375150442123413, 0.4127485156059265, 1.1905039548873901], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_483", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_483.png", "R_opt": [[0.43602049350738525, -0.3598140776157379, 0.8248757719993591], [0.06718271970748901, -0.9010211825370789, -0.42854106426239014], [0.8974254727363586, 0.24227012693881989, -0.3686903715133667]], "T_opt": [0.07701319456100464, 0.10622595250606537, 5.101460933685303], "pl_pos": [-0.8521117568016052, 0.997963547706604, 0.8739663362503052], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_263", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_263.png", "R_opt": [[0.4272153675556183, 0.49527260661125183, -0.7564338445663452], [-0.0008825742406770587, -0.8363955616950989, -0.5481257438659668], [-0.9041494727134705, 0.23483531177043915, -0.35688385367393494]], "T_opt": [-0.07022982835769653, 0.15870200097560883, 5.184999942779541], "pl_pos": [0.406290203332901, 1.2306156158447266, -0.27355310320854187], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_339", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_339.png", "R_opt": [[-0.9350455403327942, -0.1960272192955017, 0.29540303349494934], [0.0011309563415125012, -0.8348757028579712, -0.5504372715950012], [0.35452550649642944, -0.5143499970436096, 0.7808687686920166]], "T_opt": [0.039932314306497574, 0.1414070427417755, 5.211375713348389], "pl_pos": [0.29335591197013855, 1.180647850036621, -0.6951516270637512], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_287", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_287.png", "R_opt": [[0.7767956256866455, -0.22204406559467316, 0.5893089175224304], [0.06599441170692444, -0.901923656463623, -0.42682361602783203], [0.6262853145599365, 0.3704458773136139, -0.6859566569328308]], "T_opt": [0.05196801573038101, 0.10867415368556976, 5.086475372314453], "pl_pos": [-0.4106212258338928, 1.1118073463439941, 0.9621768593788147], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_256", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_256.png", "R_opt": [[0.734814465045929, -0.24519000947475433, 0.6323997378349304], [0.06671791523694992, -0.9017238020896912, -0.4271332919597626], [0.6749787330627441, 0.35605624318122864, -0.6462412476539612]], "T_opt": [0.05541633814573288, 0.10868119448423386, 5.088479518890381], "pl_pos": [0.09650055319070816, 0.9603202939033508, 1.1557561159133911], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_203", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_203.png", "R_opt": [[0.9558702707290649, 0.16101236641407013, -0.24573762714862823], [-0.0011370471911504865, -0.8344088792800903, -0.5511448383331299], [-0.29378676414489746, 0.5271024107933044, -0.7974035143852234]], "T_opt": [-0.05571623519062996, 0.1842309534549713, 5.141388893127441], "pl_pos": [-0.18462629616260529, 0.5171914100646973, 1.2446458339691162], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_15", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_15.png", "R_opt": [[-0.5993712544441223, 0.44085487723350525, -0.6681326031684875], [-0.0012415437959134579, -0.8351849317550659, -0.5499676465988159], [-0.8004701733589172, -0.32880523800849915, 0.5011333227157593]], "T_opt": [-0.03115772269666195, 0.13097836077213287, 5.227377414703369], "pl_pos": [-0.0877685472369194, 1.3437565565109253, 0.8134278059005737], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_100", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_100.png", "R_opt": [[0.16671369969844818, 0.38967472314834595, -0.9057374000549316], [0.06605206429958344, -0.9209429621696472, -0.38405880331993103], [-0.9837905168533325, 0.004202095326036215, -0.1792725771665573]], "T_opt": [-0.0803271010518074, 0.04330715164542198, 5.049561023712158], "pl_pos": [1.1449493169784546, 0.5085656046867371, -0.6318164467811584], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_43", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_43.png", "R_opt": [[0.7695661783218384, 0.34935179352760315, -0.5345288515090942], [-0.0027805978897958994, -0.8352344036102295, -0.5498870015144348], [-0.6385608911514282, 0.4246607720851898, -0.6417967677116394]], "T_opt": [-0.06711427867412567, 0.17252080142498016, 5.157264232635498], "pl_pos": [0.9302310347557068, 1.241892695426941, 0.3687276542186737], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_289", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_289.png", "R_opt": [[0.2649175226688385, 0.47885385155677795, -0.8369693756103516], [0.02198154106736183, -0.8707547187805176, -0.49122583866119385], [-0.9640204906463623, 0.11173650622367859, -0.241204172372818]], "T_opt": [-0.09633190929889679, 0.1422731876373291, 5.251492500305176], "pl_pos": [0.6283900141716003, 1.142803430557251, 0.03774500638246536], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_231", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_231.png", "R_opt": [[-0.8392203450202942, 0.31473949551582336, -0.4434504508972168], [0.0406857505440712, -0.7768513560295105, -0.6283681988716125], [-0.5422674417495728, -0.5453814268112183, 0.6391441226005554]], "T_opt": [-0.030194692313671112, 0.13122813403606415, 5.591066837310791], "pl_pos": [1.430816888809204, 0.4883531630039215, 0.005380560643970966], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_208", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_208.png", "R_opt": [[-0.935339629650116, -0.193937748670578, 0.295851469039917], [-0.0013836652506142855, -0.8343141078948975, -0.5512875318527222], [0.3537485599517822, -0.5160503387451172, 0.7800986170768738]], "T_opt": [0.040166135877370834, 0.14069277048110962, 5.208125114440918], "pl_pos": [-0.9795702695846558, 1.1904475688934326, -0.7601895332336426], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_215", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_215.png", "R_opt": [[0.7131612300872803, -0.4224102199077606, 0.5594378113746643], [0.037800632417201996, -0.7737225294113159, -0.6323959827423096], [0.6999801993370056, 0.4721473455429077, -0.5358214378356934]], "T_opt": [-0.015008451417088509, 0.20815327763557434, 5.504663944244385], "pl_pos": [-0.2871435284614563, 1.2759038209915161, 0.20469464361667633], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_341", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_341.png", "R_opt": [[-0.966925859451294, 0.13225747644901276, -0.21808725595474243], [0.03678878769278526, -0.7737923860549927, -0.6323701739311218], [-0.25238993763923645, -0.6194782853126526, 0.7433345317840576]], "T_opt": [-0.01005700882524252, 0.13231799006462097, 5.592259407043457], "pl_pos": [0.24238963425159454, 0.702626645565033, -1.4080427885055542], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_153", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_153.png", "R_opt": [[-0.03914525732398033, -0.2560846507549286, 0.9658615589141846], [0.05240032449364662, -0.9657983779907227, -0.2539442479610443], [0.9978585839271545, 0.04067075252532959, 0.051225315779447556]], "T_opt": [0.038666918873786926, 0.04833662882447243, 4.895008087158203], "pl_pos": [-1.1857753992080688, 0.6232923865318298, 0.6081112623214722], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_428", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_428.png", "R_opt": [[-0.476350337266922, -0.4453828036785126, 0.7581058144569397], [0.026953402906656265, -0.8692048192024231, -0.4937169849872589], [0.8788423538208008, -0.21474863588809967, 0.4260505735874176]], "T_opt": [0.023351918905973434, 0.15401054918766022, 5.218498706817627], "pl_pos": [-1.1137663125991821, 0.3774334490299225, 0.5131705403327942], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_235", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_235.png", "R_opt": [[0.7119143605232239, -0.23043638467788696, 0.6633830666542053], [0.06369267404079437, -0.9195516705513, -0.3877727687358856], [0.6993721127510071, 0.3183135688304901, -0.6399650573730469]], "T_opt": [-0.009455437771975994, 0.08002708852291107, 4.97849178314209], "pl_pos": [-0.030887609347701073, 0.9370745420455933, 1.012779712677002], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_201", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_201.png", "R_opt": [[0.3886517286300659, -0.573070228099823, 0.721484899520874], [0.03732695057988167, -0.7726084589958191, -0.6337844729423523], [0.9206283688545227, 0.2732521891593933, -0.27888455986976624]], "T_opt": [0.007323648314923048, 0.20307482779026031, 5.519106864929199], "pl_pos": [-0.23365527391433716, 1.1623873710632324, -0.6708546280860901], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_304", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_304.png", "R_opt": [[-0.6814236044883728, -0.35500240325927734, 0.6400275230407715], [0.07017374783754349, -0.9021486043930054, -0.42568016052246094], [0.7285174131393433, -0.2451552003622055, 0.6396569609642029]], "T_opt": [0.10455325990915298, 0.08114949613809586, 5.155490875244141], "pl_pos": [0.5263987183570862, 1.287140965461731, -0.9570745825767517], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_129", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_129.png", "R_opt": [[0.9876180291175842, 0.07925646007061005, -0.13538499176502228], [0.027788648381829262, -0.9377315640449524, -0.34624746441841125], [-0.154397115111351, 0.33819809556007385, -0.928322970867157]], "T_opt": [0.08333930373191833, 0.04629221186041832, 4.8816938400268555], "pl_pos": [-0.40003088116645813, 0.9747236371040344, 1.0446414947509766], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_168", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_168.png", "R_opt": [[0.8938338160514832, 0.2446000874042511, -0.3758082687854767], [-0.002842923626303673, -0.8350043892860413, -0.55023592710495], [-0.4483892619609833, 0.492887943983078, -0.7456597089767456]], "T_opt": [-0.06120762228965759, 0.17976124584674835, 5.1470866203308105], "pl_pos": [0.3738718330860138, 1.2332687377929688, -0.12904256582260132], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_382", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_382.png", "R_opt": [[-0.9473428130149841, -0.23123621940612793, 0.22152066230773926], [0.04203302413225174, -0.7755838632583618, -0.629843533039093], [0.31745049357414246, -0.58736652135849, 0.7444633841514587]], "T_opt": [0.018403520807623863, 0.14621958136558533, 5.574361801147461], "pl_pos": [-0.533525288105011, 1.336482286453247, -0.19708377122879028], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_157", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_157.png", "R_opt": [[0.28263720870018005, -0.39304259419441223, 0.8750050067901611], [0.06862255185842514, -0.9015759229660034, -0.42714375257492065], [0.9567691683769226, 0.18077178299427032, -0.22784729301929474]], "T_opt": [0.08498004078865051, 0.10467449575662613, 5.107616424560547], "pl_pos": [0.2405969798564911, 1.1096906661987305, 0.32254084944725037], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_109", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_109.png", "R_opt": [[0.501895546913147, -0.41985273361206055, 0.7561908960342407], [0.02148354984819889, -0.8679604530334473, -0.49616843461990356], [0.8646613359451294, 0.26527032256126404, -0.42660558223724365]], "T_opt": [-0.008325496688485146, 0.1787213534116745, 5.1883721351623535], "pl_pos": [-0.3016761243343353, 0.5767360329627991, 1.2574137449264526], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_22", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_22.png", "R_opt": [[0.8222652673721313, -0.2675793170928955, 0.5022760629653931], [0.019455017521977425, -0.8688403367996216, -0.49470993876457214], [0.5687717199325562, 0.4165545701980591, -0.7092114090919495]], "T_opt": [-0.03396556153893471, 0.18171389400959015, 5.17701530456543], "pl_pos": [0.0860196128487587, 0.703013002872467, 1.2186253070831299], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_254", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_254.png", "R_opt": [[0.15440289676189423, 0.3447491228580475, -0.9259092211723328], [0.03120102547109127, -0.938381552696228, -0.34418991208076477], [-0.9875151515007019, 0.02425461634993553, -0.15564535558223724]], "T_opt": [0.06599830090999603, 0.02128087729215622, 4.958169460296631], "pl_pos": [1.1724742650985718, 0.8114649653434753, -0.16909968852996826], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_277", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_277.png", "R_opt": [[-0.7483218312263489, -0.34149929881095886, 0.5686761736869812], [0.022473126649856567, -0.8698573708534241, -0.4927911162376404], [0.6629549860954285, -0.3559863567352295, 0.6586079597473145]], "T_opt": [0.02239196188747883, 0.14435714483261108, 5.2480692863464355], "pl_pos": [0.570205569267273, 0.7603165507316589, -1.2190109491348267], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_188", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_188.png", "R_opt": [[-0.9869718551635742, 0.06517985463142395, -0.14709872007369995], [0.042492300271987915, -0.7762064337730408, -0.6290453672409058], [-0.15518005192279816, -0.6271004676818848, 0.7633243203163147]], "T_opt": [-0.005276987794786692, 0.13488608598709106, 5.588870525360107], "pl_pos": [1.4128304719924927, 0.5750200748443604, -0.4432993531227112], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_432", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_432.png", "R_opt": [[-0.9601246118545532, -0.20885112881660461, 0.18585453927516937], [0.04605904221534729, -0.7738632559776306, -0.6316757202148438], [0.2757521867752075, -0.5979270935058594, 0.7526246905326843]], "T_opt": [0.016027716919779778, 0.14508283138275146, 5.58416223526001], "pl_pos": [0.9971818327903748, 0.7321359515190125, -0.9399407505989075], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_335", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_335.png", "R_opt": [[-0.40263885259628296, 0.32913094758987427, -0.8541396856307983], [0.06490904092788696, -0.9205049872398376, -0.38530176877975464], [-0.9130547046661377, -0.21057884395122528, 0.34926748275756836]], "T_opt": [-0.05799536779522896, 0.03412925824522972, 5.078770637512207], "pl_pos": [1.3140872716903687, 0.9802740812301636, 0.1637340933084488], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_14", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_14.png", "R_opt": [[-0.9994919300079346, -0.014140144921839237, 0.028562702238559723], [-0.003880254225805402, -0.8355376720428467, -0.5494194626808167], [0.03163408488035202, -0.5492512583732605, 0.8350583910942078]], "T_opt": [0.025439418852329254, 0.13363447785377502, 5.222227096557617], "pl_pos": [0.5449144244194031, 1.1596962213516235, -0.7977200150489807], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_459", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_459.png", "R_opt": [[-0.6205037236213684, -0.2910865843296051, 0.7281783223152161], [0.0334751233458519, -0.9375432729721069, -0.34625425934791565], [0.7834887504577637, -0.1904761642217636, 0.5914933681488037]], "T_opt": [0.18440397083759308, 0.030968844890594482, 4.943262100219727], "pl_pos": [0.5972121953964233, 1.1868289709091187, -0.5976836085319519], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_233", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_233.png", "R_opt": [[0.4106177091598511, -0.5657811760902405, 0.7150417566299438], [0.03379855677485466, -0.7742191553115845, -0.6320146918296814], [0.9111809134483337, 0.2836838662624359, -0.2987854480743408]], "T_opt": [0.0065645212307572365, 0.20355349779129028, 5.517582893371582], "pl_pos": [0.39672914147377014, 0.9127897024154663, -0.907267689704895], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_174", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_174.png", "R_opt": [[0.43436363339424133, 0.4445115625858307, -0.7834142446517944], [0.01640033721923828, -0.8735060691833496, -0.48653677105903625], [-0.90058833360672, 0.19848553836345673, -0.3867093026638031]], "T_opt": [-0.09712587296962738, 0.14974839985370636, 5.242610931396484], "pl_pos": [0.0053479550406336784, 1.2971049547195435, 0.4753856658935547], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_206", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_206.png", "R_opt": [[0.8538194894790649, 0.20213915407657623, -0.4797208309173584], [0.027748536318540573, -0.9378938674926758, -0.34581100940704346], [-0.5198291540145874, 0.28194865584373474, -0.8064009547233582]], "T_opt": [0.06872331351041794, 0.03940345719456673, 4.899748802185059], "pl_pos": [-0.815392792224884, 1.1023131608963013, 0.07717311382293701], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_309", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_309.png", "R_opt": [[0.2546234726905823, 0.529603898525238, -0.809127151966095], [-0.000198812922462821, -0.8366760015487671, -0.5476980805397034], [-0.9670401811599731, 0.13961762189865112, -0.21293200552463531]], "T_opt": [-0.0680868849158287, 0.15243136882781982, 5.192010402679443], "pl_pos": [0.6764863133430481, 1.4268522262573242, -0.07400523871183395], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_225", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_225.png", "R_opt": [[0.002953736577183008, 0.38493359088897705, -0.9229395389556885], [0.06509557366371155, -0.9210599660873413, -0.3839413523674011], [-0.9978746771812439, -0.058945298194885254, -0.02777797356247902]], "T_opt": [-0.07552555203437805, 0.04045058786869049, 5.065393447875977], "pl_pos": [1.1814945936203003, 1.0772814750671387, -0.1614050418138504], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_284", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_284.png", "R_opt": [[-0.056772250682115555, -0.49392563104629517, 0.8676488399505615], [0.02426244504749775, -0.8694761991500854, -0.4933784306049347], [0.9980923533439636, -0.006958875805139542, 0.061345964670181274]], "T_opt": [0.01666323095560074, 0.16791574656963348, 5.210805892944336], "pl_pos": [-0.9383622407913208, 1.1212873458862305, -0.8783451914787292], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_261", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_261.png", "R_opt": [[-0.6339296698570251, 0.4684341251850128, -0.6153882145881653], [0.03884388506412506, -0.7754126191139221, -0.6302591562271118], [-0.77241450548172, -0.42344388365745544, 0.4733612537384033]], "T_opt": [-0.04844127222895622, 0.13228026032447815, 5.587699890136719], "pl_pos": [1.3897018432617188, 0.5880603790283203, -0.5427950620651245], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_139", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_139.png", "R_opt": [[0.3555821180343628, 0.3311150074005127, -0.8740276098251343], [0.03066793456673622, -0.9387736320495605, -0.3431665599346161], [-0.9341417551040649, 0.09521929174661636, -0.3439658582210541]], "T_opt": [0.06218383088707924, 0.025639129802584648, 4.9451985359191895], "pl_pos": [1.1187759637832642, 0.9440034031867981, 0.035017065703868866], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_152", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_152.png", "R_opt": [[0.6355119347572327, 0.283801794052124, -0.7180396914482117], [0.027041520923376083, -0.937604546546936, -0.34665027260780334], [-0.7716173529624939, 0.20088349282741547, -0.6035334467887878]], "T_opt": [0.06324378401041031, 0.031868934631347656, 4.916844367980957], "pl_pos": [-0.4323275685310364, 0.7955387830734253, 1.0521379709243774], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_221", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_221.png", "R_opt": [[-0.3217064142227173, -0.38578036427497864, 0.8646841049194336], [0.06644530594348907, -0.9201788902282715, -0.38581839203834534], [0.9445052146911621, -0.06666610389947891, 0.3216608166694641]], "T_opt": [0.03715469315648079, 0.06517414003610611, 5.022462368011475], "pl_pos": [-0.28670644760131836, 1.1552634239196777, -0.5923007726669312], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_383", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_383.png", "R_opt": [[0.7068080902099609, -0.2617640495300293, 0.6571924686431885], [0.06486909836530685, -0.9011203646659851, -0.4286886751651764], [0.7044247984886169, 0.3456321358680725, -0.619938850402832]], "T_opt": [0.05842147767543793, 0.10893237590789795, 5.095746994018555], "pl_pos": [0.21669307351112366, 1.0222868919372559, -0.7970401048660278], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_344", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_344.png", "R_opt": [[-0.6656985282897949, -0.41145965456962585, 0.622532308101654], [-0.0003684007388073951, -0.8340654373168945, -0.5516654849052429], [0.7462207078933716, -0.36747220158576965, 0.5550844669342041]], "T_opt": [0.05202318727970123, 0.15650057792663574, 5.19572114944458], "pl_pos": [0.35467979311943054, 1.1279462575912476, 0.15969794988632202], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_326", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_326.png", "R_opt": [[-0.7505560517311096, 0.3653651475906372, -0.5506123900413513], [-0.0024709580466151237, -0.8347883820533752, -0.5505651831626892], [-0.6608021855354309, -0.4118696451187134, 0.627458393573761]], "T_opt": [-0.0190530177205801, 0.12819764018058777, 5.228206634521484], "pl_pos": [0.24154026806354523, 1.146486520767212, -1.0346362590789795], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_297", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_297.png", "R_opt": [[0.5662668347358704, 0.4145302176475525, -0.7123948931694031], [0.021893801167607307, -0.8715841770172119, -0.4897567927837372], [-0.823931097984314, 0.2617360055446625, -0.5026247501373291]], "T_opt": [-0.09874618053436279, 0.1524013727903366, 5.223670482635498], "pl_pos": [-0.12367160618305206, 1.3906128406524658, -0.9801941514015198], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_85", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_85.png", "R_opt": [[0.6327691078186035, 0.5050577521324158, -0.5869582891464233], [0.0378216914832592, -0.777264416217804, -0.6280362010002136], [-0.77341628074646, 0.37520214915275574, -0.5109309554100037]], "T_opt": [-0.08933065086603165, 0.17349572479724884, 5.537702560424805], "pl_pos": [-0.16404083371162415, 1.2279034852981567, -0.1555238962173462], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_298", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_298.png", "R_opt": [[-0.34828048944473267, -0.42225176095962524, 0.8369014859199524], [0.0697130635380745, -0.9019943475723267, -0.42608246207237244], [0.934794545173645, -0.09005314856767654, 0.3435835838317871]], "T_opt": [0.10418820381164551, 0.09144625067710876, 5.135717391967773], "pl_pos": [0.032403502613306046, 1.1778333187103271, 0.6584842205047607], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_38", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_38.png", "R_opt": [[0.8185026049613953, 0.21881847083568573, -0.5311986207962036], [0.026684999465942383, -0.9381058216094971, -0.3453192412853241], [-0.5738826990127563, 0.2684696912765503, -0.7736811637878418]], "T_opt": [0.06735897064208984, 0.03803517296910286, 4.898831367492676], "pl_pos": [-0.6764184236526489, 1.0173890590667725, 0.8973983526229858], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_315", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_315.png", "R_opt": [[-0.8676849603652954, 0.15720747411251068, -0.47160211205482483], [0.06759940832853317, -0.9025536179542542, -0.4252379536628723], [-0.49249687790870667, -0.40085265040397644, 0.772504985332489]], "T_opt": [0.046342093497514725, 0.05586946755647659, 5.200083255767822], "pl_pos": [-0.33761438727378845, 0.8331630229949951, -1.0165897607803345], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_2", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_2.png", "R_opt": [[-0.5521101951599121, 0.5102004408836365, -0.6594465970993042], [0.0387100912630558, -0.7743821144104004, -0.6315329074859619], [-0.8328720927238464, -0.37420305609703064, 0.40779438614845276]], "T_opt": [-0.05430295318365097, 0.13370636105537415, 5.590700149536133], "pl_pos": [1.264366626739502, 0.6016101241111755, 0.4980916976928711], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_388", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_388.png", "R_opt": [[-0.7271458506584167, -0.2604888677597046, 0.6351413130760193], [0.03361688554286957, -0.9376122355461121, -0.34605395793914795], [0.6856594681739807, -0.23028016090393066, 0.6905374526977539]], "T_opt": [0.1827956736087799, 0.027584150433540344, 4.948091506958008], "pl_pos": [0.03331919386982918, 1.0556162595748901, -1.2797635793685913], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_374", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_374.png", "R_opt": [[0.8748874068260193, 0.2628503441810608, -0.4067946672439575], [-0.00382043793797493, -0.8361467719078064, -0.5484923720359802], [-0.484311580657959, 0.48142319917678833, -0.7305299043655396]], "T_opt": [-0.06163279712200165, 0.1783805936574936, 5.144204616546631], "pl_pos": [-1.2580417394638062, 0.3960774540901184, -0.5619692206382751], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_53", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_53.png", "R_opt": [[-0.8718411922454834, 0.2734265625476837, -0.40636298060417175], [-0.0032439532224088907, -0.8328753113746643, -0.5534510612487793], [-0.4897778630256653, -0.4812033176422119, 0.7270219326019287]], "T_opt": [-0.006060753017663956, 0.12726539373397827, 5.230767726898193], "pl_pos": [-0.05270509794354439, 1.099907636642456, -1.1555322408676147], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_397", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_397.png", "R_opt": [[0.9867346882820129, 0.1304001361131668, -0.09669797867536545], [0.04079493135213852, -0.775704026222229, -0.6297769546508789], [-0.15713199973106384, 0.6174778938293457, -0.7707337141036987]], "T_opt": [-0.06974705308675766, 0.19679787755012512, 5.495475769042969], "pl_pos": [1.4312883615493774, 0.4924749732017517, -0.19845739006996155], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_137", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_137.png", "R_opt": [[0.9212673306465149, 0.1579838991165161, -0.355398029088974], [0.028187986463308334, -0.938502311706543, -0.3441201150417328], [-0.38790738582611084, 0.3070085644721985, -0.8690647482872009]], "T_opt": [0.07271332293748856, 0.04253706708550453, 4.894073009490967], "pl_pos": [0.5330150127410889, 1.2512485980987549, 0.6320179104804993], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_404", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_404.png", "R_opt": [[-0.2499980330467224, -0.5333883762359619, 0.8080828785896301], [0.00045403349213302135, -0.8346484303474426, -0.5507827997207642], [0.9682461619377136, -0.13732783496379852, 0.20890265703201294]], "T_opt": [0.04985097423195839, 0.172480046749115, 5.16856575012207], "pl_pos": [0.16920354962348938, 1.1231409311294556, 0.13523471355438232], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_111", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_111.png", "R_opt": [[-0.7543672323226929, 0.30731087923049927, -0.5800777673721313], [0.022771907970309258, -0.8708726167678833, -0.490980863571167], [-0.656057596206665, -0.38358932733535767, 0.6499597430229187]], "T_opt": [-0.04728173837065697, 0.12223312258720398, 5.283483028411865], "pl_pos": [0.3828260898590088, 1.3862420320510864, 0.49421426653862], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_117", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_117.png", "R_opt": [[0.5009839534759521, -0.5328919887542725, 0.6819391250610352], [0.03848550468683243, -0.773456335067749, -0.6326802372932434], [0.8646005392074585, 0.343207448720932, -0.366980642080307]], "T_opt": [0.0006009808275848627, 0.20512183010578156, 5.5126953125], "pl_pos": [-0.28709444403648376, 1.2672882080078125, 0.1365446150302887], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_220", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_220.png", "R_opt": [[-0.795531153678894, 0.28510671854019165, -0.5346441268920898], [0.021121826022863388, -0.8687928915023804, -0.49472492933273315], [-0.6055443286895752, -0.404861718416214, 0.6851300001144409]], "T_opt": [-0.043063364923000336, 0.12098768353462219, 5.289863586425781], "pl_pos": [-0.23391903936862946, 1.079859733581543, -1.0821484327316284], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_429", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_429.png", "R_opt": [[-0.9940699338912964, -0.024829445406794548, -0.1058683693408966], [0.06419150531291962, -0.9198400378227234, -0.38700616359710693], [-0.08777283132076263, -0.3915071189403534, 0.9159793257713318]], "T_opt": [0.00491719413548708, 0.03619985654950142, 5.089047908782959], "pl_pos": [-0.9800759553909302, 0.9005234241485596, 0.18496471643447876], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_285", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_285.png", "R_opt": [[-0.6813274621963501, -0.4028664231300354, 0.6111395359039307], [-0.0009875332470983267, -0.8344076871871948, -0.5511469841003418], [0.7319779992103577, -0.3761150538921356, 0.5681071281433105]], "T_opt": [0.05174718797206879, 0.15579073131084442, 5.196927547454834], "pl_pos": [0.03659662976861, 1.119186282157898, -0.5377830266952515], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_93", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_93.png", "R_opt": [[-0.3497535288333893, -0.42097797989845276, 0.8369290232658386], [0.06965094804763794, -0.9025636911392212, -0.42488527297973633], [0.9342489838600159, -0.0903121680021286, 0.34499627351760864]], "T_opt": [0.1044880747795105, 0.09159193187952042, 5.137139320373535], "pl_pos": [0.25707483291625977, 1.0670268535614014, 0.13537880778312683], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_303", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_303.png", "R_opt": [[-0.9996333122253418, -0.02697155438363552, 0.002404121682047844], [0.022311348468065262, -0.8707063794136047, -0.4912969470024109], [0.015344327315688133, -0.4910631775856018, 0.8709887862205505]], "T_opt": [-0.0038265094626694918, 0.12708498537540436, 5.277398109436035], "pl_pos": [0.9914332628250122, 1.0502748489379883, -0.48345693945884705], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_511", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_511.png", "R_opt": [[-0.5974359512329102, 0.443194180727005, -0.6683181524276733], [-0.0010090088471770287, -0.8338158130645752, -0.5520417094230652], [-0.8019160628318787, -0.32913514971733093, 0.4985988140106201]], "T_opt": [-0.03152474761009216, 0.13071729242801666, 5.230278015136719], "pl_pos": [-0.5279020667076111, 1.027497410774231, 0.8577191829681396], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_232", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_232.png", "R_opt": [[-0.20373854041099548, 0.3635730743408203, -0.9090132713317871], [0.06532038748264313, -0.9213711619377136, -0.3831560015678406], [-0.9768437147140503, -0.13744084537029266, 0.16397011280059814]], "T_opt": [-0.06806585937738419, 0.037037864327430725, 5.069024085998535], "pl_pos": [1.291856050491333, 0.9404584765434265, 0.42690834403038025], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_52", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_52.png", "R_opt": [[-0.7491926550865173, 0.36460596323013306, -0.5529672503471375], [-0.000537356361746788, -0.8351883292198181, -0.5499638319015503], [-0.6623519062995911, -0.4117318391799927, 0.6259128451347351]], "T_opt": [-0.019359830766916275, 0.1290767639875412, 5.230035305023193], "pl_pos": [-0.3269695043563843, 1.0629377365112305, 0.8927080035209656], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_177", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_177.png", "R_opt": [[-0.3856014311313629, 0.5713433623313904, -0.7244849801063538], [0.040042586624622345, -0.7741060853004456, -0.6317880153656006], [-0.9217960834503174, -0.2726286053657532, 0.27561840415000916]], "T_opt": [-0.06481514126062393, 0.13679178059101105, 5.587024211883545], "pl_pos": [0.13374336063861847, 1.0434998273849487, -1.1433404684066772], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_10", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_10.png", "R_opt": [[-0.004168654792010784, 0.4929503798484802, -0.870047390460968], [0.023053856566548347, -0.8697764277458191, -0.49290722608566284], [-0.9997256398200989, -0.022112781181931496, -0.007738563697785139]], "T_opt": [-0.08964519202709198, 0.13465233147144318, 5.265170574188232], "pl_pos": [0.48347994685173035, 1.1720266342163086, -0.07074569165706635], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_4", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_4.png", "R_opt": [[0.8036330938339233, 0.27544254064559937, -0.5275465846061707], [0.0632161796092987, -0.9209405183792114, -0.38454148173332214], [-0.591758131980896, 0.2756807804107666, -0.7575106024742126]], "T_opt": [-0.07996340841054916, 0.061376672238111496, 4.999410629272461], "pl_pos": [0.23512879014015198, 1.016390323638916, 1.4389383792877197], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_196", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_196.png", "R_opt": [[0.9138281345367432, 0.22192317247390747, -0.34010058641433716], [-0.001386747695505619, -0.8357669115066528, -0.5490824580192566], [-0.4060989320278168, 0.5022386908531189, -0.7634395956993103]], "T_opt": [-0.06001753732562065, 0.18012754619121552, 5.132044792175293], "pl_pos": [0.8988775014877319, 1.1683429479599, 0.5629228949546814], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_39", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_39.png", "R_opt": [[-0.2255827635526657, 0.3662230670452118, -0.9027696847915649], [0.06485210359096527, -0.9189548492431641, -0.38899388909339905], [-0.9720630645751953, -0.14629685878753662, 0.18355004489421844]], "T_opt": [-0.06634988635778427, 0.035558175295591354, 5.071641445159912], "pl_pos": [0.12262988835573196, 1.3848650455474854, 0.4789189398288727], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_195", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_195.png", "R_opt": [[0.9556853175163269, -0.030486300587654114, 0.2928071916103363], [0.04693016782402992, -0.9661269187927246, -0.25376468896865845], [0.2906252443790436, 0.2562607228755951, -0.9218825101852417]], "T_opt": [-0.02968538925051689, 0.05248907953500748, 4.860942363739014], "pl_pos": [-0.1247154176235199, 1.0904818773269653, 0.9157394170761108], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_88", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_88.png", "R_opt": [[-0.7071248888969421, 0.22707587480545044, -0.6696349382400513], [0.06631268560886383, -0.9215604066848755, -0.38252997398376465], [-0.7039722800254822, -0.3149017095565796, 0.6366001963615417]], "T_opt": [-0.03769734874367714, 0.03262452781200409, 5.09144926071167], "pl_pos": [-0.08572382479906082, 1.1597484350204468, 1.0293203592300415], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_165", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_165.png", "R_opt": [[0.8939087390899658, 0.24630722403526306, -0.3745126724243164], [-0.002341864164918661, -0.8329240083694458, -0.553382396697998], [-0.4482426941394806, 0.4955504834651947, -0.7439813017845154]], "T_opt": [-0.06129144877195358, 0.1803307980298996, 5.172410488128662], "pl_pos": [-1.1489509344100952, 0.34820321202278137, 0.7584785223007202], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_186", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_186.png", "R_opt": [[-0.6981624364852905, -0.3500044047832489, 0.6245525479316711], [0.07099921256303787, -0.90190190076828, -0.42606592178344727], [0.7124100923538208, -0.25312063097953796, 0.6545240879058838]], "T_opt": [0.10369334369897842, 0.07963782548904419, 5.150217056274414], "pl_pos": [-1.104502558708191, 0.33542686700820923, -0.5395767092704773], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_379", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_379.png", "R_opt": [[-0.9713492393493652, 0.13556532561779022, -0.1951986849308014], [-0.005122506059706211, -0.8331009745597839, -0.5530971884727478], [-0.23760102689266205, -0.5362507700920105, 0.8099265694618225]], "T_opt": [0.010921739041805267, 0.12882599234580994, 5.228913307189941], "pl_pos": [-0.34607523679733276, 1.159143090248108, -1.1707264184951782], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_167", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_167.png", "R_opt": [[0.3923623263835907, -0.44514337182044983, 0.8049217462539673], [0.022077644243836403, -0.8702853322029114, -0.4920528531074524], [0.9195457696914673, 0.2108338326215744, -0.33163949847221375]], "T_opt": [-0.0016782083548605442, 0.17819368839263916, 5.1999430656433105], "pl_pos": [0.8107700347900391, 0.7365145087242126, -0.6750038862228394], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_34", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_34.png", "R_opt": [[0.9874707460403442, -0.029812101274728775, 0.15496096014976501], [0.026135088875889778, -0.9375341534614563, -0.3469100594520569], [0.15562327206134796, 0.34661346673965454, -0.9250083565711975]], "T_opt": [0.10005806386470795, 0.05032641440629959, 4.874636173248291], "pl_pos": [0.4554012417793274, 1.3199018239974976, 0.09162474423646927], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_65", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_65.png", "R_opt": [[0.8379824161529541, 0.2832425832748413, -0.4664323329925537], [0.020335445180535316, -0.8703605532646179, -0.4919949471950531], [-0.5453181862831116, 0.40279802680015564, -0.7351067662239075]], "T_opt": [-0.09260819852352142, 0.1636974960565567, 5.207008361816406], "pl_pos": [0.29224878549575806, 1.1717760562896729, 0.6199106574058533], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_295", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_295.png", "R_opt": [[0.14735600352287292, -0.622227132320404, 0.7688431143760681], [0.03970232233405113, -0.7729811072349548, -0.6331855058670044], [0.9882864356040955, 0.12382851541042328, -0.08919954299926758]], "T_opt": [0.01846132054924965, 0.1968364268541336, 5.527185440063477], "pl_pos": [-0.14497476816177368, 1.1296762228012085, -0.7710837721824646], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_115", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_115.png", "R_opt": [[-0.3955232799053192, 0.3668537437915802, -0.8420093059539795], [0.06857094913721085, -0.9024128913879395, -0.4253811538219452], [-0.9158925414085388, -0.2259855419397354, 0.33176982402801514]], "T_opt": [0.008666313253343105, 0.05861101299524307, 5.196197509765625], "pl_pos": [0.6832000613212585, 0.9658412933349609, -0.6238647103309631], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_70", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_70.png", "R_opt": [[-0.9654253721237183, -0.16909626126289368, 0.19839420914649963], [0.07068043947219849, -0.9023563861846924, -0.42515555024147034], [0.25091445446014404, -0.39643341302871704, 0.8831095695495605]], "T_opt": [0.08861974626779556, 0.06710763275623322, 5.180799961090088], "pl_pos": [0.9147339463233948, 1.1316660642623901, 0.3203887343406677], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_5", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_5.png", "R_opt": [[0.9916192889213562, -0.04602685198187828, 0.12071768194437027], [0.019125746563076973, -0.8717933297157288, -0.48950034379959106], [0.1277710497379303, 0.4877068102359772, -0.8636066913604736]], "T_opt": [-0.06299486756324768, 0.1786632388830185, 5.159381866455078], "pl_pos": [1.0929267406463623, 0.7823647856712341, -0.2936636805534363], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_413", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_413.png", "R_opt": [[0.8616975545883179, 0.24417251348495483, -0.4448111951351166], [0.06268762797117233, -0.9211208820343018, -0.38419589400291443], [-0.5035350322723389, 0.30317652225494385, -0.8090344071388245]], "T_opt": [-0.07705213129520416, 0.06428369879722595, 4.998007297515869], "pl_pos": [-1.1408350467681885, 1.2096121311187744, -0.19969439506530762], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_160", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_160.png", "R_opt": [[-0.9486027359962463, -0.1741906702518463, 0.2642165422439575], [-8.827017154544592e-05, -0.8347428441047668, -0.5506399869918823], [0.3164691627025604, -0.5223620533943176, 0.7918239831924438]], "T_opt": [0.03876429796218872, 0.1405649483203888, 5.215447902679443], "pl_pos": [0.40087637305259705, 1.1433249711990356, 0.06899803876876831], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_101", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_101.png", "R_opt": [[0.6013039350509644, -0.4448730945587158, 0.6637179851531982], [-0.003960059955716133, -0.8323137164115906, -0.554290771484375], [0.7990105152130127, 0.3306688368320465, -0.5022351741790771]], "T_opt": [0.013595848344266415, 0.19372059404850006, 5.1350603103637695], "pl_pos": [0.7406449317932129, 1.108285903930664, 0.36841532588005066], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_121", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_121.png", "R_opt": [[0.8298208713531494, 0.2890530824661255, -0.47733184695243835], [0.022534582763910294, -0.8720476627349854, -0.48890188336372375], [-0.5575748682022095, 0.3949444890022278, -0.7301569581031799]], "T_opt": [-0.09366894513368607, 0.1635994166135788, 5.199675559997559], "pl_pos": [-0.9095354080200195, 1.0818370580673218, -0.2741764783859253], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_355", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_355.png", "R_opt": [[0.15266083180904388, 0.43087100982666016, -0.8894071578979492], [0.06800741702318192, -0.902402400970459, -0.4254935681819916], [-0.9859358668327332, 0.004469994455575943, -0.16706402599811554]], "T_opt": [-0.013124980032444, 0.06803378462791443, 5.164809226989746], "pl_pos": [0.5787225365638733, 1.0956860780715942, -0.42000001668930054], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_333", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_333.png", "R_opt": [[0.38317549228668213, 0.24905984103679657, -0.8894637227058411], [0.047861356288194656, -0.9670212864875793, -0.2501583397388458], [-0.9224347472190857, 0.053283557295799255, -0.3824591040611267]], "T_opt": [-0.07509587705135345, 0.03301704674959183, 4.93761682510376], "pl_pos": [0.43088048696517944, 1.2167627811431885, 0.10610195994377136], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_176", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_176.png", "R_opt": [[-0.2484610378742218, 0.604499876499176, -0.7568665742874146], [0.03959217667579651, -0.7743780612945557, -0.631483256816864], [-0.9678323864936829, -0.1868649125099182, 0.16846932470798492]], "T_opt": [-0.0713634341955185, 0.1403350681066513, 5.580949306488037], "pl_pos": [1.6546286344528198, 0.7851411700248718, 0.08257375657558441], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_509", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_509.png", "R_opt": [[0.7518156170845032, -0.3671002686023712, 0.5477322340011597], [-0.0047440119087696075, -0.8336759805679321, -0.5522335171699524], [0.6593562364578247, 0.41257941722869873, -0.6285122036933899]], "T_opt": [0.001501942751929164, 0.19439686834812164, 5.121941566467285], "pl_pos": [-1.115568995475769, 0.42429783940315247, 1.1299145221710205], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_77", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_77.png", "R_opt": [[0.9975362420082092, 0.045748382806777954, 0.053185079246759415], [0.06281711906194687, -0.920011043548584, -0.3868252635002136], [0.031234227120876312, 0.38921311497688293, -0.920617938041687]], "T_opt": [-0.05327678844332695, 0.07453808188438416, 4.973503112792969], "pl_pos": [-0.8426679372787476, 0.3995054066181183, 1.0205605030059814], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_495", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_495.png", "R_opt": [[-0.5133644938468933, -0.5606948733329773, 0.6496753692626953], [0.043794527649879456, -0.7731771469116211, -0.6326762437820435], [0.8570523858070374, -0.2963411211967468, 0.42147698998451233]], "T_opt": [0.032030027359724045, 0.17180420458316803, 5.537877082824707], "pl_pos": [-0.9696823358535767, 0.6913201808929443, 0.788905143737793], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_503", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_503.png", "R_opt": [[-0.8390179872512817, -0.36757758259773254, 0.40116772055625916], [0.039218153804540634, -0.7762372493743896, -0.6292198300361633], [0.5426883697509766, -0.5121936798095703, 0.6656928062438965]], "T_opt": [0.026738956570625305, 0.15463680028915405, 5.562880039215088], "pl_pos": [-1.290368914604187, 0.6926629543304443, -0.047960150986909866], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_155", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_155.png", "R_opt": [[0.535770833492279, 0.4645281732082367, -0.7050979733467102], [-0.001366527983918786, -0.834586501121521, -0.5508753657341003], [-0.8443622589111328, 0.2961064875125885, -0.4465123116970062]], "T_opt": [-0.07056219130754471, 0.16221983730793, 5.174232482910156], "pl_pos": [0.7783424258232117, 0.32191240787506104, 1.1211867332458496], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_30", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_30.png", "R_opt": [[0.6709481477737427, -0.3551148474216461, 0.650939404964447], [0.01956210844218731, -0.8690807223320007, -0.494283527135849], [0.741246223449707, 0.34437233209609985, -0.5761612057685852]], "T_opt": [-0.020104043185710907, 0.18090254068374634, 5.179846286773682], "pl_pos": [-0.11572234332561493, 0.6402966976165771, 1.2671769857406616], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_213", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_213.png", "R_opt": [[-0.8389347791671753, 0.30210766196250916, -0.4526801109313965], [-0.0021652684081345797, -0.8336242437362671, -0.5523276329040527], [-0.5442274808883667, -0.46238675713539124, 0.7000105381011963]], "T_opt": [-0.010285267606377602, 0.127682164311409, 5.229987621307373], "pl_pos": [-0.6375448107719421, 1.078009843826294, -0.8635526299476624], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_25", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_25.png", "R_opt": [[0.9967296719551086, -0.014355838298797607, 0.07952172309160233], [0.03909652680158615, -0.7755699753761292, -0.6300499439239502], [0.07071953266859055, 0.6310983896255493, -0.7724722623825073]], "T_opt": [-0.05734981596469879, 0.20328879356384277, 5.501448631286621], "pl_pos": [0.3654758334159851, 0.9626574516296387, 0.873504638671875], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_156", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_156.png", "R_opt": [[-0.6280190944671631, 0.2930963933467865, -0.7208928465843201], [0.06712674349546432, -0.9025058150291443, -0.42541420459747314], [-0.7752974033355713, -0.315559446811676, 0.5471162796020508]], "T_opt": [0.02376715838909149, 0.05650452896952629, 5.200627326965332], "pl_pos": [0.8101028203964233, 0.9003642201423645, 0.6867537498474121], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_228", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_228.png", "R_opt": [[-0.3842814564704895, 0.21277864277362823, -0.8983612060546875], [0.05106699466705322, -0.9666893482208252, -0.25080665946006775], [-0.9218026399612427, -0.14225691556930542, 0.3606147766113281]], "T_opt": [-0.05069715529680252, 0.023904087021946907, 4.972945213317871], "pl_pos": [0.9459417462348938, 1.2121145725250244, -0.2874423563480377], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_365", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_365.png", "R_opt": [[-0.530768871307373, -0.3599638342857361, 0.7672746777534485], [0.06760621815919876, -0.9204187393188477, -0.3850436508655548], [0.844815731048584, -0.15249675512313843, 0.5128655433654785]], "T_opt": [0.03852850943803787, 0.059871383011341095, 5.034656047821045], "pl_pos": [-0.1277538686990738, 1.128623604774475, -0.5412757396697998], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_199", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_199.png", "R_opt": [[-0.9534672498703003, 0.16549959778785706, -0.2520119249820709], [-0.00022477819584310055, -0.8362601399421692, -0.5483327507972717], [-0.3014964461326599, -0.5227606892585754, 0.7973840236663818]], "T_opt": [0.005867576226592064, 0.12935206294059753, 5.2228899002075195], "pl_pos": [0.16431495547294617, 1.5047725439071655, 0.2750151455402374], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_399", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_399.png", "R_opt": [[0.08620718866586685, -0.37899529933929443, 0.9213743805885315], [0.06517285853624344, -0.9206910729408264, -0.3848120868206024], [0.9941431879997253, 0.09322217106819153, -0.05467003956437111]], "T_opt": [0.026587026193737984, 0.07342938333749771, 4.99539041519165], "pl_pos": [-0.3321755528450012, 0.7083243131637573, -1.207262396812439], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_474", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_474.png", "R_opt": [[0.30272921919822693, -0.3222142457962036, 0.8969576358795166], [0.031431712210178375, -0.9372308254241943, -0.3472900092601776], [0.9525582790374756, 0.13332772254943848, -0.2735994756221771]], "T_opt": [0.16314901411533356, 0.04880296811461449, 4.893267631530762], "pl_pos": [0.7072172164916992, 1.3015457391738892, 0.6079809665679932], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_463", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_463.png", "R_opt": [[0.32678118348121643, -0.34737715125083923, 0.8789443969726562], [0.06588347256183624, -0.9193659424781799, -0.38784727454185486], [0.9428008794784546, 0.18464910984039307, -0.27754509449005127]], "T_opt": [0.015552167780697346, 0.07685869932174683, 4.992074489593506], "pl_pos": [-0.4241645634174347, 1.1502474546432495, 0.8020066022872925], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_54", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_54.png", "R_opt": [[0.767329752445221, -0.3571799695491791, 0.5325667858123779], [-0.004389067180454731, -0.8334160447120667, -0.5526286959648132], [0.641237735748291, 0.42171090841293335, -0.6410726308822632]], "T_opt": [0.0001832053530961275, 0.19577482342720032, 5.129363536834717], "pl_pos": [0.5796932578086853, 1.049885869026184, -0.13358411192893982], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_484", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_484.png", "R_opt": [[0.3283594250679016, 0.4215095043182373, -0.8452867269515991], [0.06439927220344543, -0.9028149247169495, -0.4251798987388611], [-0.9423549771308899, 0.08517595380544662, -0.3235926926136017]], "T_opt": [-0.015156812965869904, 0.0724395215511322, 5.147731304168701], "pl_pos": [-0.16213206946849823, 0.4242952764034271, 1.2856571674346924], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_80", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_80.png", "R_opt": [[0.8889201879501343, -0.14202184975147247, 0.4354887902736664], [0.06483069807291031, -0.902142345905304, -0.42653968930244446], [0.45345085859298706, 0.40739285945892334, -0.7927253246307373]], "T_opt": [0.03943804278969765, 0.10799503326416016, 5.084221839904785], "pl_pos": [-0.21253599226474762, 1.135581135749817, 0.9329984784126282], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_211", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_211.png", "R_opt": [[-0.30952033400535583, 0.4616006910800934, -0.8313373923301697], [0.021926172077655792, -0.8705733418464661, -0.4915500581264496], [-0.9506399631500244, -0.17037275433540344, 0.25933903455734253]], "T_opt": [-0.07703603059053421, 0.12849704921245575, 5.275619983673096], "pl_pos": [0.30525141954421997, 1.2326618432998657, 0.4587036669254303], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_173", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_173.png", "R_opt": [[0.1261180341243744, 0.49146199226379395, -0.8617187142372131], [0.02497534640133381, -0.8699524998664856, -0.4925026595592499], [-0.9917007684707642, 0.04059181734919548, -0.12199118733406067]], "T_opt": [-0.09391982108354568, 0.13814420998096466, 5.254775524139404], "pl_pos": [-0.07262978702783585, 1.34083092212677, 0.16466954350471497], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_477", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_477.png", "R_opt": [[-0.42621544003486633, 0.43729647994041443, -0.7919042110443115], [0.022461367771029472, -0.8700125217437744, -0.4925176501274109], [-0.904342770576477, -0.2277059257030487, 0.3609905242919922]], "T_opt": [-0.07094283401966095, 0.12624117732048035, 5.281188488006592], "pl_pos": [0.003958593122661114, 1.3970632553100586, 0.3351595997810364], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_3", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_3.png", "R_opt": [[-0.996722936630249, -0.0029009475838392973, -0.08084022253751755], [0.030757227912545204, -0.9378901124000549, -0.34556636214256287], [-0.07481678575277328, -0.3469202220439911, 0.9349056482315063]], "T_opt": [0.15185321867465973, 0.012825826182961464, 4.977121829986572], "pl_pos": [0.907258152961731, 0.6946774125099182, -1.1423693895339966], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_33", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_33.png", "R_opt": [[-0.2692044973373413, 0.601367175579071, -0.7522542476654053], [0.03845746070146561, -0.773754358291626, -0.6323173642158508], [-0.9623148441314697, -0.19915248453617096, 0.18517111241817474]], "T_opt": [-0.07020174711942673, 0.1393643319606781, 5.584673881530762], "pl_pos": [1.0374481678009033, 0.3905927240848541, -0.7828763723373413], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_185", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_185.png", "R_opt": [[0.7144423723220825, -0.42153435945510864, 0.5584630966186523], [0.03647330030798912, -0.7746310830116272, -0.6313607096672058], [0.6987430453300476, 0.47143983840942383, -0.5380544066429138]], "T_opt": [-0.015418149530887604, 0.20854486525058746, 5.503964900970459], "pl_pos": [0.9873842000961304, 0.5303117036819458, -0.6118262410163879], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_21", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_21.png", "R_opt": [[0.08247622847557068, 0.6336644291877747, -0.7691988348960876], [0.040875717997550964, -0.7733299136161804, -0.6326848268508911], [-0.9957543611526489, 0.020739924162626266, -0.08968282490968704]], "T_opt": [-0.08338635414838791, 0.14969472587108612, 5.568361759185791], "pl_pos": [1.4615352153778076, 0.8417826294898987, -0.19213208556175232], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_410", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_410.png", "R_opt": [[-0.6820277571678162, -0.40372326970100403, 0.6097915768623352], [0.00022578710922971368, -0.833932101726532, -0.5518669486045837], [0.7313262224197388, -0.3762509822845459, 0.5688560605049133]], "T_opt": [0.051708072423934937, 0.15555664896965027, 5.195111274719238], "pl_pos": [0.16496019065380096, 1.201900601387024, 0.253953218460083], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_376", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_376.png", "R_opt": [[-0.9488784670829773, 0.13501936197280884, -0.28530603647232056], [0.02322792448103428, -0.8715713620185852, -0.48971807956695557], [-0.31478598713874817, -0.4713099002838135, 0.8238791227340698]], "T_opt": [-0.02340768463909626, 0.1230902224779129, 5.281836032867432], "pl_pos": [0.9563487768173218, 1.0995069742202759, -0.13915283977985382], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_507", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_507.png", "R_opt": [[0.6758674383163452, 0.21417872607707977, -0.7052168250083923], [0.04663509875535965, -0.9673550128936768, -0.24909736216068268], [-0.7355462312698364, 0.13546893000602722, -0.6637920141220093]], "T_opt": [-0.07398881018161774, 0.03911113739013672, 4.913954734802246], "pl_pos": [0.3783455193042755, 1.0743728876113892, 0.06759705394506454], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_269", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_269.png", "R_opt": [[-0.5844041705131531, 0.5014786124229431, -0.6379584074020386], [0.039000317454338074, -0.7679167985916138, -0.6393610835075378], [-0.8105249404907227, -0.39852598309516907, 0.42921602725982666]], "T_opt": [-0.05208135396242142, 0.13162526488304138, 5.598442554473877], "pl_pos": [-0.4666118919849396, 1.1498759984970093, -0.2819112241268158], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_319", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_319.png", "R_opt": [[-0.6481045484542847, 0.41901764273643494, -0.6359124779701233], [-0.0007901409408077598, -0.8353919386863708, -0.5496541857719421], [-0.761550784111023, -0.3557308614253998, 0.5417523980140686]], "T_opt": [-0.028003089129924774, 0.13030609488487244, 5.22876501083374], "pl_pos": [1.1027551889419556, 0.9479742646217346, 0.4595356285572052], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_210", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_210.png", "R_opt": [[0.06152056157588959, 0.3883458971977234, -0.9194577932357788], [0.06480933725833893, -0.9208130240440369, -0.3845818340778351], [-0.9959994554519653, -0.03592982143163681, -0.0818173810839653]], "T_opt": [-0.07725585997104645, 0.04115445539355278, 5.056109428405762], "pl_pos": [1.2222716808319092, 0.9836710095405579, 0.8036701083183289], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_207", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_207.png", "R_opt": [[-0.20418916642665863, 0.5416452884674072, -0.8154307007789612], [-0.002575235441327095, -0.8332746624946594, -0.5528531074523926], [-0.9789280891418457, -0.11078669130802155, 0.17154048383235931]], "T_opt": [-0.05327737331390381, 0.13867902755737305, 5.221044540405273], "pl_pos": [-0.43368783593177795, 1.1010314226150513, 0.8674095869064331], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_12", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_12.png", "R_opt": [[-0.7095766067504883, 0.42328211665153503, -0.5633234977722168], [0.03910890966653824, -0.7745710611343384, -0.6312766671180725], [-0.7035421133041382, -0.4699699282646179, 0.5330634713172913]], "T_opt": [-0.04258889704942703, 0.1311814934015274, 5.5906877517700195], "pl_pos": [1.374114751815796, 0.540133535861969, 0.2558094561100006], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_119", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_119.png", "R_opt": [[0.9866482019424438, 0.08571558445692062, -0.13848549127578735], [0.048473749309778214, -0.9663171172142029, -0.25274795293807983], [-0.1554853767156601, 0.24266040325164795, -0.95756995677948]], "T_opt": [-0.055118218064308167, 0.047144051641225815, 4.849626541137695], "pl_pos": [0.8341575860977173, 1.4184041023254395, 1.2202075719833374], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_378", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_378.png", "R_opt": [[0.7965812683105469, 0.2306535691022873, -0.5588000416755676], [0.028825780376791954, -0.9377924799919128, -0.34599706530570984], [-0.6038439869880676, 0.25950688123703003, -0.7536768317222595]], "T_opt": [0.06586424261331558, 0.03713836148381233, 4.906915664672852], "pl_pos": [0.7694653868675232, 1.1990594863891602, 0.4938327670097351], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_79", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_79.png", "R_opt": [[-0.7512737512588501, 0.20795969665050507, -0.6263708472251892], [0.06547579169273376, -0.9208938479423523, -0.38427552580833435], [-0.6567347645759583, -0.3297082185745239, 0.6782269477844238]], "T_opt": [-0.03317150101065636, 0.03215242177248001, 5.086355209350586], "pl_pos": [0.3053785562515259, 1.370606780052185, 0.27511921525001526], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_83", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_83.png", "R_opt": [[0.8158789873123169, -0.17951861023902893, 0.5496495366096497], [0.028296785429120064, -0.937049388885498, -0.34804829955101013], [0.5775299072265625, 0.2995185852050781, -0.7594392895698547]], "T_opt": [0.12722927331924438, 0.05256576091051102, 4.8734965324401855], "pl_pos": [0.5782364010810852, 1.3284821510314941, 0.08068680763244629], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_126", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_126.png", "R_opt": [[0.31436797976493835, 0.4224764108657837, -0.8501097559928894], [0.06764151155948639, -0.9032036066055298, -0.4238487184047699], [-0.946888267993927, 0.07574167102575302, -0.3125151991844177]], "T_opt": [-0.01620977744460106, 0.07230456918478012, 5.153909206390381], "pl_pos": [1.0520552396774292, 1.2244271039962769, 0.02964046224951744], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_9", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_9.png", "R_opt": [[0.030693452805280685, 0.42720919847488403, -0.9036316871643066], [0.06845854222774506, -0.902833104133606, -0.42450636625289917], [-0.9971815943717957, -0.04883177950978279, -0.05695713683962822]], "T_opt": [-0.009657302871346474, 0.06543904542922974, 5.171676158905029], "pl_pos": [1.0658725500106812, 1.2172855138778687, -0.282209187746048], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_283", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_283.png", "R_opt": [[-0.5979908108711243, 0.44552069902420044, -0.6662719249725342], [-0.0025779595598578453, -0.8323431015014648, -0.5542548298835754], [-0.8014987707138062, -0.3297216594219208, 0.4988819360733032]], "T_opt": [-0.03125474601984024, 0.12992312014102936, 5.230487823486328], "pl_pos": [0.2750394344329834, 1.3951438665390015, -0.1806515008211136], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_193", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_193.png", "R_opt": [[0.9660666584968567, 0.13910940289497375, -0.21763205528259277], [-0.004101998172700405, -0.8342098593711853, -0.5514318346977234], [-0.25826016068458557, 0.5336126685142517, -0.805331826210022]], "T_opt": [-0.053109310567379, 0.1849329024553299, 5.136462688446045], "pl_pos": [-0.07606172561645508, 0.32261502742767334, 1.4237072467803955], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_482", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_482.png", "R_opt": [[-0.9636620879173279, -0.15907634794712067, 0.21459291875362396], [0.06633652001619339, -0.9206928610801697, -0.38460931181907654], [0.2587564289569855, -0.3563981354236603, 0.8977891206741333]], "T_opt": [0.02220647968351841, 0.04259314015507698, 5.069775104522705], "pl_pos": [0.43120551109313965, 1.2176928520202637, -0.3116859197616577], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_502", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_502.png", "R_opt": [[0.8826346397399902, -0.26220929622650146, 0.3901312053203583], [-0.004444680642336607, -0.834579586982727, -0.5508696436882019], [0.47003859281539917, 0.48448264598846436, -0.7377941608428955]], "T_opt": [-0.012865712866187096, 0.19502045214176178, 5.117424964904785], "pl_pos": [-0.915896475315094, 0.5420600771903992, 1.320684790611267], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_448", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_448.png", "R_opt": [[-0.7552917003631592, 0.3081511855125427, -0.5784265398979187], [0.022206442430615425, -0.8700307011604309, -0.49249696731567383], [-0.6550124287605286, -0.3848237693309784, 0.6502842307090759]], "T_opt": [-0.0471721813082695, 0.12178843468427658, 5.284544944763184], "pl_pos": [-0.9719970226287842, 1.3718922138214111, -0.19913405179977417], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_288", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_288.png", "R_opt": [[-0.8810708522796631, 0.2585255205631256, -0.39607930183410645], [0.00012952068937011063, -0.8372726440429688, -0.5467855930328369], [-0.47298431396484375, -0.48180803656578064, 0.7376629710197449]], "T_opt": [-0.0056238663382828236, 0.12880535423755646, 5.224841594696045], "pl_pos": [0.48314738273620605, 1.234605312347412, 0.3940074145793915], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_135", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_135.png", "R_opt": [[-0.9187158346176147, -0.2171851247549057, 0.3298358619213104], [-0.0008719724719412625, -0.8340810537338257, -0.5516412854194641], [0.3949180841445923, -0.5070894360542297, 0.7660940885543823]], "T_opt": [0.041790906339883804, 0.14273864030838013, 5.211874961853027], "pl_pos": [0.21241235733032227, 1.2319488525390625, 0.5462499260902405], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_389", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_389.png", "R_opt": [[-0.18894797563552856, 0.48068898916244507, -0.8562924265861511], [0.02249888703227043, -0.8696515560150146, -0.4931528568267822], [-0.9817293286323547, -0.11244592070579529, 0.1535039246082306]], "T_opt": [-0.08266952633857727, 0.13035385310649872, 5.274174213409424], "pl_pos": [0.3649235665798187, 1.1823256015777588, -0.5341508388519287], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_275", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_275.png", "R_opt": [[-0.5972603559494019, -0.406732439994812, 0.6912661194801331], [0.022412313148379326, -0.8700039386749268, -0.4925350248813629], [0.8017341494560242, -0.27867886424064636, 0.5287347435951233]], "T_opt": [0.024626312777400017, 0.15042684972286224, 5.235791206359863], "pl_pos": [0.3332544267177582, 0.6597804427146912, -1.3584465980529785], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_242", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_242.png", "R_opt": [[-0.5174185037612915, 0.5261164307594299, -0.6748921871185303], [0.0371587797999382, -0.7741144299507141, -0.6319542527198792], [-0.8549253344535828, -0.35206297039985657, 0.38099125027656555]], "T_opt": [-0.056236546486616135, 0.13360998034477234, 5.585019111633301], "pl_pos": [0.6538527011871338, 0.8710618019104004, -1.324141025543213], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_521", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_521.png", "R_opt": [[0.6299594640731812, -0.2947556972503662, 0.7185195088386536], [0.06661795824766159, -0.9012596011161804, -0.42812761664390564], [0.7737656235694885, 0.3175692856311798, -0.5481209754943848]], "T_opt": [0.0642271488904953, 0.10810168087482452, 5.0945234298706055], "pl_pos": [-0.6156226992607117, 1.0730942487716675, 0.9525600671768188], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_403", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_403.png", "R_opt": [[0.33051198720932007, -0.5875322222709656, 0.7386255264282227], [0.03952532261610031, -0.7733034491539001, -0.6328029632568359], [0.942973792552948, 0.23834346234798431, -0.23236370086669922]], "T_opt": [0.01005192194133997, 0.20169249176979065, 5.525296211242676], "pl_pos": [-0.19042016565799713, 1.0993012189865112, 0.23527035117149353], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_253", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_253.png", "R_opt": [[-0.2903461456298828, 0.4657340347766876, -0.8359372019767761], [0.022329282015562057, -0.8700338006019592, -0.4924861490726471], [-0.9566611051559448, -0.16165751218795776, 0.2422115057706833]], "T_opt": [-0.07795200496912003, 0.12853585183620453, 5.278548240661621], "pl_pos": [0.2941536009311676, 1.1871384382247925, -0.13669976592063904], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_369", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_369.png", "R_opt": [[-0.8936446309089661, -0.18252387642860413, 0.40998074412345886], [0.03288730978965759, -0.9377337098121643, -0.3457947075366974], [0.4475685656070709, -0.2955344319343567, 0.8440034985542297]], "T_opt": [0.17617180943489075, 0.021993961185216904, 4.9593048095703125], "pl_pos": [1.1651904582977295, 1.117401361465454, 0.13837964832782745], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_321", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_321.png", "R_opt": [[0.7647310495376587, -0.20378580689430237, 0.6112757325172424], [0.028842724859714508, -0.9368934035301208, -0.3484230041503906], [0.643703818321228, 0.28408071398735046, -0.7105937600135803]], "T_opt": [0.13253037631511688, 0.052757441997528076, 4.881220817565918], "pl_pos": [-0.6459270715713501, 1.4214509725570679, -0.17866069078445435], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_251", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_251.png", "R_opt": [[-0.9833545088768005, 0.08005303889513016, -0.16311170160770416], [0.04117389768362045, -0.7761805653572083, -0.6291649341583252], [-0.1769707053899765, -0.6254080533981323, 0.7599645256996155]], "T_opt": [-0.00667899614199996, 0.13402904570102692, 5.589229106903076], "pl_pos": [0.6826155185699463, 0.4268549382686615, -1.273024559020996], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_489", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_489.png", "R_opt": [[0.08455482125282288, 0.38820043206214905, -0.9176878333091736], [0.06484777480363846, -0.9211773872375488, -0.3837016224861145], [-0.9943063855171204, -0.027066277340054512, -0.10306388884782791]], "T_opt": [-0.07774610072374344, 0.04207969829440117, 5.054632186889648], "pl_pos": [0.5765612125396729, 1.186238169670105, 0.9412828087806702], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_439", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_439.png", "R_opt": [[0.9710016846656799, -0.05878863111138344, 0.23173193633556366], [0.02662721462547779, -0.9366701245307922, -0.34919923543930054], [0.23758533596992493, 0.3452434241771698, -0.9079427719116211]], "T_opt": [0.1056264117360115, 0.05145221948623657, 4.894678115844727], "pl_pos": [0.11140009760856628, 1.2589588165283203, 0.40992432832717896], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_323", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_323.png", "R_opt": [[-0.19707413017749786, 0.4059566855430603, -0.8923905491828918], [0.06783312559127808, -0.902414083480835, -0.4254967272281647], [-0.9780390858650208, -0.14438799023628235, 0.1503051370382309]], "T_opt": [-0.0010090237483382225, 0.06110691279172897, 5.184360980987549], "pl_pos": [1.0306740999221802, 1.217195749282837, -0.5219553709030151], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_248", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_248.png", "R_opt": [[-0.7452914118766785, 0.2350747287273407, -0.6239234805107117], [0.06847984343767166, -0.9038463234901428, -0.42234161496162415], [-0.663212776184082, -0.35749363899230957, 0.6575311422348022]], "T_opt": [0.03303953632712364, 0.05665258690714836, 5.200741291046143], "pl_pos": [0.4375985860824585, 0.9273672103881836, 1.164237141609192], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_311", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_311.png", "R_opt": [[-0.3632085621356964, -0.4678666293621063, 0.8057172894477844], [0.02473469264805317, -0.8693118095397949, -0.49364471435546875], [0.9313794374465942, -0.1593669056892395, 0.3273141384124756]], "T_opt": [0.023048173636198044, 0.15814760327339172, 5.2204132080078125], "pl_pos": [-0.8104426264762878, 0.2512575387954712, -0.9863808751106262], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_247", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_247.png", "R_opt": [[-0.20455460250377655, -0.6255906820297241, 0.7528570890426636], [0.04105575382709503, -0.7739264369010925, -0.6319433450698853], [0.9779937863349915, -0.09835781157016754, 0.18399427831172943]], "T_opt": [0.029220806434750557, 0.18517287075519562, 5.54090690612793], "pl_pos": [0.08185915648937225, 1.035744309425354, -0.955128014087677], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_302", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_302.png", "R_opt": [[-0.8809362053871155, 0.12655067443847656, -0.45600032806396484], [0.06587381660938263, -0.9214080572128296, -0.38297221064567566], [-0.4686279594898224, -0.3674125373363495, 0.8033654093742371]], "T_opt": [-0.019256992265582085, 0.032975807785987854, 5.085850238800049], "pl_pos": [0.4518083333969116, 1.3812174797058105, 0.38620612025260925], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_359", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_359.png", "R_opt": [[-0.6932792067527771, 0.23503980040550232, -0.6812636852264404], [0.06616243720054626, -0.9205706119537354, -0.38493138551712036], [-0.7176254391670227, -0.3119390606880188, 0.6226617097854614]], "T_opt": [-0.03845323994755745, 0.03184977546334267, 5.085667133331299], "pl_pos": [0.40474748611450195, 1.0142172574996948, -1.259408950805664], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_106", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_106.png", "R_opt": [[0.14309360086917877, 0.6308485269546509, -0.7625970840454102], [0.03910654038190842, -0.7735286951065063, -0.6325536370277405], [-0.9889363050460815, 0.06069185584783554, -0.1353573352098465]], "T_opt": [-0.08499231934547424, 0.1521996557712555, 5.571168422698975], "pl_pos": [1.222264289855957, 0.5704229474067688, -0.4186219871044159], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_329", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_329.png", "R_opt": [[-0.4394671320915222, 0.4969765841960907, -0.748253345489502], [-0.0024814342614263296, -0.8336727619171143, -0.5522531867027283], [-0.8982551693916321, -0.2408403903245926, 0.36760497093200684]], "T_opt": [-0.041412245482206345, 0.13325996696949005, 5.226187229156494], "pl_pos": [-0.13035501539707184, 1.1715980768203735, -0.8947444558143616], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_145", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_145.png", "R_opt": [[-0.7127078175544739, 0.14110881090164185, -0.6871212720870972], [0.051219455897808075, -0.9664739370346069, -0.25160396099090576], [-0.699588418006897, -0.2145143449306488, 0.6815861463546753]], "T_opt": [-0.028878353536128998, 0.02195470593869686, 4.979782581329346], "pl_pos": [0.8695092797279358, 1.134691834449768, -0.18790042400360107], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_172", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_172.png", "R_opt": [[-0.7233743667602539, 0.13720130920410156, -0.6766871213912964], [0.051661062985658646, -0.9665558338165283, -0.2511988878250122], [-0.6885207891464233, -0.21666915714740753, 0.6920936107635498]], "T_opt": [-0.02770586684346199, 0.022179078310728073, 4.9799604415893555], "pl_pos": [0.9080999493598938, 1.1427462100982666, -0.8224058151245117], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_224", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_224.png", "R_opt": [[0.4610781669616699, -0.3175611197948456, 0.8285902738571167], [0.06478966027498245, -0.9192304611206055, -0.3883523643016815], [0.8849911689758301, 0.23274488747119904, -0.4032624065876007]], "T_opt": [0.0082993870601058, 0.07840756326913834, 4.985089302062988], "pl_pos": [0.8377031683921814, 1.051044225692749, 0.14214351773262024], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_485", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_485.png", "R_opt": [[-0.3841933012008667, -0.5050333738327026, 0.7728756666183472], [-0.0035227059852331877, -0.8363145589828491, -0.5482385158538818], [0.9232460260391235, -0.21335211396217346, 0.31952738761901855]], "T_opt": [0.05265316739678383, 0.1677687019109726, 5.168252944946289], "pl_pos": [0.19645138084888458, 1.0898373126983643, -0.8922858834266663], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_450", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_450.png", "R_opt": [[-0.017615260556340218, 0.6291791200637817, -0.7770606875419617], [0.042172856628894806, -0.7760220766067505, -0.6292941570281982], [-0.9989548921585083, -0.04385601356625557, -0.012864488177001476]], "T_opt": [-0.08125149458646774, 0.14749643206596375, 5.575669288635254], "pl_pos": [1.5020880699157715, 0.8871483206748962, 0.4575454592704773], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_255", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_255.png", "R_opt": [[-0.10026471316814423, -0.49301788210868835, 0.8642224073410034], [0.024329591542482376, -0.8695546388626099, -0.49323707818984985], [0.9946632981300354, -0.02842816896736622, 0.09918058663606644]], "T_opt": [0.018118785694241524, 0.16638557612895966, 5.209474086761475], "pl_pos": [-0.4095878005027771, 0.42249950766563416, -1.3590909242630005], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_434", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_434.png", "R_opt": [[-0.9945230484008789, -0.09274681657552719, 0.04818485304713249], [0.04176778346300125, -0.77529376745224, -0.6302184462547302], [0.09580816328525543, -0.6247541904449463, 0.7749212384223938]], "T_opt": [0.008171320892870426, 0.13934199512004852, 5.5813307762146], "pl_pos": [-1.0839813947677612, 0.6931536793708801, -0.6692629456520081], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_114", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_114.png", "R_opt": [[0.9338449835777283, -0.0987740233540535, 0.34376946091651917], [0.02821347303688526, -0.9377771019935608, -0.34608960151672363], [0.3565638065338135, 0.3328930139541626, -0.8729516863822937]], "T_opt": [0.11174643039703369, 0.05212349072098732, 4.868925094604492], "pl_pos": [0.4774714410305023, 1.323091983795166, 0.10425014048814774], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_270", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_270.png", "R_opt": [[0.7122562527656555, -0.23131605982780457, 0.6627095937728882], [0.06156058609485626, -0.9199147820472717, -0.38725554943084717], [0.6992148756980896, 0.3166219890117645, -0.6409750580787659]], "T_opt": [-0.00879859272390604, 0.07975467294454575, 4.9721550941467285], "pl_pos": [-1.0711686611175537, 0.4162566065788269, -0.672120213508606], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_492", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_492.png", "R_opt": [[-0.1877802610397339, 0.6135900616645813, -0.7669718265533447], [0.0388500951230526, -0.7756116390228271, -0.6300138235092163], [-0.9814423322677612, -0.14810100197792053, 0.12180647999048233]], "T_opt": [-0.07379276305437088, 0.14248259365558624, 5.580854415893555], "pl_pos": [-0.1402578055858612, 0.831967830657959, 0.9285612106323242], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_274", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_274.png", "R_opt": [[0.7698386907577515, 0.34936127066612244, -0.5341301560401917], [-0.0022802809253335, -0.8353708386421204, -0.5496819019317627], [-0.6382344365119934, 0.42438435554504395, -0.6423042416572571]], "T_opt": [-0.06701824814081192, 0.17301549017429352, 5.158637046813965], "pl_pos": [0.3430464565753937, 1.2262756824493408, -0.10908664017915726], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_98", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_98.png", "R_opt": [[0.7781200408935547, 0.3222750425338745, -0.5391361713409424], [0.02079552784562111, -0.8710866570472717, -0.4906888008117676], [-0.6277711987495422, 0.37060317397117615, -0.6845120191574097]], "T_opt": [-0.09493505954742432, 0.16104818880558014, 5.206930637359619], "pl_pos": [-0.24275873601436615, 1.2723915576934814, 0.6249884366989136], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_457", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_457.png", "R_opt": [[-0.6535258293151855, -0.2822890281677246, 0.7022939920425415], [0.03323489427566528, -0.9376577734947205, -0.345967173576355], [0.7561743259429932, -0.20275774598121643, 0.6221653819084167]], "T_opt": [0.18407705426216125, 0.029655491933226585, 4.943295478820801], "pl_pos": [-0.9154952764511108, 1.3067593574523926, -0.7338609099388123], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_391", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_391.png", "R_opt": [[-0.1374608874320984, 0.4139973819255829, -0.8998394012451172], [0.06757143139839172, -0.9024273157119751, -0.4255104064941406], [-0.9881995916366577, -0.11929446458816528, 0.09607401490211487]], "T_opt": [-0.0036401667166501284, 0.062294863164424896, 5.184791564941406], "pl_pos": [0.6409134268760681, 0.9949804544448853, -0.4161248505115509], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_212", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_212.png", "R_opt": [[0.3259683847427368, 0.382403701543808, -0.8645878434181213], [0.06419633328914642, -0.9213818907737732, -0.38332003355026245], [-0.9431984424591064, 0.06944683939218521, -0.32489025592803955]], "T_opt": [-0.08293483406305313, 0.047152262181043625, 5.037187576293945], "pl_pos": [0.9801234602928162, 1.0028759241104126, 1.0863813161849976], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_418", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_418.png", "R_opt": [[0.8379979729652405, 0.17955391108989716, -0.5152862668037415], [0.05027719587087631, -0.9657019376754761, -0.25473886728286743], [-0.5433523058891296, 0.18756353855133057, -0.8182836174964905]], "T_opt": [-0.07067011296749115, 0.0407799668610096, 4.883783340454102], "pl_pos": [0.09470871090888977, 0.5887625217437744, 1.3806191682815552], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_496", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_496.png", "R_opt": [[0.763801634311676, 0.33070847392082214, -0.554291307926178], [0.02081802487373352, -0.8709415197372437, -0.49094563722610474], [-0.645115077495575, 0.36344587802886963, -0.6721112132072449]], "T_opt": [-0.0957835242152214, 0.1602005660533905, 5.207516670227051], "pl_pos": [0.04208986461162567, 1.3493791818618774, -1.1412492990493774], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_67", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_67.png", "R_opt": [[0.4438561499118805, 0.5776733756065369, -0.6850438714027405], [0.04184253141283989, -0.7770012617111206, -0.6281070709228516], [-0.8951205015182495, 0.2501251697540283, -0.36904802918434143]], "T_opt": [-0.09053410589694977, 0.16417482495307922, 5.5446014404296875], "pl_pos": [0.188851460814476, 1.024186134338379, -1.150872826576233], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_364", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_364.png", "R_opt": [[0.9636045098304749, 0.1556854248046875, -0.21732088923454285], [0.06165008619427681, -0.9204270243644714, -0.38602253794670105], [-0.26012617349624634, 0.3585752546787262, -0.8965256214141846]], "T_opt": [-0.06716310232877731, 0.06919100880622864, 4.97944450378418], "pl_pos": [-0.566205620765686, 0.47099506855010986, 1.1925841569900513], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_416", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_416.png", "R_opt": [[-0.6037653088569641, 0.3853954076766968, -0.6978093981742859], [0.022076107561588287, -0.8669475317001343, -0.49791020154953003], [-0.7968564629554749, -0.3160257637500763, 0.5149247646331787]], "T_opt": [-0.05931073799729347, 0.12255598604679108, 5.289721965789795], "pl_pos": [-0.787322461605072, 1.4217863082885742, -0.3547433018684387], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_180", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_180.png", "R_opt": [[-0.9256879091262817, 0.20725272595882416, -0.3164620101451874], [0.04081091657280922, -0.7769672274589539, -0.6282168626785278], [-0.3760802745819092, -0.5944477915763855, 0.7107709646224976]], "T_opt": [-0.01901388168334961, 0.1319671869277954, 5.591927528381348], "pl_pos": [0.9206617474555969, 0.4359217882156372, -1.1107875108718872], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_246", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_246.png", "R_opt": [[-0.47474780678749084, -0.44317036867141724, 0.760404109954834], [0.023499637842178345, -0.8700506687164307, -0.49240177869796753], [0.8798081874847412, -0.2158975452184677, 0.42346903681755066]], "T_opt": [0.024161064997315407, 0.155190110206604, 5.230764389038086], "pl_pos": [-0.49844300746917725, 1.030231237411499, -1.222420334815979], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_442", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_442.png", "R_opt": [[-0.6034541130065918, -0.2935262620449066, 0.7414077520370483], [0.03198663890361786, -0.9379463791847229, -0.34530186653137207], [0.7967560291290283, -0.1846587061882019, 0.5753966569900513]], "T_opt": [0.18503594398498535, 0.03145570680499077, 4.938616752624512], "pl_pos": [0.8076950311660767, 1.2420330047607422, -0.3538860082626343], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_69", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_69.png", "R_opt": [[-0.023743033409118652, 0.6302452087402344, -0.7760331630706787], [0.038634173572063446, -0.7750935554504395, -0.6306642889976501], [-0.998971164226532, -0.044955261051654816, -0.005945882759988308]], "T_opt": [-0.08034159988164902, 0.1466599851846695, 5.566779136657715], "pl_pos": [-0.3154641389846802, 1.0679597854614258, -1.240756869316101], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_143", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_143.png", "R_opt": [[-0.6447398662567139, -0.3900126516819, 0.6574198007583618], [0.023710524663329124, -0.869834303855896, -0.49277400970458984], [0.7640343904495239, -0.30212312936782837, 0.5700640678405762]], "T_opt": [0.023748481646180153, 0.1488761454820633, 5.241359233856201], "pl_pos": [-0.24232929944992065, 1.0067826509475708, -1.2717639207839966], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_380", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_380.png", "R_opt": [[0.9420731067657471, 0.1960180401802063, -0.27216771245002747], [0.06532474607229233, -0.9031433463096619, -0.424340158700943], [-0.3289848864078522, 0.38198021054267883, -0.8636319637298584]], "T_opt": [-0.004042160697281361, 0.09595020860433578, 5.102846622467041], "pl_pos": [0.3249628245830536, 1.1806107759475708, 0.5695949196815491], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_362", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_362.png", "R_opt": [[-0.45700523257255554, -0.44832056760787964, 0.7682153582572937], [0.024220189079642296, -0.8696357011795044, -0.4930996000766754], [0.8891342282295227, -0.20674288272857666, 0.4082864224910736]], "T_opt": [0.024018459022045135, 0.15614157915115356, 5.231916427612305], "pl_pos": [1.1652615070343018, 0.5340148210525513, 0.8520615100860596], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_40", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_40.png", "R_opt": [[-0.7235767245292664, -0.31085023283958435, 0.6162864565849304], [0.06722090393304825, -0.9203436374664307, -0.38529089093208313], [0.6869630217552185, -0.23736007511615753, 0.6868346929550171]], "T_opt": [0.0364920012652874, 0.053699664771556854, 5.048642635345459], "pl_pos": [-0.6418158411979675, 1.2736024856567383, -0.29920172691345215], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_234", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_234.png", "R_opt": [[-0.8625891804695129, 0.2903045415878296, -0.4143224060535431], [0.04023442417383194, -0.7770132422447205, -0.628197193145752], [-0.5043025016784668, -0.5585461258888245, 0.6585628986358643]], "T_opt": [-0.027529612183570862, 0.13112452626228333, 5.589122772216797], "pl_pos": [-0.38618794083595276, 1.2431042194366455, -0.7510476112365723], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_487", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_487.png", "R_opt": [[0.7137830257415771, 0.3384993076324463, -0.6131330132484436], [0.06547960638999939, -0.9038645029067993, -0.4227781593799591], [-0.6972991228103638, 0.26162418723106384, -0.6673280596733093]], "T_opt": [-0.015612649731338024, 0.08536777645349503, 5.128790378570557], "pl_pos": [0.5948736667633057, 0.9798838496208191, 0.06994730979204178], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_78", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_78.png", "R_opt": [[0.9539487957954407, -0.07877493649721146, 0.28944095969200134], [0.028063954785466194, -0.9372326731681824, -0.34757354855537415], [0.29865360260009766, 0.339690238237381, -0.8918612003326416]], "T_opt": [0.1083352193236351, 0.051659949123859406, 4.877279758453369], "pl_pos": [0.38018539547920227, 1.174315333366394, 0.34161999821662903], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_453", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_453.png", "R_opt": [[-0.899795651435852, -0.22287286818027496, 0.3750940263271332], [0.06762237101793289, -0.9205406904220581, -0.38474929332733154], [0.4310395419597626, -0.32083114981651306, 0.8433696627616882]], "T_opt": [0.028610272333025932, 0.046410806477069855, 5.060336589813232], "pl_pos": [-0.781234860420227, 1.2391502857208252, -0.14171910285949707], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_198", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_198.png", "R_opt": [[-0.8186696767807007, -0.22270014882087708, 0.5293245315551758], [0.03129814937710762, -0.9376764893531799, -0.3460972309112549], [0.573411226272583, -0.2667725384235382, 0.7746174335479736]], "T_opt": [0.18065573275089264, 0.024700170382857323, 4.961098670959473], "pl_pos": [0.7178200483322144, 1.11592698097229, 0.4219960868358612], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_370", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_370.png", "R_opt": [[-0.4440959393978119, 0.5531638860702515, -0.7048321962356567], [0.03740732744336128, -0.7745283842086792, -0.631432056427002], [-0.8951979875564575, -0.3067823350429535, 0.32327261567115784]], "T_opt": [-0.060887765139341354, 0.13557004928588867, 5.584832668304443], "pl_pos": [1.6287057399749756, 0.6760028600692749, -0.22991731762886047], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_159", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_159.png", "R_opt": [[-0.9805777668952942, 0.041138749569654465, -0.19176776707172394], [0.02762685716152191, -0.9390344023704529, -0.34271126985549927], [-0.19417530298233032, -0.3413529694080353, 0.9196597337722778]], "T_opt": [0.14598551392555237, 0.01241360791027546, 4.983264446258545], "pl_pos": [-0.647716224193573, 0.5026718974113464, -1.038826584815979], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_433", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_433.png", "R_opt": [[-0.14331412315368652, -0.4943537414073944, 0.8573654294013977], [0.025211183354258537, -0.8678507208824158, -0.49618521332740784], [0.9893561005592346, -0.04949508234858513, 0.13683848083019257]], "T_opt": [0.01816209964454174, 0.1640433818101883, 5.2064080238342285], "pl_pos": [-1.005460262298584, 0.32213035225868225, 0.8871062397956848], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_209", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_209.png", "R_opt": [[-0.9324390888214111, -0.2562462389469147, 0.2547454833984375], [0.04031931981444359, -0.7744125127792358, -0.6313950419425964], [0.35907071828842163, -0.5784661769866943, 0.7324241995811462]], "T_opt": [0.02021123468875885, 0.14729198813438416, 5.575831890106201], "pl_pos": [-1.2904715538024902, 0.7255551815032959, -0.41273781657218933], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_514", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_514.png", "R_opt": [[-0.7571864724159241, -0.24953027069568634, 0.6036581993103027], [0.03376798704266548, -0.9378747940063477, -0.34532690048217773], [0.6523252725601196, -0.2410925179719925, 0.718572199344635]], "T_opt": [0.1817467361688614, 0.026591185480356216, 4.947945594787598], "pl_pos": [-1.1468188762664795, 0.9473879337310791, -0.2850014567375183], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_6", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_6.png", "R_opt": [[-0.698424756526947, 0.3389148414134979, -0.6303486227989197], [0.021770687773823738, -0.8702962398529053, -0.4920473098754883], [-0.7153521776199341, -0.35738131403923035, 0.6004580855369568]], "T_opt": [-0.052144747227430344, 0.12253959476947784, 5.2860612869262695], "pl_pos": [-0.21207036077976227, 1.0658353567123413, 0.5612149238586426], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_89", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_89.png", "R_opt": [[0.9520190954208374, -0.07261641323566437, 0.2972986102104187], [0.06450822949409485, -0.9020008444786072, -0.42688772082328796], [0.2991626560688019, 0.4255835711956024, -0.8540377020835876]], "T_opt": [0.02899523265659809, 0.10658685863018036, 5.081209659576416], "pl_pos": [0.435789555311203, 1.0473909378051758, 1.020591378211975], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_476", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_476.png", "R_opt": [[0.9322841763496399, 0.19071955978870392, -0.3073631227016449], [0.06153460219502449, -0.9209448099136353, -0.38480374217033386], [-0.356454074382782, 0.33983302116394043, -0.8703183531761169]], "T_opt": [-0.07130318135023117, 0.06740617752075195, 4.9836835861206055], "pl_pos": [-0.17651410400867462, 1.0064157247543335, 1.4431085586547852], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_60", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_60.png", "R_opt": [[0.9653935432434082, 0.14486710727214813, -0.2168613225221634], [0.02036103419959545, -0.8708601593971252, -0.4911090135574341], [-0.2600014805793762, 0.469698041677475, -0.8436723351478577]], "T_opt": [-0.08201311528682709, 0.171339750289917, 5.185989856719971], "pl_pos": [0.10843314230442047, 1.1366573572158813, 0.8926687240600586], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_504", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_504.png", "R_opt": [[0.8832040429115295, -0.26169800758361816, 0.38918474316596985], [-0.0041904509998857975, -0.8342081904411316, -0.5514337420463562], [0.46897023916244507, 0.4853976368904114, -0.7378726005554199]], "T_opt": [-0.012741927057504654, 0.19614896178245544, 5.126031875610352], "pl_pos": [0.5265032649040222, 1.0148124694824219, -0.30663928389549255], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_271", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_271.png", "R_opt": [[0.9303194880485535, -0.16602984070777893, 0.327016144990921], [0.018327530473470688, -0.869499146938324, -0.49359434843063354], [0.36629167199134827, 0.46519386768341064, -0.8058691620826721]], "T_opt": [-0.04753038287162781, 0.1813015341758728, 5.175994396209717], "pl_pos": [0.2501688599586487, 0.7517895102500916, 1.1746541261672974], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_175", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_175.png", "R_opt": [[-0.980742871761322, -0.10716652125120163, 0.163275346159935], [-0.0004403856582939625, -0.8347920775413513, -0.5505650639533997], [0.19530312716960907, -0.5400345921516418, 0.8186691999435425]], "T_opt": [0.033222801983356476, 0.13739632070064545, 5.218822479248047], "pl_pos": [0.10138432681560516, 1.285383701324463, 0.11023833602666855], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_82", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_82.png", "R_opt": [[-0.405072420835495, -0.5037869215011597, 0.7629646062850952], [0.00014052167534828186, -0.8345279693603516, -0.5509656667709351], [0.9142845869064331, -0.2230738252401352, 0.33811506628990173]], "T_opt": [0.05227043479681015, 0.1671793907880783, 5.177922248840332], "pl_pos": [0.6169034838676453, 1.0861116647720337, -0.08490492403507233], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_81", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_81.png", "R_opt": [[-0.9758316874504089, -0.10589386522769928, 0.19115184247493744], [0.033835988491773605, -0.9374125599861145, -0.34657275676727295], [0.21588806807994843, -0.33172884583473206, 0.9183400273323059]], "T_opt": [0.16584475338459015, 0.016922980546951294, 4.970788955688477], "pl_pos": [-1.0514434576034546, 0.4818762540817261, 0.3709334433078766], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_29", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_29.png", "R_opt": [[-0.163814514875412, -0.4913336932659149, 0.8554273247718811], [0.02443685755133629, -0.8688964247703552, -0.49439042806625366], [0.9861883521080017, -0.06008431315422058, 0.15434452891349792]], "T_opt": [0.019343432039022446, 0.1643514335155487, 5.211276054382324], "pl_pos": [-0.9459591507911682, 0.2854172885417938, -0.8238952159881592], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_421", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_421.png", "R_opt": [[0.8210702538490295, 0.21806417405605316, -0.5275336503982544], [0.028503812849521637, -0.9386658668518066, -0.3436478078365326], [-0.5701151490211487, 0.2671222984790802, -0.7769262790679932]], "T_opt": [0.06643702834844589, 0.038434408605098724, 4.904133319854736], "pl_pos": [0.06024349108338356, 1.0563751459121704, 1.017562985420227], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_86", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_86.png", "R_opt": [[-0.5841033458709717, -0.5318625569343567, 0.613144040107727], [0.04304858669638634, -0.7746379375457764, -0.6309381723403931], [0.810536801815033, -0.34213829040527344, 0.4753645360469818]], "T_opt": [0.03242691233754158, 0.16977988183498383, 5.558902740478516], "pl_pos": [0.7660837173461914, 0.5997228622436523, 0.8013340830802917], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_291", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_291.png", "R_opt": [[-0.05768606811761856, 0.34485653042793274, -0.9368812441825867], [0.02962925285100937, -0.9374390840530396, -0.3468863070011139], [-0.9978949427604675, -0.047769561409950256, 0.04385931417346001]], "T_opt": [0.0732889175415039, 0.01718134433031082, 4.972423076629639], "pl_pos": [1.2033703327178955, 0.673536479473114, -0.39893782138824463], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_240", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_240.png", "R_opt": [[-0.2683432102203369, 0.35668548941612244, -0.8948560953140259], [0.06428947299718857, -0.9202241897583008, -0.3860757350921631], [-0.9611756801605225, -0.1611306220293045, 0.22400467097759247]], "T_opt": [-0.06420807540416718, 0.03562435880303383, 5.069613456726074], "pl_pos": [0.7534836530685425, 1.279557228088379, 0.66416996717453], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_183", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_183.png", "R_opt": [[-0.08172772824764252, 0.5499874353408813, -0.8311644792556763], [-0.003239135490730405, -0.8340965509414673, -0.5516090989112854], [-0.9966493844985962, -0.04238950461149216, 0.06995031237602234]], "T_opt": [-0.058079808950424194, 0.14170809090137482, 5.208231449127197], "pl_pos": [1.3120508193969727, 0.4463246464729309, 0.5052490830421448], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_506", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_506.png", "R_opt": [[-0.81688392162323, 0.3374115228652954, -0.46781837940216064], [0.04022791609168053, -0.7757536172866821, -0.6297523975372314], [-0.5753976106643677, -0.5332540273666382, 0.6201273202896118]], "T_opt": [-0.03275633975863457, 0.13045190274715424, 5.588624477386475], "pl_pos": [0.07124821096658707, 0.7526180744171143, -1.4887410402297974], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_102", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_102.png", "R_opt": [[-0.8279024362564087, 0.09979233890771866, -0.5519230365753174], [0.05162937939167023, -0.9663066864013672, -0.2521621584892273], [-0.5584908723831177, -0.23726104199886322, 0.7948554754257202]], "T_opt": [-0.017942948266863823, 0.02211727201938629, 4.982512474060059], "pl_pos": [0.014010792598128319, 0.9597889184951782, -1.1134699583053589], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_334", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_334.png", "R_opt": [[-0.49633070826530457, -0.47793227434158325, 0.7247321009635925], [-0.0005897236405871809, -0.83463054895401, -0.5508098602294922], [0.8681332468986511, -0.2738112211227417, 0.4139709174633026]], "T_opt": [0.0529286228120327, 0.16351771354675293, 5.181689262390137], "pl_pos": [0.17221719026565552, 1.1796083450317383, 0.1742129772901535], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_318", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_318.png", "R_opt": [[0.7774673104286194, -0.19726674258708954, 0.5971853137016296], [0.029749669134616852, -0.9369380474090576, -0.3482271134853363], [0.6282191872596741, 0.2885012626647949, -0.7225701212882996]], "T_opt": [0.13114170730113983, 0.05265215039253235, 4.879685401916504], "pl_pos": [-0.059595737606287, 1.29996657371521, 0.6039193272590637], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_20", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_20.png", "R_opt": [[0.7714353203773499, 0.31513574719429016, -0.552790105342865], [0.0675845667719841, -0.9044122099876404, -0.4212729334831238], [-0.6327084898948669, 0.2876248061656952, -0.7189938426017761]], "T_opt": [-0.014905279502272606, 0.08735689520835876, 5.109023571014404], "pl_pos": [0.3852783143520355, 1.1103813648223877, -0.120261050760746], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_239", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_239.png", "R_opt": [[-0.8812306523323059, 0.26035329699516296, -0.3945232629776001], [-0.0010471597779542208, -0.835713803768158, -0.5491642951965332], [-0.472685307264328, -0.483527272939682, 0.7367292046546936]], "T_opt": [-0.005429806653410196, 0.1283728927373886, 5.228777885437012], "pl_pos": [0.9597764611244202, 1.039976954460144, 0.0990186259150505], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_257", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_257.png", "R_opt": [[0.6008560061454773, 0.3431589901447296, -0.721951425075531], [0.06457679718732834, -0.9210510849952698, -0.3840502202510834], [-0.7967445850372314, 0.18413764238357544, -0.5755792856216431]], "T_opt": [-0.0842660591006279, 0.05427476018667221, 5.014796733856201], "pl_pos": [0.6051149964332581, 0.9993423223495483, 1.3236433267593384], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_462", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_462.png", "R_opt": [[-0.6533859968185425, -0.4177926778793335, 0.6312970519065857], [0.0012567313387989998, -0.8345159292221069, -0.5509824156761169], [0.7570238709449768, -0.35921066999435425, 0.5457862019538879]], "T_opt": [0.0512271523475647, 0.15609480440616608, 5.173112869262695], "pl_pos": [-1.0766842365264893, 0.5831620097160339, 0.6959595680236816], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_92", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_92.png", "R_opt": [[-0.16430678963661194, -0.6302525997161865, 0.7588049173355103], [0.04120289906859398, -0.7729735374450684, -0.6330989599227905], [0.9855483174324036, -0.07275734841823578, 0.1529729664325714]], "T_opt": [0.027381250634789467, 0.18625348806381226, 5.530418395996094], "pl_pos": [0.08456332981586456, 0.8180704712867737, 1.067318081855774], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_512", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_512.png", "R_opt": [[0.3938179314136505, 0.4141348600387573, -0.8206092715263367], [0.06775632500648499, -0.9034045338630676, -0.4234020709991455], [-0.9166878461837769, 0.1111418679356575, -0.3838372528553009]], "T_opt": [-0.01724793203175068, 0.0750076100230217, 5.154470443725586], "pl_pos": [0.45958295464515686, 1.0174411535263062, -0.1304456740617752], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_179", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_179.png", "R_opt": [[-0.5532101392745972, 0.5098374485969543, -0.6588053107261658], [0.03811432048678398, -0.774523913860321, -0.6313953399658203], [-0.8321694135665894, -0.37440410256385803, 0.4090423285961151]], "T_opt": [-0.05410183221101761, 0.13395366072654724, 5.592493057250977], "pl_pos": [-0.47809886932373047, 1.149500846862793, 0.28707146644592285], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_464", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_464.png", "R_opt": [[-0.5798929929733276, -0.41393670439720154, 0.7016981840133667], [0.024106303229928017, -0.8696452975273132, -0.49308809638023376], [0.8143358826637268, -0.2690231204032898, 0.514279842376709]], "T_opt": [0.024268917739391327, 0.1509026288986206, 5.233598232269287], "pl_pos": [-0.5280640125274658, 0.3101673722267151, -1.1712055206298828], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_36", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_36.png", "R_opt": [[-0.5364938974380493, 0.40501669049263, -0.7403618693351746], [0.022254137322306633, -0.8702106475830078, -0.49217689037323], [-0.8436107039451599, -0.28052616119384766, 0.45784956216812134]], "T_opt": [-0.06392867863178253, 0.12423218041658401, 5.283960342407227], "pl_pos": [0.20259502530097961, 1.164848804473877, -0.9503450989723206], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_475", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_475.png", "R_opt": [[0.3486548364162445, 0.6037384867668152, -0.7168959379196167], [0.04213804006576538, -0.7742157578468323, -0.6315174698829651], [-0.936303436756134, 0.18997302651405334, -0.29537442326545715]], "T_opt": [-0.08936355262994766, 0.15957210958003998, 5.555635452270508], "pl_pos": [1.2334905862808228, 0.6543954610824585, -0.18469467759132385], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_398", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_398.png", "R_opt": [[0.6807050108909607, -0.24414028227329254, 0.690678060054779], [0.06325282156467438, -0.9197216629981995, -0.38744184374809265], [0.7298218011856079, 0.307420939207077, -0.6106165647506714]], "T_opt": [-0.006614031735807657, 0.0801800936460495, 4.983405113220215], "pl_pos": [-1.1754729747772217, 0.76463782787323, 0.0741397887468338], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_400", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_400.png", "R_opt": [[-0.9032500982284546, -0.17571303248405457, 0.391489714384079], [0.032828573137521744, -0.9379417896270752, -0.34523552656173706], [0.4278569519519806, -0.29898202419281006, 0.8529644012451172]], "T_opt": [0.1751997321844101, 0.021193599328398705, 4.963795185089111], "pl_pos": [-0.6884603500366211, 1.0794042348861694, -1.2474778890609741], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_490", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_490.png", "R_opt": [[-0.736048698425293, 0.3727838695049286, -0.5650349259376526], [-0.0002881495747715235, -0.8348764181137085, -0.550437331199646], [-0.6769285202026367, -0.4049859046936035, 0.6146171689033508]], "T_opt": [-0.02082156203687191, 0.12905079126358032, 5.229370594024658], "pl_pos": [0.5189898014068604, 1.1611729860305786, 0.6553569436073303], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_317", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_317.png", "R_opt": [[-0.283112496137619, -0.38574886322021484, 0.8780917525291443], [0.06331799924373627, -0.9210701584815979, -0.38421452045440674], [0.9569942951202393, -0.0531768798828125, 0.28519126772880554]], "T_opt": [0.0372546948492527, 0.06588859856128693, 5.009700298309326], "pl_pos": [0.6576085090637207, 0.6839612722396851, -1.1868127584457397], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_217", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_217.png", "R_opt": [[-0.6814035177230835, 0.4436650276184082, -0.582108736038208], [0.03747819736599922, -0.7731364369392395, -0.6331315040588379], [-0.730947732925415, -0.45323440432548523, 0.5101900100708008]], "T_opt": [-0.04460305720567703, 0.13110952079296112, 5.5933837890625], "pl_pos": [0.34579363465309143, 0.7878352999687195, -1.4295059442520142], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_438", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_438.png", "R_opt": [[-0.8409748673439026, -0.2836141884326935, 0.46078649163246155], [0.024947145953774452, -0.8710330128669739, -0.49059048295021057], [0.5404987931251526, -0.401078999042511, 0.7395923733711243]], "T_opt": [0.01861228607594967, 0.14041320979595184, 5.249345779418945], "pl_pos": [0.5557941198348999, 0.7418558597564697, 1.2428770065307617], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_372", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_372.png", "R_opt": [[0.08580117672681808, -0.6247097849845886, 0.7761287689208984], [0.04094080999493599, -0.7761327624320984, -0.629239022731781], [0.9954707026481628, 0.0857648178935051, -0.04101698473095894]], "T_opt": [0.02046855539083481, 0.19508574903011322, 5.5284504890441895], "pl_pos": [-0.2069404274225235, 1.072953462600708, 0.042111366987228394], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_351", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_351.png", "R_opt": [[-0.7638839483261108, -0.2023567110300064, 0.6128074526786804], [0.0530703142285347, -0.9660494923591614, -0.25284773111343384], [0.6431677341461182, -0.16062459349632263, 0.7486888766288757]], "T_opt": [0.043660350143909454, 0.035887233912944794, 4.934134006500244], "pl_pos": [-1.2198084592819214, 0.5196356773376465, -0.48240938782691956], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_107", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_107.png", "R_opt": [[-0.047820694744586945, -0.4312428832054138, 0.9009676575660706], [0.07055491209030151, -0.9012049436569214, -0.4276116192340851], [0.9963609576225281, 0.043119095265865326, 0.07352250069379807]], "T_opt": [0.0974743589758873, 0.09813108295202255, 5.119164943695068], "pl_pos": [-1.2333649396896362, 0.763363778591156, 0.36949992179870605], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_245", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_245.png", "R_opt": [[-0.8620058298110962, -0.20051947236061096, 0.4655509889125824], [0.03129032254219055, -0.937728762626648, -0.34595638513565063], [0.5059314966201782, -0.28364938497543335, 0.8146020174026489]], "T_opt": [0.17837002873420715, 0.02254999428987503, 4.953672409057617], "pl_pos": [0.15572574734687805, 0.6627598404884338, -1.4649438858032227], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_340", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_340.png", "R_opt": [[0.05873484164476395, 0.6313715577125549, -0.7732530236244202], [0.038757532835006714, -0.7754484415054321, -0.6302202343940735], [-0.9975209832191467, 0.007046546787023544, -0.07001624256372452]], "T_opt": [-0.08252661675214767, 0.14980128407478333, 5.568701267242432], "pl_pos": [0.718756914138794, 0.8428370952606201, 1.0087944269180298], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_406", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_406.png", "R_opt": [[-0.999602198600769, -0.014619679190218449, 0.024116110056638718], [-0.001070386846549809, -0.8348530530929565, -0.5504720211029053], [0.028181128203868866, -0.5502788424491882, 0.8345052003860474]], "T_opt": [0.024882614612579346, 0.13327684998512268, 5.219571590423584], "pl_pos": [-1.0380468368530273, 0.8722254633903503, -0.4709359407424927], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_99", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_99.png", "R_opt": [[-0.27716952562332153, 0.3257439434528351, -0.9039181470870972], [0.03199263662099838, -0.9371262788772583, -0.347521036863327], [-0.9602882862091064, -0.1252409666776657, 0.24932140111923218]], "T_opt": [0.08141592144966125, 0.013418393209576607, 4.978316307067871], "pl_pos": [1.1130353212356567, 0.5086208581924438, -0.6315398216247559], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_11", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_11.png", "R_opt": [[-0.6028030514717102, 0.3817807734012604, -0.70062255859375], [0.022316213697195053, -0.8696833848953247, -0.49310508370399475], [-0.797577977180481, -0.31288060545921326, 0.5157278180122375]], "T_opt": [-0.059501517564058304, 0.12332744896411896, 5.283219337463379], "pl_pos": [0.16906210780143738, 1.4190936088562012, 0.5060024857521057], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_337", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_337.png", "R_opt": [[0.5344898700714111, -0.5183092951774597, 0.6675896644592285], [0.03906283155083656, -0.7738898396492004, -0.6321144700050354], [0.8442716002464294, 0.3639366924762726, -0.3933897614479065]], "T_opt": [-0.001824997365474701, 0.20580023527145386, 5.5123677253723145], "pl_pos": [-0.21756316721439362, 1.108147382736206, 0.3964831829071045], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_18", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_18.png", "R_opt": [[-0.8000925183296204, 0.20536477863788605, -0.563628613948822], [0.06727219372987747, -0.9029305577278137, -0.42448896169662476], [-0.5960925221443176, -0.377547025680542, 0.7086127400398254]], "T_opt": [0.03883080929517746, 0.05588174983859062, 5.198283672332764], "pl_pos": [0.8856133222579956, 0.9898131489753723, 0.47183743119239807], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_357", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_357.png", "R_opt": [[-0.8709526658058167, -0.2605777382850647, 0.4165819585323334], [0.0670538991689682, -0.9029009342193604, -0.4245864152908325], [0.48677006363868713, -0.3418613076210022, 0.8038567900657654]], "T_opt": [0.09877230226993561, 0.07301469892263412, 5.171680450439453], "pl_pos": [0.7490246295928955, 1.2453224658966064, -0.7607922554016113], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_189", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_189.png", "R_opt": [[0.47735795378685, 0.43895837664604187, -0.7612127661705017], [0.02219228632748127, -0.8720316290855408, -0.4889460802078247], [-0.8784286975860596, 0.21650929749011993, -0.42601278424263]], "T_opt": [-0.098642498254776, 0.14941683411598206, 5.2346296310424805], "pl_pos": [0.7948135733604431, 1.1435095071792603, 0.18889044225215912], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_500", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_500.png", "R_opt": [[-0.12508496642112732, 0.6248098015785217, -0.7706921696662903], [0.03853727877140045, -0.7731470465660095, -0.6330549120903015], [-0.9913972616195679, -0.10888595879077911, 0.07263058423995972]], "T_opt": [-0.07672331482172012, 0.1434946358203888, 5.582586765289307], "pl_pos": [0.3363635241985321, 0.9245960712432861, -1.1352458000183105], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_395", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_395.png", "R_opt": [[-0.28734835982322693, 0.529127299785614, -0.7984079122543335], [-0.0029809782281517982, -0.8340524435043335, -0.5516772270202637], [-0.9578213691711426, -0.15614347159862518, 0.24124090373516083]], "T_opt": [-0.049257609993219376, 0.13660982251167297, 5.215747356414795], "pl_pos": [1.035654902458191, 0.8473036885261536, 0.8176925182342529], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_61", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_61.png", "R_opt": [[0.4483214318752289, -0.43415573239326477, 0.781355619430542], [0.021306544542312622, -0.8686856627464294, -0.4949053227901459], [0.8936184644699097, 0.2385246753692627, -0.38019993901252747]], "T_opt": [-0.004945116117596626, 0.17876924574375153, 5.193801403045654], "pl_pos": [-1.235594391822815, 1.0054644346237183, -0.26187974214553833], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_420", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_420.png", "R_opt": [[0.6007194519042969, -0.4438597857952118, 0.664924681186676], [-0.0028820959851145744, -0.8329141139984131, -0.5533945560455322], [0.7994548082351685, 0.330518513917923, -0.5016269087791443]], "T_opt": [0.013708129525184631, 0.19399820268154144, 5.13723087310791], "pl_pos": [0.5292574763298035, 1.1027953624725342, 0.05900783836841583], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_515", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_515.png", "R_opt": [[0.553305983543396, 0.45436912775039673, -0.6981412172317505], [-0.004134141840040684, -0.8366186022758484, -0.5477703809738159], [-0.8329678177833557, 0.30597084760665894, -0.46102747321128845]], "T_opt": [-0.06967293471097946, 0.16375797986984253, 5.17457914352417], "pl_pos": [-0.7541563510894775, 0.585098922252655, 1.1538193225860596], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_405", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_405.png", "R_opt": [[0.24284565448760986, -0.32976439595222473, 0.9122946262359619], [0.03187656030058861, -0.9372263550758362, -0.34726160764694214], [0.969541072845459, 0.11341173201799393, -0.21708956360816956]], "T_opt": [0.1663549393415451, 0.04820575565099716, 4.90110969543457], "pl_pos": [-0.654290497303009, 1.371503472328186, -0.670884370803833], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_325", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_325.png", "R_opt": [[-0.38289979100227356, 0.3879494071006775, -0.8383810520172119], [0.07786254584789276, -0.8907626867294312, -0.4477490186691284], [-0.920502781867981, -0.23672161996364594, 0.31086620688438416]], "T_opt": [0.010094837285578251, 0.06002059578895569, 5.201852321624756], "pl_pos": [-0.07524046301841736, 0.7977184653282166, 1.2187654972076416], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_426", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_426.png", "R_opt": [[-0.9395166635513306, -0.20112912356853485, 0.27722835540771484], [0.06795312464237213, -0.9027886986732483, -0.4246824085712433], [0.3356945216655731, -0.3801576495170593, 0.86185222864151]], "T_opt": [0.09272178262472153, 0.06903521716594696, 5.181149005889893], "pl_pos": [0.6036479473114014, 1.1347229480743408, -0.31532344222068787], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_13", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_13.png", "R_opt": [[0.726640522480011, -0.13999168574810028, 0.6726038455963135], [0.05012767016887665, -0.9656063318252563, -0.2551302909851074], [0.6851866841316223, 0.21910406649112701, -0.6946312189102173]], "T_opt": [-0.0025082926731556654, 0.053854066878557205, 4.866118907928467], "pl_pos": [0.38318294286727905, 0.9792395830154419, 0.9990638494491577], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_493", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_493.png", "R_opt": [[0.42321348190307617, 0.5829547643661499, -0.6935806274414062], [0.040862925350666046, -0.7770183086395264, -0.6281502842903137], [-0.9051080346107483, 0.2374998927116394, -0.3526659309864044]], "T_opt": [-0.08983983099460602, 0.1637669950723648, 5.551446914672852], "pl_pos": [-0.5308263301849365, 0.9712966680526733, 0.4371125102043152], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_419", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_419.png", "R_opt": [[-0.2924915850162506, -0.34027335047721863, 0.8936794400215149], [0.03302566707134247, -0.9375858306884766, -0.34618207812309265], [0.9556975960731506, -0.07174090296030045, 0.28547370433807373]], "T_opt": [0.18283039331436157, 0.038557253777980804, 4.9234113693237305], "pl_pos": [-0.8371820449829102, 1.3466284275054932, -0.15545956790447235], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_273", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_273.png", "R_opt": [[0.6451886296272278, -0.2872005105018616, 0.7079883217811584], [0.06779693812131882, -0.9014810919761658, -0.42747554183006287], [0.7610092163085938, 0.32380184531211853, -0.562154233455658]], "T_opt": [0.06284657120704651, 0.1091240644454956, 5.09968376159668], "pl_pos": [-0.9731169939041138, 1.1144733428955078, -0.7778081893920898], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_324", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_324.png", "R_opt": [[0.28584808111190796, 0.47433653473854065, -0.8326437473297119], [0.022748025134205818, -0.8720126152038574, -0.48895466327667236], [-0.9580047726631165, 0.12082576751708984, -0.2600533366203308]], "T_opt": [-0.09712313860654831, 0.14333392679691315, 5.24566125869751], "pl_pos": [0.3104781210422516, 1.1046913862228394, -0.18278662860393524], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_293", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_293.png", "R_opt": [[-0.48103898763656616, 0.4228977560997009, -0.7679576277732849], [0.02258196286857128, -0.8696972131729126, -0.49306878447532654], [-0.8764083981513977, -0.25452715158462524, 0.4088083803653717]], "T_opt": [-0.06760106235742569, 0.1250544637441635, 5.284183979034424], "pl_pos": [-0.6932844519615173, 1.1202664375305176, 0.18314580619335175], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_23", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_23.png", "R_opt": [[-0.9947242140769958, 0.026254145428538322, -0.09916946291923523], [0.04197392985224724, -0.7779143452644348, -0.6269668936729431], [-0.09360585361719131, -0.6278213858604431, 0.7727082371711731]], "T_opt": [-0.002102597849443555, 0.1361805945634842, 5.58310079574585], "pl_pos": [-0.5923570990562439, 1.1563584804534912, 0.13988164067268372], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_356", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_356.png", "R_opt": [[-0.6353186964988708, -0.42533865571022034, 0.6445598006248474], [-0.0009539633756503463, -0.8342185616493225, -0.5514330863952637], [0.7722495198249817, -0.3509506285190582, 0.5295888781547546]], "T_opt": [0.05232058838009834, 0.1570788472890854, 5.184064865112305], "pl_pos": [-1.3411929607391357, 1.2286415100097656, -0.1971902996301651], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_74", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_74.png", "R_opt": [[-0.8581147789955139, 0.16382157802581787, -0.4866226315498352], [0.06993597000837326, -0.9016123414039612, -0.4268536865711212], [-0.5086728930473328, -0.40032193064689636, 0.7622298002243042]], "T_opt": [0.044804006814956665, 0.05504718795418739, 5.201903343200684], "pl_pos": [-1.0857709646224976, 0.4701811373233795, -0.35454893112182617], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_486", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_486.png", "R_opt": [[0.30647340416908264, 0.4728557765483856, -0.826124370098114], [0.023662418127059937, -0.8714041709899902, -0.48999470472335815], [-0.951585054397583, 0.1306222528219223, -0.2782510817050934]], "T_opt": [-0.09708476811647415, 0.1438836306333542, 5.242671489715576], "pl_pos": [-0.4788004755973816, 1.2047579288482666, -0.27201980352401733], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_472", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_472.png", "R_opt": [[-0.9332584738731384, 0.09757912158966064, -0.34569767117500305], [0.030383236706256866, -0.9375024437904358, -0.3466498553752899], [-0.3579181730747223, -0.3340173661708832, 0.8719673156738281]], "T_opt": [0.13464152812957764, 0.009985724464058876, 4.985508918762207], "pl_pos": [1.19295334815979, 0.7425715923309326, -0.8400613069534302], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_218", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_218.png", "R_opt": [[-0.9947736859321594, 0.02714475616812706, -0.0984298512339592], [0.04104241356253624, -0.7763979434967041, -0.6289051175117493], [-0.09349221736192703, -0.6296581029891968, 0.7712262868881226]], "T_opt": [-0.0016412640688940883, 0.13564908504486084, 5.586279392242432], "pl_pos": [-0.5394783020019531, 1.3053916692733765, -0.4339767098426819], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_424", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_424.png", "R_opt": [[-0.8080348968505859, -0.3241516947746277, 0.49194014072418213], [-0.0002522964496165514, -0.8348313570022583, -0.5505057573318481], [0.5891343355178833, -0.4449521005153656, 0.6744911670684814]], "T_opt": [0.04791415110230446, 0.14869453012943268, 5.189306735992432], "pl_pos": [-1.2093849182128906, 0.6644312739372253, 0.3426400125026703], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_87", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_87.png", "R_opt": [[-0.7952364087104797, -0.2337590903043747, 0.5594244599342346], [0.03262506425380707, -0.9378483891487122, -0.345508337020874], [0.6054211854934692, -0.2565096318721771, 0.7534374594688416]], "T_opt": [0.18089449405670166, 0.025281626731157303, 4.954037666320801], "pl_pos": [-0.8661018013954163, 1.2222845554351807, -1.0189857482910156], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_190", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_190.png", "R_opt": [[-0.9925106763839722, -0.1043870747089386, 0.06344972550868988], [0.041454754769802094, -0.7764007449150085, -0.6288747191429138], [0.11490879207849503, -0.621534526348114, 0.7749133110046387]], "T_opt": [0.009374311193823814, 0.14044959843158722, 5.579599857330322], "pl_pos": [-0.5478683114051819, 1.3226462602615356, -0.3024076223373413], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_112", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_112.png", "R_opt": [[0.6149693131446838, 0.3983343243598938, -0.6805456876754761], [0.021464373916387558, -0.87116938829422, -0.4905132055282593], [-0.7882590293884277, 0.2870430648326874, -0.5442923307418823]], "T_opt": [-0.09813357889652252, 0.15428033471107483, 5.221405506134033], "pl_pos": [-0.09598343819379807, 1.304324984550476, 0.5631622076034546], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_513", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_513.png", "R_opt": [[-0.8379226326942444, 0.16384823620319366, -0.5206143260002136], [0.03140484541654587, -0.9378203749656677, -0.34569746255874634], [-0.5448846220970154, -0.3060174584388733, 0.7806753516197205]], "T_opt": [0.12154120951890945, 0.00974937342107296, 4.99191427230835], "pl_pos": [1.3442519903182983, 0.7442389726638794, -0.5741839408874512], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_138", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_138.png", "R_opt": [[0.004494124557822943, 0.387624055147171, -0.9218065738677979], [0.06650184839963913, -0.9198911190032959, -0.38649436831474304], [-0.997776210308075, -0.059564802795648575, -0.02991187758743763]], "T_opt": [-0.07607293128967285, 0.03998463973402977, 5.061925411224365], "pl_pos": [0.03181762248277664, 1.3619154691696167, 0.6137672066688538], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_8", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_8.png", "R_opt": [[-0.9231168627738953, 0.1040337011218071, -0.3701784908771515], [0.06820588558912277, -0.9031371474266052, -0.4239000082015991], [-0.3784219026565552, -0.41655778884887695, 0.826605498790741]], "T_opt": [0.05379819869995117, 0.057139184325933456, 5.198588848114014], "pl_pos": [0.9109824895858765, 1.064391016960144, 0.2227565199136734], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_451", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_451.png", "R_opt": [[0.9402334690093994, -0.0921342745423317, 0.3278294503688812], [0.02880779840052128, -0.9377310276031494, -0.3461655378341675], [0.3393095135688782, 0.3349204957485199, -0.8790320754051208]], "T_opt": [0.11050806194543839, 0.05204635486006737, 4.871346950531006], "pl_pos": [-0.3002970814704895, 1.2753994464874268, -0.28464239835739136], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_447", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_447.png", "R_opt": [[-0.8155766725540161, -0.3021700978279114, 0.4934854507446289], [0.024914229288697243, -0.8703699111938477, -0.4917677938938141], [0.5781123042106628, -0.3887796103954315, 0.7173815965652466]], "T_opt": [0.019200697541236877, 0.1405385583639145, 5.241876125335693], "pl_pos": [-1.1687504053115845, 0.5226343870162964, 0.04959738254547119], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_171", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_171.png", "R_opt": [[-0.7822756171226501, 0.2921190559864044, -0.5501921772956848], [0.02249513939023018, -0.8694056272506714, -0.49358657002449036], [-0.622526228427887, -0.39849725365638733, 0.6735436916351318]], "T_opt": [-0.044608838856220245, 0.1217481940984726, 5.288819313049316], "pl_pos": [-0.7005159854888916, 1.0762733221054077, 0.5733183026313782], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_322", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_322.png", "R_opt": [[-0.9527168869972229, -0.17332129180431366, 0.2495802342891693], [0.06683861464262009, -0.9207859039306641, -0.3842993676662445], [0.2964171767234802, -0.34944695234298706, 0.8888327479362488]], "T_opt": [0.023438839241862297, 0.04331590607762337, 5.069265842437744], "pl_pos": [-0.5387173891067505, 1.2474638223648071, -0.7443565726280212], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_454", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_454.png", "R_opt": [[0.12687699496746063, 0.5501651763916016, -0.8253608345985413], [-0.0030953739769756794, -0.8318617343902588, -0.5549742579460144], [-0.9919135570526123, 0.07296822220087051, -0.1038411483168602]], "T_opt": [-0.06458184868097305, 0.1468108743429184, 5.196812629699707], "pl_pos": [0.8326095938682556, 0.698681116104126, 1.2103179693222046], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_249", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_249.png", "R_opt": [[-0.999809980392456, -0.01716742478311062, -0.009232796728610992], [0.01948719471693039, -0.8690420985221863, -0.4943542182445526], [0.00046309817116707563, -0.4944401681423187, 0.8692116141319275]], "T_opt": [-0.004533111117780209, 0.1265106052160263, 5.280877113342285], "pl_pos": [-1.0894604921340942, 0.7990754842758179, 0.13857844471931458], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_59", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_59.png", "R_opt": [[0.6939239501953125, 0.31644633412361145, -0.6467853784561157], [0.06264430284500122, -0.9213787913322449, -0.38358399271965027], [-0.717318058013916, 0.22566071152687073, -0.6591904759407043]], "T_opt": [-0.08254854381084442, 0.0575215108692646, 5.005777359008789], "pl_pos": [-0.05063176527619362, 0.8582658767700195, 1.3504856824874878], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_402", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_402.png", "R_opt": [[-0.439272403717041, -0.5807540416717529, 0.6853936314582825], [0.0412503145635128, -0.7751786112785339, -0.6303938031196594], [0.8974063396453857, -0.2486419826745987, 0.3644709289073944]], "T_opt": [0.032681263983249664, 0.1758916676044464, 5.5478901863098145], "pl_pos": [0.27648836374282837, 0.9578893184661865, -1.000156044960022], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_449", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_449.png", "R_opt": [[-0.9971006512641907, 0.040916431695222855, -0.06415629386901855], [0.00100270239636302, -0.8359888195991516, -0.5487455129623413], [-0.07608665525913239, -0.5472190380096436, 0.8335240483283997]], "T_opt": [0.019168876111507416, 0.13196152448654175, 5.221150875091553], "pl_pos": [0.15262584388256073, 1.4463517665863037, 0.11609656363725662], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_42", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_42.png", "R_opt": [[-0.7261351943016052, -0.3381620943546295, 0.5986435413360596], [0.06991934776306152, -0.9024931788444519, -0.4249908924102783], [0.6839874982833862, -0.2667439579963684, 0.6789761185646057]], "T_opt": [0.10363955050706863, 0.07961466163396835, 5.1604719161987305], "pl_pos": [0.6868284940719604, 1.1070888042449951, -0.1281968206167221], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_182", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_182.png", "R_opt": [[0.6132176518440247, -0.25751665234565735, 0.7467592358589172], [0.030630627647042274, -0.9369045495986938, -0.3482404053211212], [0.7893198728561401, 0.2364209145307541, -0.5666385889053345]], "T_opt": [0.1447601020336151, 0.05192502215504646, 4.883131980895996], "pl_pos": [-0.22595557570457458, 1.3235223293304443, 0.7404987215995789], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_390", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_390.png", "R_opt": [[-0.06028643622994423, 0.3805437386035919, -0.9227957129478455], [0.06610710173845291, -0.9209255576133728, -0.38409125804901123], [-0.9959897398948669, -0.08415888249874115, 0.030362660065293312]], "T_opt": [-0.07363779097795486, 0.03900628536939621, 5.06199312210083], "pl_pos": [1.0011606216430664, 0.6141372919082642, -0.853081226348877], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_328", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_328.png", "R_opt": [[-0.7784900069236755, 0.19520530104637146, -0.5965300798416138], [0.0651904046535492, -0.9201207756996155, -0.386170893907547], [-0.624262273311615, -0.33951839804649353, 0.7035793662071228]], "T_opt": [-0.030570512637495995, 0.03165155276656151, 5.0902557373046875], "pl_pos": [-0.41210779547691345, 1.072000503540039, -1.161702275276184], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_338", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_338.png", "R_opt": [[-0.5836694240570068, 0.27734705805778503, -0.7631569504737854], [0.06505891680717468, -0.9208636283874512, -0.38441842794418335], [-0.8093808889389038, -0.2740236222743988, 0.5194360613822937]], "T_opt": [-0.04679134115576744, 0.0325651653110981, 5.084882736206055], "pl_pos": [1.2486374378204346, 1.0940279960632324, -0.0906621441245079], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_455", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_455.png", "R_opt": [[0.8158144354820251, 0.29922613501548767, -0.4948842525482178], [0.02259230427443981, -0.8715736269950867, -0.48974382877349854], [-0.5778722167015076, 0.38835957646369934, -0.7178025245666504]], "T_opt": [-0.0941510945558548, 0.16236254572868347, 5.196849822998047], "pl_pos": [0.6258596777915955, 1.1242176294326782, -0.11189214885234833], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_230", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_230.png", "R_opt": [[-0.6786119341850281, -0.32573819160461426, 0.6583164930343628], [0.067908875644207, -0.9202679991722107, -0.38535070419311523], [0.7313510179519653, -0.21679793298244476, 0.646625280380249]], "T_opt": [0.037487439811229706, 0.055321767926216125, 5.041382312774658], "pl_pos": [0.4853338301181793, 1.1483030319213867, -0.8587467074394226], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_140", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_140.png", "R_opt": [[-0.9548693299293518, -0.13005320727825165, 0.26704078912734985], [0.031246088445186615, -0.9380407333374023, -0.3451131284236908], [0.2953782379627228, -0.321194052696228, 0.8997699618339539]], "T_opt": [0.1702965348958969, 0.0185567457228899, 4.963015556335449], "pl_pos": [0.6032537817955017, 0.7829016447067261, -1.3724513053894043], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_296", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_296.png", "R_opt": [[-0.9836769700050354, 0.07982644438743591, -0.16126832365989685], [0.040203019976615906, -0.7760657072067261, -0.6293693780899048], [-0.1753951609134674, -0.6255795955657959, 0.760188639163971]], "T_opt": [-0.006520057562738657, 0.13387751579284668, 5.584779739379883], "pl_pos": [-0.7743183374404907, 0.6953248381614685, -1.0310810804367065], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_214", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_214.png", "R_opt": [[0.9806738495826721, 0.09191981703042984, -0.17271189391613007], [0.026943691074848175, -0.9378019571304321, -0.34612351655960083], [-0.193785160779953, 0.3347807824611664, -0.9221546649932861]], "T_opt": [0.08122963458299637, 0.04554493725299835, 4.875760078430176], "pl_pos": [0.5830345153808594, 1.3111974000930786, -0.1332351565361023], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_301", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_301.png", "R_opt": [[-0.5371376276016235, -0.39438897371292114, 0.7456141710281372], [0.07093556970357895, -0.9019478559494019, -0.42597904801368713], [0.8405066132545471, -0.17591890692710876, 0.5124463438987732]], "T_opt": [0.10503380745649338, 0.08515335619449615, 5.138575553894043], "pl_pos": [-1.2266123294830322, 0.35707950592041016, -0.3171381652355194], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_396", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_396.png", "R_opt": [[0.15255416929721832, 0.5438013672828674, -0.8252317309379578], [0.0002819283399730921, -0.8350291848182678, -0.5502054691314697], [-0.9882950782775879, 0.08370338380336761, -0.1275404542684555]], "T_opt": [-0.06601293385028839, 0.14902231097221375, 5.202559947967529], "pl_pos": [0.3936522305011749, 1.2533289194107056, -0.5446192026138306], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_110", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_110.png", "R_opt": [[0.20114587247371674, -0.4080897867679596, 0.8905072212219238], [0.06882554292678833, -0.9009532928466797, -0.4284229278564453], [0.9771403670310974, 0.14746510982513428, -0.1531359851360321]], "T_opt": [0.0888061672449112, 0.10286641865968704, 5.110945701599121], "pl_pos": [-1.0763192176818848, 0.8868255019187927, 0.662984311580658], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_120", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_120.png", "R_opt": [[-0.8617814183235168, -0.3472239673137665, 0.3698224127292633], [0.04057074710726738, -0.7738710045814514, -0.6320425271987915], [0.5056551098823547, -0.529678225517273, 0.6809945702552795]], "T_opt": [0.025920584797859192, 0.1536116749048233, 5.576080799102783], "pl_pos": [1.3199132680892944, 0.4220166504383087, 0.03272403031587601], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_267", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_267.png", "R_opt": [[-0.933081328868866, 0.08114587515592575, -0.35039210319519043], [0.06499408930540085, -0.9201360940933228, -0.38616740703582764], [-0.35374438762664795, -0.3830990493297577, 0.8532876968383789]], "T_opt": [-0.011216266080737114, 0.03282630443572998, 5.085291385650635], "pl_pos": [0.01122007891535759, 1.1447910070419312, -1.2512221336364746], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_141", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_141.png", "R_opt": [[0.6131622791290283, -0.30155840516090393, 0.7301331758499146], [0.0666193962097168, -0.9012373089790344, -0.42817410826683044], [0.7871428728103638, 0.31118130683898926, -0.5325150489807129]], "T_opt": [0.06518927216529846, 0.10831288993358612, 5.090808391571045], "pl_pos": [0.6995519995689392, 1.075613021850586, -0.07319483906030655], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_268", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_268.png", "R_opt": [[-0.35847944021224976, 0.3770139217376709, -0.8540216088294983], [0.06740941107273102, -0.9019809365272522, -0.4264813959598541], [-0.9311006665229797, -0.2104538530111313, 0.2979274094104767]], "T_opt": [0.007014682982116938, 0.05861365795135498, 5.1906585693359375], "pl_pos": [0.2069026231765747, 1.0079820156097412, -0.8277105093002319], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_427", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_427.png", "R_opt": [[-0.8794681429862976, -0.23641802370548248, 0.41308894753456116], [0.06695199012756348, -0.9207316040992737, -0.38440969586372375], [0.47122541069984436, -0.31041890382766724, 0.8255825638771057]], "T_opt": [0.030378308147192, 0.047486480325460434, 5.059335708618164], "pl_pos": [0.15463991463184357, 1.1670893430709839, -0.6583530306816101], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_200", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_200.png", "R_opt": [[-0.388879656791687, 0.44548940658569336, -0.8064189553260803], [0.022186705842614174, -0.8705342411994934, -0.491607666015625], [-0.9210214614868164, -0.20906798541545868, 0.3286490738391876]], "T_opt": [-0.07283556461334229, 0.12687905132770538, 5.2812089920043945], "pl_pos": [-0.31231844425201416, 1.077174425125122, -0.6375532746315002], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_349", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_349.png", "R_opt": [[0.8711721301078796, 0.2564470171928406, -0.4186811149120331], [0.020363088697195053, -0.8708885312080383, -0.49105867743492126], [-0.4905550479888916, 0.41927099227905273, -0.7639158964157104]], "T_opt": [-0.09102967381477356, 0.16582457721233368, 5.200911998748779], "pl_pos": [-0.10983575135469437, 1.1607451438903809, -0.49500417709350586], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_498", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_498.png", "R_opt": [[-0.8926556706428528, -0.2478506714105606, 0.37647855281829834], [0.07083328068256378, -0.9020049571990967, -0.42587509751319885], [0.44513899087905884, -0.3534926176071167, 0.8227358460426331]], "T_opt": [0.0966254472732544, 0.07209620624780655, 5.175782680511475], "pl_pos": [0.8404412865638733, 1.1123067140579224, 0.1386699676513672], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_358", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_358.png", "R_opt": [[-0.9834814667701721, -0.14514532685279846, 0.10815179347991943], [0.04435553401708603, -0.7725300788879395, -0.633427083492279], [0.17548950016498566, -0.6181667447090149, 0.7662070989608765]], "T_opt": [0.01174082700163126, 0.14246995747089386, 5.597903251647949], "pl_pos": [1.2706429958343506, 0.4568576216697693, 0.33430567383766174], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_491", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_491.png", "R_opt": [[0.9985893368721008, 0.05291847512125969, -0.004371968563646078], [0.03852619230747223, -0.7787344455718994, -0.6261696219444275], [-0.03654053434729576, 0.6251177191734314, -0.7796747088432312]], "T_opt": [-0.06392008066177368, 0.20042875409126282, 5.482385635375977], "pl_pos": [1.1014002561569214, 0.8813521862030029, -0.36382555961608887], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_19", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_19.png", "R_opt": [[0.647172212600708, -0.4236101806163788, 0.6338158249855042], [4.846774390898645e-05, -0.8313813805580139, -0.5557023882865906], [0.7623437643051147, 0.3596659004688263, -0.5380263924598694]], "T_opt": [0.009661597199738026, 0.19505257904529572, 5.148249626159668], "pl_pos": [-0.8011964559555054, 0.7764886617660522, -0.8847640752792358], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_76", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_76.png", "R_opt": [[0.4952296018600464, 0.3633347153663635, -0.7891359925270081], [0.06402118504047394, -0.9211382865905762, -0.38393422961235046], [-0.8664000630378723, 0.13961416482925415, -0.4794359803199768]], "T_opt": [-0.08425291627645493, 0.05144546553492546, 5.027084827423096], "pl_pos": [0.21189889311790466, 0.9913154244422913, 1.281325101852417], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_66", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_66.png", "R_opt": [[-0.4617665410041809, 0.5471310019493103, -0.6981542110443115], [0.03712453320622444, -0.7744837403297424, -0.631503701210022], [-0.8862242698669434, -0.31752583384513855, 0.33731865882873535]], "T_opt": [-0.059957507997751236, 0.13512276113033295, 5.589584827423096], "pl_pos": [0.9466546177864075, 0.3436511754989624, -0.9800491333007812], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_387", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_387.png", "R_opt": [[-0.04110017046332359, -0.388797402381897, 0.9204059839248657], [0.06751358509063721, -0.9201598167419434, -0.3856784701347351], [0.9968713521957397, 0.046288490295410156, 0.06406781822443008]], "T_opt": [0.0304721686989069, 0.07131484150886536, 5.0099287033081055], "pl_pos": [-0.6803768277168274, 1.1426235437393188, -0.5903328061103821], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_347", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_347.png", "R_opt": [[-0.40124088525772095, -0.589939534664154, 0.7006976008415222], [0.04084711894392967, -0.775739848613739, -0.6297296285629272], [0.9150612950325012, -0.22405177354812622, 0.33535587787628174]], "T_opt": [0.03224259614944458, 0.17746861279010773, 5.5470356941223145], "pl_pos": [-0.2917984426021576, 1.1533070802688599, -0.09458158910274506], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_45", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_45.png", "R_opt": [[-0.47719717025756836, -0.3686193823814392, 0.7977484464645386], [0.0668858140707016, -0.9203757047653198, -0.3852725327014923], [0.8762472867965698, -0.1304929107427597, 0.4638560116291046]], "T_opt": [0.038517896085977554, 0.06127355620265007, 5.025987148284912], "pl_pos": [0.3224140405654907, 1.017443299293518, -1.0375351905822754], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_35", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_35.png", "R_opt": [[0.4260116219520569, -0.439779132604599, 0.7906379103660583], [0.024739159271121025, -0.8679164052009583, -0.49609386920928955], [0.9043793678283691, 0.23090143501758575, -0.35886263847351074]], "T_opt": [-0.004040878266096115, 0.17826415598392487, 5.196324348449707], "pl_pos": [-0.972114622592926, 0.5047969222068787, -0.9970885515213013], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_243", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_243.png", "R_opt": [[-0.33427712321281433, -0.42460009455680847, 0.8414115905761719], [0.07145528495311737, -0.9016164541244507, -0.4265933036804199], [0.9397622346878052, -0.08247710764408112, 0.3317297399044037]], "T_opt": [0.1036335676908493, 0.0910067930817604, 5.127945899963379], "pl_pos": [-1.2611991167068481, 0.49652400612831116, -0.02368921972811222], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_473", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_473.png", "R_opt": [[-0.6304126381874084, 0.4295154809951782, -0.6466037034988403], [-0.002480272203683853, -0.8340831995010376, -0.5516331195831299], [-0.776256263256073, -0.3461528420448303, 0.5268819332122803]], "T_opt": [-0.02890753746032715, 0.12977463006973267, 5.227878570556641], "pl_pos": [-0.32902252674102783, 1.1474153995513916, -0.9264435172080994], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_336", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_336.png", "R_opt": [[-0.8523942232131958, 0.16117437183856964, -0.4974403977394104], [0.026699000969529152, -0.9366551637649536, -0.3492337167263031], [-0.5222175717353821, -0.3109658658504486, 0.7940961718559265]], "T_opt": [0.12523075938224792, 0.008404366672039032, 4.982863903045654], "pl_pos": [0.5238324999809265, 0.24957191944122314, -1.1938385963439941], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_456", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_456.png", "R_opt": [[-0.32783129811286926, -0.5207265019416809, 0.7882706522941589], [0.0009790017502382398, -0.8345685601234436, -0.5509033799171448], [0.9447357058525085, -0.1798315793275833, 0.27410751581192017]], "T_opt": [0.051272016018629074, 0.16976694762706757, 5.171597480773926], "pl_pos": [-0.25206589698791504, 1.1438145637512207, -0.623912513256073], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_16", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_16.png", "R_opt": [[-0.8498174548149109, 0.08952178061008453, -0.5194189548492432], [0.05181775614619255, -0.9665066599845886, -0.25135600566864014], [-0.5245237946510315, -0.24052178859710693, 0.81671541929245]], "T_opt": [-0.015349769964814186, 0.022365093231201172, 4.981365203857422], "pl_pos": [0.7830550670623779, 1.0756926536560059, -1.001676082611084], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_95", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_95.png", "R_opt": [[0.6023311018943787, 0.5218536853790283, -0.6040415167808533], [0.04383859038352966, -0.7771939635276794, -0.6277320981025696], [-0.7970417141914368, 0.35162216424942017, -0.4910052716732025]], "T_opt": [-0.0907982587814331, 0.17054645717144012, 5.524505138397217], "pl_pos": [0.9564756751060486, 0.593565046787262, -0.9618143439292908], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_96", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_96.png", "R_opt": [[0.6484403014183044, -0.24700981378555298, 0.720077395439148], [0.02962726540863514, -0.936989963054657, -0.3480975329875946], [0.760688841342926, 0.24705436825752258, -0.6002638339996338]], "T_opt": [0.1420304924249649, 0.0520281158387661, 4.882091045379639], "pl_pos": [0.3285885453224182, 1.174796462059021, 0.6822122931480408], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_94", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_94.png", "R_opt": [[0.3803747296333313, 0.4696648120880127, -0.7966995239257812], [0.022111505270004272, -0.8658248782157898, -0.4998583197593689], [-0.9245679974555969, 0.17251726984977722, -0.3397229313850403]], "T_opt": [-0.09782009571790695, 0.14431481063365936, 5.248252868652344], "pl_pos": [0.17268022894859314, 1.08004629611969, -0.6448335647583008], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_148", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_148.png", "R_opt": [[0.9989510774612427, 0.014780129306018353, 0.04333890229463577], [0.028882743790745735, -0.9378235936164856, -0.3459084928035736], [0.0355316661298275, 0.3467974066734314, -0.9372668266296387]], "T_opt": [0.09240007400512695, 0.04924052581191063, 4.87659215927124], "pl_pos": [-0.49614834785461426, 1.2578965425491333, -0.3044429421424866], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_123", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_123.png", "R_opt": [[-0.9966942667961121, -0.0579960010945797, 0.056894078850746155], [0.022646397352218628, -0.8708640933036804, -0.4910019040107727], [0.07802314311265945, -0.48809030652046204, 0.8692987561225891]], "T_opt": [-0.0006823847070336342, 0.12849141657352448, 5.277001857757568], "pl_pos": [0.8673233985900879, 1.111774206161499, 0.07706643640995026], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_294", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_294.png", "R_opt": [[0.782369077205658, -0.37127184867858887, 0.500055730342865], [0.03493478521704674, -0.7754717469215393, -0.6304152607917786], [0.6218343377113342, 0.5106866955757141, -0.5937348008155823]], "T_opt": [-0.021126432344317436, 0.208918035030365, 5.499075889587402], "pl_pos": [-0.35378071665763855, 1.2053745985031128, -0.2957041263580322], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_162", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_162.png", "R_opt": [[0.9995871186256409, 0.028718503192067146, 0.0010098244529217482], [0.027292737737298012, -0.9377907514572144, -0.34612685441970825], [-0.008993241935968399, 0.3460114300251007, -0.9381871223449707]], "T_opt": [0.09050524234771729, 0.04861176386475563, 4.875698089599609], "pl_pos": [0.3309728801250458, 1.1332926750183105, 0.22100821137428284], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_197", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_197.png", "R_opt": [[-0.6480907797813416, -0.38966500759124756, 0.6543237566947937], [0.026447637006640434, -0.8701828718185425, -0.492018461227417], [0.7611038088798523, -0.301567405462265, 0.5742632150650024]], "T_opt": [0.023021604865789413, 0.1477787345647812, 5.2259907722473145], "pl_pos": [-1.1511536836624146, 0.44604194164276123, 0.33927005529403687], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_408", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_408.png", "R_opt": [[-0.631297767162323, -0.5080122947692871, 0.585992157459259], [0.03928937017917633, -0.7755711674690247, -0.6300363540649414], [0.7745447754859924, -0.3747170865535736, 0.509575605392456]], "T_opt": [0.03275793418288231, 0.1668567955493927, 5.5564470291137695], "pl_pos": [0.4531422555446625, 0.9008464813232422, -1.0350419282913208], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_305", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_305.png", "R_opt": [[0.3682469427585602, 0.5096485614776611, -0.7775940299034119], [-0.0019329879432916641, -0.8359456062316895, -0.548808753490448], [-0.9297260046005249, 0.20360024273395538, -0.3068493604660034]], "T_opt": [-0.0691930428147316, 0.15631599724292755, 5.184573650360107], "pl_pos": [0.6134125590324402, 0.5099250674247742, 1.378577470779419], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_436", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_436.png", "R_opt": [[-0.5807603001594543, 0.45031264424324036, -0.6781858205795288], [-0.0025943806394934654, -0.834095299243927, -0.5516141653060913], [-0.814070463180542, -0.31859609484672546, 0.4855777323246002]], "T_opt": [-0.032337214797735214, 0.13059154152870178, 5.229274272918701], "pl_pos": [0.43656498193740845, 1.1968977451324463, -0.7964537739753723], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_227", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_227.png", "R_opt": [[-0.20545169711112976, 0.3645813763141632, -0.9082236289978027], [0.06566044688224792, -0.9207947850227356, -0.3844810724258423], [-0.9764620661735535, -0.1386266052722931, 0.16524024307727814]], "T_opt": [-0.06784013658761978, 0.03698866069316864, 5.0732622146606445], "pl_pos": [1.0462359189987183, 1.1843196153640747, -0.35194987058639526], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_147", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_147.png", "R_opt": [[-0.28470125794410706, 0.3520109951496124, -0.8916465044021606], [0.0656907707452774, -0.9207884073257446, -0.38449084758758545], [-0.9563628435134888, -0.16803798079490662, 0.23902574181556702]], "T_opt": [-0.06396158039569855, 0.03568832576274872, 5.072760581970215], "pl_pos": [0.8437026739120483, 0.7797714471817017, -1.0214145183563232], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_300", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_300.png", "R_opt": [[0.6044219732284546, -0.3831995725631714, 0.6984497904777527], [0.02202347107231617, -0.8683457374572754, -0.4954703152179718], [0.7963598966598511, 0.3148554563522339, -0.5164076685905457]], "T_opt": [-0.015159248374402523, 0.18084639310836792, 5.187234401702881], "pl_pos": [-1.1054285764694214, 0.6330687999725342, -0.8193124532699585], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_425", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_425.png", "R_opt": [[-0.10597772151231766, -0.5484781265258789, 0.8294216990470886], [0.000979081029072404, -0.8341761827468872, -0.5514970421791077], [0.9943680763244629, -0.05763430893421173, 0.08894111961126328]], "T_opt": [0.04655347764492035, 0.17714622616767883, 5.163861274719238], "pl_pos": [-0.577598512172699, 1.1159255504608154, -0.5710826516151428], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_499", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_499.png", "R_opt": [[0.8499935269355774, -0.16230590641498566, 0.5011665225028992], [0.029380908235907555, -0.9352664947509766, -0.35272279381752014], [0.5259732007980347, 0.3145368695259094, -0.7902016639709473]], "T_opt": [0.12372097373008728, 0.05202304944396019, 4.886835098266602], "pl_pos": [0.3722929358482361, 1.1791801452636719, 0.5055924654006958], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_505", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_505.png", "R_opt": [[-0.8048444986343384, -0.32606232166290283, 0.495891809463501], [-0.0013920937199145555, -0.8345186710357666, -0.5509779453277588], [0.5934841632843018, -0.4441419541835785, 0.6712037324905396]], "T_opt": [0.04864979162812233, 0.14964699745178223, 5.204986095428467], "pl_pos": [0.18000265955924988, 1.1461619138717651, 0.20201456546783447], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_479", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_479.png", "R_opt": [[0.9056243896484375, -0.19424575567245483, 0.37697872519493103], [0.019183004274964333, -0.8692580461502075, -0.49398624897003174], [0.42364656925201416, 0.4545975923538208, -0.7834951877593994]], "T_opt": [-0.044707562774419785, 0.18147943913936615, 5.1685872077941895], "pl_pos": [1.2237852811813354, 0.6847688555717468, -0.043183233588933945], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_276", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_276.png", "R_opt": [[-0.47728878259658813, 0.5379125475883484, -0.6948709487915039], [0.04019967466592789, -0.7765589356422424, -0.6287609338760376], [-0.8778265118598938, -0.3280339539051056, 0.3490189015865326]], "T_opt": [-0.0592222586274147, 0.1356814056634903, 5.588225841522217], "pl_pos": [0.09049156308174133, 0.7462204694747925, 1.0416990518569946], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_417", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_417.png", "R_opt": [[-0.4578147530555725, 0.3126934766769409, -0.8322430849075317], [0.06570719927549362, -0.9216454029083252, -0.38242942094802856], [-0.8866161704063416, -0.2297661453485489, 0.40139663219451904]], "T_opt": [-0.054990630596876144, 0.034221258014440536, 5.080812931060791], "pl_pos": [0.7824633717536926, 1.305992841720581, 0.4291006624698639], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_452", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_452.png", "R_opt": [[0.6478961706161499, 0.3305703103542328, -0.6862607598304749], [0.0625857561826706, -0.9209810495376587, -0.384547621011734], [-0.7591532468795776, 0.20619679987430573, -0.6173891425132751]], "T_opt": [-0.08332054316997528, 0.05604691058397293, 5.018465042114258], "pl_pos": [-0.9939014315605164, 1.2935388088226318, 0.21901722252368927], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_469", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_469.png", "R_opt": [[-0.5165532827377319, 0.4121458828449249, -0.7505387663841248], [0.022661752998828888, -0.8696489334106445, -0.49315008521080017], [-0.855955183506012, -0.27174681425094604, 0.4398801028728485]], "T_opt": [-0.06555643677711487, 0.12420308589935303, 5.28364896774292], "pl_pos": [0.2161843329668045, 1.1866464614868164, -0.1628429889678955], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_63", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_63.png", "R_opt": [[0.44867101311683655, 0.48961907625198364, -0.7476413249969482], [-0.0012981307227164507, -0.8362134099006653, -0.5484026670455933], [-0.8936960101127625, 0.24702288210391998, -0.37454915046691895]], "T_opt": [-0.0701204240322113, 0.15930058062076569, 5.182200908660889], "pl_pos": [0.8059489130973816, 1.4017733335494995, 0.0759865790605545], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_501", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_501.png", "R_opt": [[0.2071886509656906, -0.4798160791397095, 0.8525545597076416], [0.02551899664103985, -0.868517279624939, -0.49500152468681335], [0.9779682755470276, 0.12431502342224121, -0.16770251095294952]], "T_opt": [0.00692960899323225, 0.17402802407741547, 5.203256607055664], "pl_pos": [-0.7534341216087341, 0.387635737657547, -1.1590439081192017], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_149", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_149.png", "R_opt": [[-0.015096623450517654, 0.549742579460144, -0.8351975083351135], [5.019525997340679e-05, -0.835292398929596, -0.5498059988021851], [-0.9998860955238342, -0.008342133834958076, 0.01258249580860138]], "T_opt": [-0.060870442539453506, 0.1441759616136551, 5.211591720581055], "pl_pos": [0.5089280605316162, 1.4399505853652954, -0.12874355912208557], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_478", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_478.png", "R_opt": [[-0.5722981691360474, -0.3021757900714874, 0.7623414397239685], [0.033574752509593964, -0.9374878406524658, -0.34639501571655273], [0.8193579912185669, -0.17264579236507416, 0.5466678738594055]], "T_opt": [0.18444648385047913, 0.03206442669034004, 4.9393310546875], "pl_pos": [-1.0946133136749268, 1.0622919797897339, 0.024548374116420746], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_154", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_154.png", "R_opt": [[0.9181072115898132, 0.27700841426849365, -0.28345292806625366], [0.04050283506512642, -0.777023196220398, -0.6281676888465881], [-0.39425718784332275, 0.5652444958686829, -0.7246101498603821]], "T_opt": [-0.07932135462760925, 0.19026753306388855, 5.506136417388916], "pl_pos": [-0.25035566091537476, 1.067826747894287, -0.07875001430511475], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_55", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_55.png", "R_opt": [[-0.9700998663902283, 0.032900210469961166, -0.2404658943414688], [0.0642903596162796, -0.920544445514679, -0.385311096906662], [-0.234036386013031, -0.38924986124038696, 0.8909048438072205]], "T_opt": [-0.003410162404179573, 0.03439052030444145, 5.084495544433594], "pl_pos": [-0.7922340631484985, 1.1857905387878418, -0.7593556642532349], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_250", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_250.png", "R_opt": [[-0.6305879950523376, 0.2603833079338074, -0.7311356067657471], [0.06572934240102768, -0.9207407832145691, -0.3845984935760498], [-0.7733293771743774, -0.29058027267456055, 0.5634933710098267]], "T_opt": [-0.043372318148612976, 0.03258642926812172, 5.090039253234863], "pl_pos": [0.7600888013839722, 1.321527361869812, 0.23835065960884094], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_260", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_260.png", "R_opt": [[0.9742677807807922, -0.03731008619070053, 0.22228433191776276], [0.0633997991681099, -0.9010219573974609, -0.42911526560783386], [0.21629339456558228, 0.4321659207344055, -0.8754711151123047]], "T_opt": [0.024589281529188156, 0.10618709772825241, 5.101351261138916], "pl_pos": [0.553844153881073, 1.0803213119506836, 0.2926008403301239], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_163", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_163.png", "R_opt": [[0.8727236390113831, -0.13645826280117035, 0.46875646710395813], [0.06374207884073257, -0.9200777411460876, -0.3865150511264801], [0.48403558135032654, 0.3672003448009491, -0.7942753434181213]], "T_opt": [-0.025832070037722588, 0.07975887507200241, 4.97282600402832], "pl_pos": [0.2843402922153473, 0.8086660504341125, 1.0201369524002075], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_519", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_519.png", "R_opt": [[-0.5156737565994263, -0.4712894856929779, 0.7155186533927917], [-0.0008006663993000984, -0.8348549008369446, -0.5504695177078247], [0.8567847013473511, -0.2844356298446655, 0.43013542890548706]], "T_opt": [0.05297597125172615, 0.16283412277698517, 5.1821208000183105], "pl_pos": [-0.05707880109548569, 1.1219860315322876, -0.5495084524154663], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_46", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_46.png", "R_opt": [[0.35357943177223206, 0.4187914729118347, -0.8364181518554688], [0.0671720951795578, -0.9032372236251831, -0.42385175824165344], [-0.9329895377159119, 0.09368128329515457, -0.34749719500541687]], "T_opt": [-0.016742940992116928, 0.07360537350177765, 5.1545186042785645], "pl_pos": [0.5862276554107666, 1.1181968450546265, -0.28665465116500854], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_229", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_229.png", "R_opt": [[0.9213008880615234, -0.17577287554740906, 0.34685489535331726], [0.019177880138158798, -0.8703765869140625, -0.492013156414032], [0.388376921415329, 0.4599442780017853, -0.798507809638977]], "T_opt": [-0.046624913811683655, 0.18237735331058502, 5.180277347564697], "pl_pos": [-0.9695149660110474, 0.9759118556976318, 0.41549599170684814], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_278", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_278.png", "R_opt": [[0.12642569839954376, 0.3896406590938568, -0.9122481942176819], [0.06526307016611099, -0.9209018349647522, -0.38429227471351624], [-0.9898268580436707, -0.010951632633805275, -0.14185486733913422]], "T_opt": [-0.07905809581279755, 0.042914554476737976, 5.0555620193481445], "pl_pos": [-0.374918133020401, 1.1920816898345947, 0.3866980969905853], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_441", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_441.png", "R_opt": [[-0.8714637160301208, 0.27085867524147034, -0.4088846743106842], [-0.0019281309796497226, -0.8355611562728882, -0.549393892288208], [-0.49045631289482117, -0.4779883027076721, 0.728683590888977]], "T_opt": [-0.006394155323505402, 0.12833192944526672, 5.225803375244141], "pl_pos": [0.16244208812713623, 1.5191357135772705, 0.49915534257888794], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_72", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_72.png", "R_opt": [[0.40359896421432495, -0.5058041214942932, 0.7624107599258423], [-0.0018048931378871202, -0.833732545375824, -0.5521653890609741], [0.9149342179298401, 0.22147728502750397, -0.3374064862728119]], "T_opt": [0.02595796063542366, 0.1904112845659256, 5.143380165100098], "pl_pos": [0.3510492444038391, 1.1024963855743408, 0.14963868260383606], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_411", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_411.png", "R_opt": [[-0.7373169660568237, 0.21416938304901123, -0.6406989693641663], [0.06573972851037979, -0.9211665391921997, -0.38357600569725037], [-0.6723406910896301, -0.3249363303184509, 0.665112316608429]], "T_opt": [-0.03471863642334938, 0.032117798924446106, 5.087929725646973], "pl_pos": [1.1465157270431519, 1.1647084951400757, -0.31877511739730835], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_122", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_122.png", "R_opt": [[0.9116944670677185, -0.23305805027484894, 0.3383743464946747], [-0.0070046717301011086, -0.8322547674179077, -0.5543490052223206], [0.4108092486858368, 0.5030267834663391, -0.7603943943977356]], "T_opt": [-0.0161798857152462, 0.19576947391033173, 5.1308135986328125], "pl_pos": [0.6432430744171143, 1.196702003479004, 0.122704416513443], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_113", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_113.png", "R_opt": [[-0.9481363296508789, 0.16809478402137756, -0.26978039741516113], [0.04075247794389725, -0.7774423956871033, -0.6276324987411499], [-0.3152404725551605, -0.6060755848884583, 0.7302711606025696]], "T_opt": [-0.014795554801821709, 0.1325199455022812, 5.5846428871154785], "pl_pos": [-0.4978991448879242, 1.27507483959198, -0.5874212384223938], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_290", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_290.png", "R_opt": [[-0.9653282761573792, 0.14423879981040955, -0.21756988763809204], [-0.0006418109405785799, -0.8347846865653992, -0.5505761504173279], [-0.2610384225845337, -0.5313469171524048, 0.8059337139129639]], "T_opt": [0.008258497342467308, 0.1296156495809555, 5.229909896850586], "pl_pos": [0.8400058150291443, 1.0469911098480225, -0.07736411690711975], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_97", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_97.png", "R_opt": [[0.6319462656974792, 0.3915072977542877, -0.6688541769981384], [0.021710850298404694, -0.8716282844543457, -0.48968642950057983], [-0.7747079730033875, 0.29493415355682373, -0.5593221783638]], "T_opt": [-0.09804847091436386, 0.1550007313489914, 5.218440532684326], "pl_pos": [-0.22220420837402344, 1.1822259426116943, -0.43862393498420715], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_32", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_32.png", "R_opt": [[-0.47285184264183044, 0.4881390333175659, -0.733574390411377], [0.00013312202645465732, -0.8324872851371765, -0.5540440678596497], [-0.8811418414115906, -0.2620783746242523, 0.3935781419277191]], "T_opt": [-0.040387965738773346, 0.13253764808177948, 5.230904579162598], "pl_pos": [1.0972291231155396, 0.8982858657836914, 0.6885354518890381], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_445", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_445.png", "R_opt": [[-0.7805498242378235, 0.37014856934547424, -0.5037178993225098], [0.038530997931957245, -0.7758055925369263, -0.6297942996025085], [-0.6239048838615417, -0.5109947919845581, 0.5912929177284241]], "T_opt": [-0.035829976201057434, 0.13072791695594788, 5.588950157165527], "pl_pos": [0.6765516996383667, 0.5618422627449036, -1.2686913013458252], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_360", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_360.png", "R_opt": [[-0.703571617603302, 0.2595951557159424, -0.6615114212036133], [0.06869961321353912, -0.9016799926757812, -0.4269115924835205], [-0.7072957754135132, -0.3458085358142853, 0.6165624856948853]], "T_opt": [0.02956450916826725, 0.055173907428979874, 5.198767185211182], "pl_pos": [-0.05054037272930145, 0.9428547620773315, -0.9896988868713379], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_166", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_166.png", "R_opt": [[-0.22705669701099396, -0.6259278059005737, 0.7460962533950806], [0.042943865060806274, -0.7717955112457275, -0.6344190239906311], [0.9729342460632324, -0.11200878769159317, 0.2021210640668869]], "T_opt": [0.02856692485511303, 0.18350788950920105, 5.530488967895508], "pl_pos": [-0.7002506256103516, 0.7270143628120422, 1.0401725769042969], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_494", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_494.png", "R_opt": [[-0.9333261847496033, 0.19427616894245148, -0.3019251525402069], [0.041625771671533585, -0.7767236232757568, -0.6284647583961487], [-0.35660800337791443, -0.5991304516792297, 0.7168495655059814]], "T_opt": [-0.017695045098662376, 0.1321806162595749, 5.591675281524658], "pl_pos": [1.4580986499786377, 0.494512677192688, -0.22195985913276672], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_124", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_124.png", "R_opt": [[0.17865444719791412, -0.33619123697280884, 0.9246934652328491], [0.03355921059846878, -0.93718421459198, -0.3472164273262024], [0.9833394289016724, 0.09306374192237854, -0.15614986419677734]], "T_opt": [0.16850177943706512, 0.04714714735746384, 4.900458812713623], "pl_pos": [-0.5946188569068909, 1.2412476539611816, 0.7182408571243286], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_170", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_170.png", "R_opt": [[-0.9280297160148621, 0.20901145040988922, -0.30834242701530457], [0.036054011434316635, -0.7734662294387817, -0.6328111886978149], [-0.37075719237327576, -0.5983846783638, 0.7102639675140381]], "T_opt": [-0.017868151888251305, 0.1310710310935974, 5.597733020782471], "pl_pos": [-0.45326918363571167, 0.7123810648918152, -1.2781459093093872], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_444", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_444.png", "R_opt": [[-0.599419891834259, 0.27204930782318115, -0.752784788608551], [0.06567318737506866, -0.9205837249755859, -0.3849838972091675], [-0.7977361679077148, -0.28020480275154114, 0.5339498519897461]], "T_opt": [-0.045511022210121155, 0.03265750780701637, 5.086864471435547], "pl_pos": [0.2522006928920746, 1.3781137466430664, 0.3110761046409607], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_423", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_423.png", "R_opt": [[0.6148278117179871, 0.22708024084568024, -0.7552623152732849], [0.049471672624349594, -0.9668698906898499, -0.25043022632598877], [-0.7871080636978149, 0.11660744249820709, -0.6056926250457764]], "T_opt": [-0.07604376971721649, 0.036721620708703995, 4.90873384475708], "pl_pos": [0.09029886871576309, 1.1902709007263184, 1.0611414909362793], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_252", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_252.png", "R_opt": [[-0.06337778270244598, 0.6293513178825378, -0.7745321989059448], [0.04043085500597954, -0.7738361954689026, -0.6320940852165222], [-0.9971702098846436, -0.07137572020292282, 0.023598838597536087]], "T_opt": [-0.0790088027715683, 0.1451478898525238, 5.577355861663818], "pl_pos": [1.138166069984436, 0.4679965376853943, -0.6075732707977295], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_313", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_313.png", "R_opt": [[0.7688754796981812, 0.3509967625141144, -0.5344452261924744], [-0.002192925428971648, -0.8344038128852844, -0.551149308681488], [-0.6393947601318359, 0.4249371886253357, -0.6407829523086548]], "T_opt": [-0.06723842024803162, 0.17268158495426178, 5.1618876457214355], "pl_pos": [0.1788259893655777, 0.3564717173576355, 1.4523147344589233], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_0", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_0.png", "R_opt": [[0.5737031102180481, 0.38208210468292236, -0.7244845628738403], [0.06675811111927032, -0.9033981561660767, -0.42357417941093445], [-0.8163382411003113, 0.19464068114757538, -0.5437895655632019]], "T_opt": [-0.01748247630894184, 0.08000988513231277, 5.1343512535095215], "pl_pos": [0.9380618929862976, 1.2203354835510254, 0.3101571798324585], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_320", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_320.png", "R_opt": [[-0.9022570252418518, 0.1928008496761322, -0.38569432497024536], [0.02317477948963642, -0.8714953660964966, -0.4898558557033539], [-0.4305753707885742, -0.4509144425392151, 0.7818447351455688]], "T_opt": [-0.0306396447122097, 0.12195797264575958, 5.280667781829834], "pl_pos": [0.2460293024778366, 1.1940077543258667, -0.5189197659492493], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_342", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_342.png", "R_opt": [[-0.8576151132583618, -0.24748241901397705, 0.45083123445510864], [0.06384305655956268, -0.9210555553436279, -0.38416221737861633], [0.5103141069412231, -0.3006807267665863, 0.8057112097740173]], "T_opt": [0.03276020288467407, 0.048434942960739136, 5.054154872894287], "pl_pos": [1.1373461484909058, 1.030027985572815, -0.44245678186416626], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_401", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_401.png", "R_opt": [[0.8928564786911011, 0.24587537348270416, -0.37729644775390625], [-0.002835251856595278, -0.8347153067588806, -0.5506741404533386], [-0.450332373380661, 0.4927428066730499, -0.7445839643478394]], "T_opt": [-0.06108421832323074, 0.1795947104692459, 5.1482343673706055], "pl_pos": [0.0747896134853363, 0.32978445291519165, 1.458923101425171], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_422", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_422.png", "R_opt": [[-0.49906113743782043, 0.4157426059246063, -0.7603262662887573], [0.02254956029355526, -0.8708732724189758, -0.4909901022911072], [-0.8662732243537903, -0.2621791958808899, 0.4252442419528961]], "T_opt": [-0.06674648821353912, 0.12511375546455383, 5.281595706939697], "pl_pos": [0.5315470695495605, 1.2357239723205566, 0.40340617299079895], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_363", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_363.png", "R_opt": [[0.6359718441963196, -0.46931982040405273, 0.6126001477241516], [0.036294035613536835, -0.774750828742981, -0.6312239766120911], [0.7708584070205688, 0.4236743450164795, -0.47568613290786743]], "T_opt": [-0.008787770755589008, 0.20735879242420197, 5.502617835998535], "pl_pos": [-0.3863622546195984, 1.2058844566345215, -0.4958937168121338], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_204", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_204.png", "R_opt": [[-0.8972669243812561, -0.1566729098558426, 0.4127538502216339], [0.05254967883229256, -0.9661683440208435, -0.25250244140625], [0.43834999203681946, -0.20487193763256073, 0.8751438856124878]], "T_opt": [0.03749120607972145, 0.03221438452601433, 4.955092430114746], "pl_pos": [0.14111246168613434, 1.0390336513519287, -0.913017749786377], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_520", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_520.png", "R_opt": [[-0.5134149193763733, -0.24269258975982666, 0.8231072425842285], [0.05321406200528145, -0.966333270072937, -0.2517302930355072], [0.8564888834953308, -0.08544127643108368, 0.5090446472167969]], "T_opt": [0.046234965324401855, 0.04132712632417679, 4.913328647613525], "pl_pos": [-1.3640366792678833, 0.50627601146698, 0.03800090774893761], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_368", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_368.png", "R_opt": [[-0.7089604139328003, -0.46705198287963867, 0.5284294486045837], [0.041043758392333984, -0.7753357291221619, -0.6302140951156616], [0.7040529251098633, -0.4251082241535187, 0.5688519477844238]], "T_opt": [0.030703116208314896, 0.162249356508255, 5.551479816436768], "pl_pos": [-1.1865509748458862, 0.7032186388969421, 0.38588443398475647], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_47", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_47.png", "R_opt": [[-0.06424382328987122, 0.4911118447780609, -0.8687241077423096], [0.0226263627409935, -0.869581937789917, -0.4932699501514435], [-0.9976778626441956, -0.051345620304346085, 0.044753190129995346]], "T_opt": [-0.08777026832103729, 0.13323740661144257, 5.266077995300293], "pl_pos": [0.14715790748596191, 1.2228344678878784, 0.3322247862815857], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_7", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_7.png", "R_opt": [[0.5834956765174866, 0.40915486216545105, -0.7015162110328674], [0.021548502147197723, -0.8713088035583496, -0.4902620315551758], [-0.8118304014205933, 0.270949125289917, -0.5172214508056641]], "T_opt": [-0.09863787889480591, 0.15318478643894196, 5.227527141571045], "pl_pos": [0.4531435966491699, 1.1203895807266235, -0.17149043083190918], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_468", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_468.png", "R_opt": [[-0.5684593319892883, 0.5027154088020325, -0.6512534618377686], [0.03842264041304588, -0.7745081186294556, -0.6313959956169128], [-0.8218135237693787, -0.38394594192504883, 0.4209607243537903]], "T_opt": [-0.053242623805999756, 0.13327135145664215, 5.590137481689453], "pl_pos": [-0.06172880157828331, 1.1253467798233032, -1.0531747341156006], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_280", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_280.png", "R_opt": [[-0.42017224431037903, 0.5017650723457336, -0.7560999989509583], [-0.002561162691563368, -0.8338715434074402, -0.5519526600837708], [-0.9074406623840332, -0.22997869551181793, 0.3516547679901123]], "T_opt": [-0.04239621013402939, 0.13394910097122192, 5.226014137268066], "pl_pos": [-0.21096466481685638, 1.2445273399353027, 0.8717355132102966], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_470", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_470.png", "R_opt": [[-0.3371535539627075, -0.25625431537628174, 0.9059035181999207], [0.050862234085798264, -0.9657958149909973, -0.2542663812637329], [0.9400748014450073, -0.03965067118406296, 0.3386552035808563]], "T_opt": [0.04594102501869202, 0.043773554265499115, 4.909708023071289], "pl_pos": [0.023248422890901566, 0.30685389041900635, -1.3843369483947754], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_412", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_412.png", "R_opt": [[-0.18057407438755035, 0.542138397693634, -0.8206576108932495], [-0.00068434834247455, -0.8344426155090332, -0.5510943531990051], [-0.9835612177848816, -0.09895174205303192, 0.15104971826076508]], "T_opt": [-0.054824184626340866, 0.1393728405237198, 5.219938278198242], "pl_pos": [0.11346934735774994, 1.213311791419983, -0.7722306251525879], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_31", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_31.png", "R_opt": [[0.5327950119972229, 0.5514903664588928, -0.6418628096580505], [0.04279651492834091, -0.7750731706619263, -0.6304205060005188], [-0.8451615571975708, 0.30841541290283203, -0.436556875705719]], "T_opt": [-0.0905841588973999, 0.16763795912265778, 5.540005207061768], "pl_pos": [1.1964867115020752, 0.7265275120735168, 0.015509773045778275], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_133", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_133.png", "R_opt": [[-0.16365469992160797, 0.6184364557266235, -0.7686049342155457], [0.04062869772315025, -0.7742229700088501, -0.6316076517105103], [-0.9856806993484497, -0.13459300994873047, 0.10157898813486099]], "T_opt": [-0.07519204914569855, 0.14271876215934753, 5.581991195678711], "pl_pos": [-0.40494152903556824, 1.1741230487823486, -0.14974044263362885], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_266", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_266.png", "R_opt": [[-0.7330727577209473, 0.24359825253486633, -0.6350308060646057], [0.06772763282060623, -0.9028778076171875, -0.42452865839004517], [-0.6767697334289551, -0.3542194664478302, 0.6453768014907837]], "T_opt": [0.03217300772666931, 0.055772408843040466, 5.203802108764648], "pl_pos": [0.35001230239868164, 0.8134170174598694, -0.9270861148834229], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_443", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_443.png", "R_opt": [[0.8434503674507141, -0.31379035115242004, 0.4360355734825134], [0.036854617297649384, -0.7759597897529602, -0.6297048926353455], [0.5359413623809814, 0.5471946001052856, -0.6429189443588257]], "T_opt": [-0.027771783992648125, 0.20880942046642303, 5.499451160430908], "pl_pos": [-0.05684313178062439, 1.0872770547866821, 0.7825746536254883], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_226", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_226.png", "R_opt": [[0.016060883179306984, -0.556544303894043, 0.830662727355957], [0.001175860408693552, -0.8307588696479797, -0.556631326675415], [0.999870240688324, 0.00991674605756998, -0.012688321992754936]], "T_opt": [0.04152617231011391, 0.17918653786182404, 5.148816108703613], "pl_pos": [-0.5284454226493835, 0.2588886022567749, 1.1969550848007202], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_244", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_244.png", "R_opt": [[-0.699698805809021, -0.26962944865226746, 0.6616053581237793], [0.033959586173295975, -0.937555193901062, -0.34617459774017334], [0.7136304378509521, -0.21975019574165344, 0.6651628613471985]], "T_opt": [0.18314729630947113, 0.028613388538360596, 4.948599815368652], "pl_pos": [0.08411593735218048, 1.1753151416778564, 1.1565264463424683], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_282", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_282.png", "R_opt": [[-0.9234350919723511, -0.20525796711444855, 0.32424840331077576], [0.020700903609395027, -0.870349109172821, -0.49199986457824707], [0.38319623470306396, -0.44761767983436584, 0.807959794998169]], "T_opt": [0.013876437209546566, 0.13503460586071014, 5.259658336639404], "pl_pos": [0.8558253049850464, 0.8815480470657349, -0.8765639662742615], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_104", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_104.png", "R_opt": [[0.8314041495323181, -0.25869959592819214, 0.4917739927768707], [0.02204408124089241, -0.8689614534378052, -0.4943886995315552], [0.5552306771278381, 0.42187756299972534, -0.716755211353302]], "T_opt": [-0.03538083657622337, 0.18284538388252258, 5.185269832611084], "pl_pos": [-1.2156935930252075, 0.8059389591217041, -0.5371297597885132], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_467", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_467.png", "R_opt": [[0.7952538728713989, 0.22997203469276428, -0.560967206954956], [0.028618836775422096, -0.9384739398956299, -0.34416189789772034], [-0.605600893497467, 0.25764182209968567, -0.7529066801071167]], "T_opt": [0.0655658096075058, 0.03740520402789116, 4.902968883514404], "pl_pos": [0.8056689500808716, 1.1102757453918457, 0.02194378152489662], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_327", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_327.png", "R_opt": [[0.6955766677856445, 0.4754256010055542, -0.53864985704422], [0.04199860244989395, -0.7753617763519287, -0.630119264125824], [-0.7172233462333679, 0.4156735837459564, -0.5592907071113586]], "T_opt": [-0.08920612186193466, 0.17554925382137299, 5.528921604156494], "pl_pos": [1.0952293872833252, 0.7874032258987427, 0.29109421372413635], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_312", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_312.png", "R_opt": [[-0.803765594959259, -0.4037303030490875, 0.4369927942752838], [0.04407573863863945, -0.7728975415229797, -0.6329981684684753], [0.5933111310005188, -0.48952141404151917, 0.6390232443809509]], "T_opt": [0.028381822630763054, 0.15699569880962372, 5.569255352020264], "pl_pos": [0.6452739238739014, 0.8186520934104919, -1.064623236656189], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_161", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_161.png", "R_opt": [[-0.8600576519966125, -0.24936118721961975, 0.4451066255569458], [0.06743468344211578, -0.9203273057937622, -0.3852923810482025], [0.5057206749916077, -0.30135801434516907, 0.8083500862121582]], "T_opt": [0.03146253898739815, 0.04830363392829895, 5.059908866882324], "pl_pos": [-0.6372442841529846, 1.2642805576324463, -0.4999929666519165], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_222", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_222.png", "R_opt": [[0.9004747867584229, 0.229636088013649, -0.3693407475948334], [0.02030187100172043, -0.8705071210861206, -0.49173691868782043], [-0.43443426489830017, 0.4352983832359314, -0.7885316014289856]], "T_opt": [-0.08884125202894211, 0.16740378737449646, 5.1984782218933105], "pl_pos": [-0.35838863253593445, 1.220238208770752, 0.6902235746383667], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_181", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_181.png", "R_opt": [[0.7260318994522095, 0.3787165880203247, -0.5739784240722656], [-0.0013078107731416821, -0.8339205384254456, -0.5518831610679626], [-0.6876598000526428, 0.40143537521362305, -0.604957640171051]], "T_opt": [-0.06865328550338745, 0.17097093164920807, 5.169328689575195], "pl_pos": [0.45816469192504883, 0.38307684659957886, 1.227124810218811], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_51", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_51.png", "R_opt": [[-0.6968376636505127, -0.39462754130363464, 0.5989044904708862], [-0.0008855280466377735, -0.8345513939857483, -0.5509293675422668], [0.717228353023529, -0.384438693523407, 0.5811973214149475]], "T_opt": [0.05157606303691864, 0.15502548217773438, 5.194254398345947], "pl_pos": [0.7143678069114685, 1.1375951766967773, -0.20574648678302765], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_286", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_286.png", "R_opt": [[-0.8910831809043884, 0.12063681334257126, -0.43751290440559387], [0.06513809412717819, -0.9200475215911865, -0.38635432720184326], [-0.4491412341594696, -0.3727726638317108, 0.811980664730072]], "T_opt": [-0.01777256652712822, 0.032239653170108795, 5.089577674865723], "pl_pos": [-0.6443942785263062, 1.1520476341247559, -1.0092145204544067], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_241", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_241.png", "R_opt": [[0.5324556231498718, 0.5482960343360901, -0.6448739767074585], [0.042093969881534576, -0.778059184551239, -0.6267790198326111], [-0.8454106450080872, 0.30658671259880066, -0.4373619556427002]], "T_opt": [-0.0905160903930664, 0.16856174170970917, 5.537773609161377], "pl_pos": [-0.20155063271522522, 1.0453075170516968, -0.9056630730628967], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_169", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_169.png", "R_opt": [[0.9420025944709778, -0.19010625779628754, 0.2765691578388214], [-0.006006243638694286, -0.8335084319114685, -0.5524741411209106], [0.33555150032043457, 0.5187709331512451, -0.7863090634346008]], "T_opt": [-0.021252835169434547, 0.194943368434906, 5.1271867752075195], "pl_pos": [0.5639284253120422, 0.8775813579559326, 1.0658351182937622], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_350", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_350.png", "R_opt": [[0.9933568239212036, 0.01610773615539074, 0.11394232511520386], [0.06348803639411926, -0.9025384783744812, -0.42590323090553284], [0.09597700834274292, 0.43030786514282227, -0.8975653052330017]], "T_opt": [0.01717582903802395, 0.10404663532972336, 5.0851287841796875], "pl_pos": [0.5843263268470764, 1.0546860694885254, 0.8143370747566223], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_435", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_435.png", "R_opt": [[-0.02453797310590744, -0.3479752242565155, 0.9371824860572815], [0.032611142843961716, -0.9372444748878479, -0.3471444547176361], [0.9991669058799744, 0.022044377401471138, 0.034345950931310654]], "T_opt": [0.17659521102905273, 0.0440354123711586, 4.9105353355407715], "pl_pos": [0.20826996862888336, 1.2713332176208496, -0.6104875206947327], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_460", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_460.png", "R_opt": [[0.8556543588638306, 0.24895595014095306, -0.4537361264228821], [0.060066595673561096, -0.9185492992401123, -0.3907163739204407], [-0.5140501856803894, 0.30706384778022766, -0.8009147047996521]], "T_opt": [-0.07620695233345032, 0.06348537653684616, 5.021335601806641], "pl_pos": [-0.36285167932510376, 1.0576581954956055, -0.5614243149757385], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_37", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_37.png", "R_opt": [[-0.7507596611976624, -0.3014313876628876, 0.5877916812896729], [0.06754517555236816, -0.920183539390564, -0.38561633229255676], [0.6571131348609924, -0.24980248510837555, 0.7111968398094177]], "T_opt": [0.0359722375869751, 0.052851080894470215, 5.052123069763184], "pl_pos": [0.03339288756251335, 1.129453420639038, -0.6151584982872009], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_373", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_373.png", "R_opt": [[0.6216084957122803, 0.4288337230682373, -0.6555184721946716], [-0.0021932250820100307, -0.8358816504478455, -0.5489054322242737], [-0.7833249568939209, 0.34264200925827026, -0.5186506509780884]], "T_opt": [-0.06983864307403564, 0.16604283452033997, 5.169275760650635], "pl_pos": [0.9565462470054626, 1.363171935081482, 0.2567685544490814], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_50", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_50.png", "R_opt": [[0.7777723073959351, -0.19788093864917755, 0.5965848565101624], [0.02837659791111946, -0.9371280074119568, -0.3478303551673889], [0.6279053092002869, 0.2874618470668793, -0.7232569456100464]], "T_opt": [0.13138233125209808, 0.05279145762324333, 4.879044532775879], "pl_pos": [0.13825497031211853, 1.1380565166473389, -0.6403230428695679], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_158", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_158.png", "R_opt": [[0.9343305230140686, -0.193572536110878, 0.2992599308490753], [0.039546892046928406, -0.7781630158424377, -0.6268158555030823], [0.3542073667049408, 0.5974878668785095, -0.7194061279296875]], "T_opt": [-0.04064874351024628, 0.20808373391628265, 5.49275016784668], "pl_pos": [0.006645966321229935, 1.1463850736618042, -0.7451112866401672], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_75", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_75.png", "R_opt": [[0.26188409328460693, -0.3985147774219513, 0.8789782524108887], [0.06820046156644821, -0.9008457660675049, -0.42874884605407715], [0.9626866579055786, 0.17222923040390015, -0.20873819291591644]], "T_opt": [0.0861377939581871, 0.10451395064592361, 5.112159252166748], "pl_pos": [-0.012495961040258408, 1.135422945022583, -0.7072736024856567], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_461", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_461.png", "R_opt": [[-0.22112007439136505, 0.538663923740387, -0.8129864931106567], [-0.0018940787995234132, -0.8338572382926941, -0.5519770383834839], [-0.9752447009086609, -0.12051339447498322, 0.18540288507938385]], "T_opt": [-0.052603233605623245, 0.1381809115409851, 5.218527317047119], "pl_pos": [0.4120495915412903, 1.4361481666564941, -0.15352264046669006], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_308", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_308.png", "R_opt": [[-0.4749608635902405, 0.30915701389312744, -0.8239138722419739], [0.06620201468467712, -0.9210526347160339, -0.38376978039741516], [-0.8775132298469543, -0.23682039976119995, 0.41699713468551636]], "T_opt": [-0.05380009859800339, 0.034095048904418945, 5.086575508117676], "pl_pos": [-0.22787314653396606, 1.205001711845398, 0.7687604427337646], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_516", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_516.png", "R_opt": [[-0.1848536878824234, 0.6129767894744873, -0.7681722044944763], [0.04224264994263649, -0.7759647369384766, -0.6293601989746094], [-0.9818578362464905, -0.1487891525030136, 0.11754611879587173]], "T_opt": [-0.0747467428445816, 0.14247098565101624, 5.581614017486572], "pl_pos": [-0.5235462784767151, 1.1321033239364624, -0.41180819272994995], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_361", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_361.png", "R_opt": [[-0.41713061928749084, 0.502170205116272, -0.757513701915741], [-0.0004240458947606385, -0.8335966467857361, -0.5523735880851746], [-0.9088464379310608, -0.2300906479358673, 0.3479316830635071]], "T_opt": [-0.04295919090509415, 0.13379009068012238, 5.227421760559082], "pl_pos": [0.3400455117225647, 1.4331554174423218, -0.18595470488071442], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_272", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_272.png", "R_opt": [[-0.06449130922555923, -0.3474022448062897, 0.9354960322380066], [0.03263260796666145, -0.937680184841156, -0.3459637463092804], [0.9973845481872559, 0.008216087706387043, 0.07180885970592499]], "T_opt": [0.177778422832489, 0.043290331959724426, 4.909759998321533], "pl_pos": [-0.4724392890930176, 1.359754204750061, -1.0082266330718994], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_465", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_465.png", "R_opt": [[0.7939363718032837, -0.18796537816524506, 0.5782162547111511], [0.06325061619281769, -0.9203181266784668, -0.38602331280708313], [0.6047018766403198, 0.3430505096912384, -0.7187852263450623]], "T_opt": [-0.016949370503425598, 0.08024328202009201, 4.970692157745361], "pl_pos": [0.6348973512649536, 1.0290488004684448, -0.10641014575958252], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_128", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_128.png", "R_opt": [[-0.16877855360507965, -0.5435247421264648, 0.8222498297691345], [0.0007064235396683216, -0.8342839479446411, -0.5513346195220947], [0.9856536984443665, -0.09247254580259323, 0.1411931961774826]], "T_opt": [0.048227403312921524, 0.175108402967453, 5.163721084594727], "pl_pos": [0.021951578557491302, 1.0486241579055786, -1.0452121496200562], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_409", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_409.png", "R_opt": [[0.982452392578125, -0.018823759630322456, 0.18556128442287445], [0.0631769597530365, -0.902495265007019, -0.4260408580303192], [0.17548787593841553, 0.43028807640075684, -0.8854694962501526]], "T_opt": [0.022196311503648758, 0.10551653802394867, 5.0904364585876465], "pl_pos": [0.038750000298023224, 1.1606667041778564, 0.8215280771255493], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_316", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_316.png", "R_opt": [[-0.7385926246643066, 0.40209606289863586, -0.5411096811294556], [0.0393407829105854, -0.7755769491195679, -0.63002610206604], [-0.6730033159255981, -0.4866202175617218, 0.5570165514945984]], "T_opt": [-0.04026158154010773, 0.13128672540187836, 5.5929083824157715], "pl_pos": [-0.23858600854873657, 1.2045003175735474, -0.9100084900856018], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_48", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_48.png", "R_opt": [[0.17267760634422302, 0.541284441947937, -0.8229177594184875], [-0.0002060395199805498, -0.8354479074478149, -0.5495696067810059], [-0.9849783182144165, 0.09506788849830627, -0.14415156841278076]], "T_opt": [-0.06621771305799484, 0.14962784945964813, 5.201150417327881], "pl_pos": [0.40451765060424805, 1.2759058475494385, 0.06937099993228912], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_386", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_386.png", "R_opt": [[-0.0013457622844725847, 0.49294203519821167, -0.8700610995292664], [0.02329953759908676, -0.869810163974762, -0.49283596873283386], [-0.999727725982666, -0.020935261622071266, -0.010314764454960823]], "T_opt": [-0.0897211879491806, 0.13493412733078003, 5.2639079093933105], "pl_pos": [-0.29285532236099243, 1.3551286458969116, -0.48958805203437805], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_71", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_71.png", "R_opt": [[-0.7695104479789734, 0.29969221353530884, -0.5639486312866211], [0.022287186235189438, -0.8699143528938293, -0.49269869923591614], [-0.6382452249526978, -0.39170587062835693, 0.6627291440963745]], "T_opt": [-0.04562939330935478, 0.12151896953582764, 5.286210536956787], "pl_pos": [0.23259174823760986, 1.1981616020202637, -0.2743191421031952], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_144", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_144.png", "R_opt": [[0.5478269457817078, -0.2765794098377228, 0.7895501852035522], [0.02977105975151062, -0.9367272257804871, -0.34879207611083984], [0.8360617160797119, 0.2145834118127823, -0.504930317401886]], "T_opt": [0.1496177464723587, 0.051504626870155334, 4.889420986175537], "pl_pos": [-0.6902868151664734, 1.386978030204773, -0.44163084030151367], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_142", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_142.png", "R_opt": [[-0.7234883904457092, 0.2186843901872635, -0.6547838449478149], [0.029233912006020546, -0.9379429221153259, -0.34555527567863464], [-0.6897172927856445, -0.26914700865745544, 0.6721977591514587]], "T_opt": [0.11113408207893372, 0.009858722798526287, 4.983266353607178], "pl_pos": [0.8931270837783813, 0.5491062998771667, 0.9077457785606384], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_223", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_223.png", "R_opt": [[-0.9481740593910217, -0.1378156840801239, 0.2863084673881531], [0.03207606077194214, -0.9379579424858093, -0.34526243805885315], [0.31612786650657654, -0.318185418844223, 0.8937678933143616]], "T_opt": [0.1709941029548645, 0.018908666446805, 4.962220191955566], "pl_pos": [0.4679383635520935, 0.6799468398094177, -1.4200271368026733], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_366", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_366.png", "R_opt": [[-0.5139653086662292, -0.36321476101875305, 0.7771194577217102], [0.06751693040132523, -0.9202516078948975, -0.3854588568210602], [0.8551497459411621, -0.14564374089241028, 0.49750053882598877]], "T_opt": [0.03843104839324951, 0.060219235718250275, 5.0334978103637695], "pl_pos": [-0.6453621983528137, 1.2681080102920532, -0.13900341093540192], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_488", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_488.png", "R_opt": [[-0.9868664741516113, -0.13037043809890747, 0.09538371115922928], [0.04198232665657997, -0.7771753072738647, -0.6278823018074036], [0.15598711371421814, -0.6156314611434937, 0.7724415063858032]], "T_opt": [0.0109771229326725, 0.1416139304637909, 5.577348232269287], "pl_pos": [-0.5473571419715881, 1.1151131391525269, 0.4049742519855499], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_310", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_310.png", "R_opt": [[0.06496880948543549, 0.6309811472892761, -0.7730730175971985], [0.042609699070453644, -0.7757572531700134, -0.6295912861824036], [-0.9969770312309265, 0.007963384501636028, -0.07728591561317444]], "T_opt": [-0.08358985185623169, 0.14993666112422943, 5.569653511047363], "pl_pos": [-0.45188575983047485, 1.1155545711517334, -0.5719091296195984], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_414", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_414.png", "R_opt": [[-0.8914151191711426, 0.25745317339897156, -0.37295693159103394], [0.038679398596286774, -0.7767390012741089, -0.6286337375640869], [-0.4515339434146881, -0.5747993588447571, 0.6824387311935425]], "T_opt": [-0.023425931110978127, 0.13094019889831543, 5.5861101150512695], "pl_pos": [0.47552916407585144, 0.6526691913604736, -1.3413827419281006], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_497", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_497.png", "R_opt": [[-0.9654255509376526, 0.14222121238708496, -0.21846415102481842], [0.0008604316390119493, -0.8363154530525208, -0.5482478737831116], [-0.26067742705345154, -0.5294803977012634, 0.8072779774665833]], "T_opt": [0.008191301487386227, 0.12987163662910461, 5.226830959320068], "pl_pos": [0.39729881286621094, 1.2303521633148193, 0.22475501894950867], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_265", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_265.png", "R_opt": [[-0.3500118851661682, -0.3351154029369354, 0.8747510313987732], [0.03281569853425026, -0.9376327991485596, -0.3460748791694641], [0.9361702799797058, -0.09242484718561172, 0.33917972445487976]], "T_opt": [0.18358084559440613, 0.03743293881416321, 4.925865650177002], "pl_pos": [-0.28972920775413513, 1.2712808847427368, -1.1090304851531982], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_41", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_41.png", "R_opt": [[0.9951186776161194, 0.08651430159807205, -0.04747758060693741], [0.0615767166018486, -0.9202969074249268, -0.3863444924354553], [-0.07711780071258545, 0.3815351128578186, -0.9211318492889404]], "T_opt": [-0.05858771130442619, 0.07278089225292206, 4.971518039703369], "pl_pos": [-0.552847146987915, 0.9725596308708191, 1.2128541469573975], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_430", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_430.png", "R_opt": [[-0.9983798265457153, 0.03109634295105934, -0.047650426626205444], [0.0001637791283428669, -0.8358759880065918, -0.5489183664321899], [-0.05689920857548714, -0.5480367541313171, 0.834516704082489]], "T_opt": [0.020421992987394333, 0.13183613121509552, 5.219391822814941], "pl_pos": [0.1259515881538391, 1.2186660766601562, -0.8311686515808105], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}, {"file_path": "r_394", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cat/./train/r_394.png", "R_opt": [[0.7701806426048279, 0.31594356894493103, -0.5540770888328552], [0.0661424770951271, -0.9035750031471252, -0.4232933223247528], [-0.6343870162963867, 0.28936436772346497, -0.7168134450912476]], "T_opt": [-0.014532906003296375, 0.08726245909929276, 5.118923664093018], "pl_pos": [0.7082436680793762, 1.1863845586776733, 0.48091018199920654], "camera_intrinsics": [241.302490234375, 125.6151123046875, 3160.4382324218755, 3160.4382324218755]}]}
\ No newline at end of file