{
  "backend": "airsim",
  "coordinate_frame": "ENU world, FLU body",
  "scene_scope": "native AirSim server geometry",
  "route_enu_m": [
    [
      38.90999984741211,
      29.020000457763672,
      -39.9223747253418
    ],
    [
      38.892546834594,
      27.020076611127614,
      -39.9223747253418
    ],
    [
      38.87509382177589,
      25.020152764491556,
      -39.9223747253418
    ],
    [
      38.857640808957775,
      23.020228917855494,
      -39.9223747253418
    ],
    [
      38.857640808957775,
      23.020228917855494,
      -38.4223747253418
    ],
    [
      38.87509382177589,
      25.020152764491556,
      -38.4223747253418
    ],
    [
      38.892546834594,
      27.020076611127614,
      -38.4223747253418
    ],
    [
      38.90999984741211,
      29.020000457763672,
      -38.4223747253418
    ],
    [
      38.90999984741211,
      29.020000457763672,
      -36.9223747253418
    ],
    [
      38.892546834594,
      27.020076611127614,
      -36.9223747253418
    ],
    [
      38.87509382177589,
      25.020152764491556,
      -36.9223747253418
    ],
    [
      38.857640808957775,
      23.020228917855494,
      -36.9223747253418
    ]
  ],
  "captures": [
    {
      "file": "capture_000.png",
      "waypoint": 0,
      "time_s": 0.7340000000003783,
      "position_enu_m": [
        38.90999984741211,
        29.020000457763672,
        -40.21882247924805
      ],
      "orientation_enu_flu_xyzw": [
        1.1339971691385855e-08,
        5.92197313409315e-09,
        -0.004363294739671857,
        0.9999904807841996
      ],
      "target_enu_m": [
        38.90999984741211,
        29.020000457763672,
        -39.9223747253418
      ],
      "position_error_m": 0.29644775390625,
      "sensor_timestamp_ns": 1793071784884915200,
      "camera_position_enu_m": [
        40.409942626953125,
        29.006908416748047,
        -40.00673294067383
      ],
      "camera_orientation_ned_xyzw": [
        9.552313384730837e-10,
        9.63603752346387e-10,
        0.7101853489875793,
        0.704014778137207
      ],
      "front_depth_min_m": 7.171875,
      "front_depth_median_m": 7.40625,
      "front_depth_valid_count": 9,
      "depth_sensor_timestamp_ns": 1793071784887915264
    },
    {
      "file": "capture_001.png",
      "waypoint": 1,
      "time_s": 7.813000000000102,
      "position_enu_m": [
        38.893470764160156,
        27.25772476196289,
        -40.10106658935547
      ],
      "orientation_enu_flu_xyzw": [
        -0.008880030223618246,
        3.0050703243800214e-05,
        -0.004361650948871901,
        0.9999510588829752
      ],
      "target_enu_m": [
        38.892546834594,
        27.020076611127614,
        -39.9223747253418
      ],
      "position_error_m": 0.29733529811636944,
      "sensor_timestamp_ns": 1793071791623058944,
      "camera_position_enu_m": [
        40.3934211730957,
        27.24687385559082,
        -39.90087127685547
      ],
      "camera_orientation_ned_xyzw": [
        -0.005964045878499746,
        -0.006006480660289526,
        0.7101588845252991,
        0.7039905786514282
      ],
      "front_depth_min_m": 7.16015625,
      "front_depth_median_m": 7.375,
      "front_depth_valid_count": 9,
      "depth_sensor_timestamp_ns": 1793071791626059008
    },
    {
      "file": "capture_002.png",
      "waypoint": 2,
      "time_s": 14.609000000000378,
      "position_enu_m": [
        38.87429428100586,
        25.24517059326172,
        -40.09571838378906
      ],
      "orientation_enu_flu_xyzw": [
        -0.011970038838740772,
        4.0260118426727054e-05,
        -0.004360386498953497,
        0.9999188484966677
      ],
      "target_enu_m": [
        38.87509382177589,
        25.020152764491556,
        -39.9223747253418
      ],
      "position_error_m": 0.28404521902993474,
      "sensor_timestamp_ns": 1793071798412203776,
      "camera_position_enu_m": [
        40.374267578125,
        25.23617172241211,
        -39.89592742919922
      ],
      "camera_orientation_ned_xyzw": [
        -0.008462049067020416,
        -0.008518476970493793,
        0.7101323008537292,
        0.7039658427238464
      ],
      "front_depth_min_m": 7.15625,
      "front_depth_median_m": 7.3671875,
      "front_depth_valid_count": 9,
      "depth_sensor_timestamp_ns": 1793071798412203776
    },
    {
      "file": "capture_003.png",
      "waypoint": 3,
      "time_s": 21.20300000000043,
      "position_enu_m": [
        38.854129791259766,
        23.21742057800293,
        -40.10679626464844
      ],
      "orientation_enu_flu_xyzw": [
        -0.011650028861154165,
        3.719591034934133e-05,
        -0.004360302148125234,
        0.999922628611422
      ],
      "target_enu_m": [
        38.857640808957775,
        23.020228917855494,
        -39.9223747253418
      ],
      "position_error_m": 0.27001515186598,
      "sensor_timestamp_ns": 1793071805024344832,
      "camera_position_enu_m": [
        40.35409164428711,
        23.207792282104492,
        -39.90717315673828
      ],
      "camera_orientation_ned_xyzw": [
        -0.008207165636122227,
        -0.008258565329015255,
        0.7101353406906128,
        0.7039690017700195
      ],
      "front_depth_min_m": 7.19921875,
      "front_depth_median_m": 7.4140625,
      "front_depth_valid_count": 9,
      "depth_sensor_timestamp_ns": 1793071805030344960
    },
    {
      "file": "capture_004.png",
      "waypoint": 4,
      "time_s": 27.95300000000043,
      "position_enu_m": [
        38.85235595703125,
        23.02826499938965,
        -38.720069885253906
      ],
      "orientation_enu_flu_xyzw": [
        -1.7469677618597937e-06,
        -1.4734209408118204e-08,
        -0.004360934193396552,
        0.9999904910797446
      ],
      "target_enu_m": [
        38.857640808957775,
        23.020228917855494,
        -38.4223747253418
      ],
      "position_error_m": 0.29785049353896537,
      "sensor_timestamp_ns": 1793071812062494976,
      "camera_position_enu_m": [
        40.352298736572266,
        23.015180587768555,
        -38.504581451416016
      ],
      "camera_orientation_ned_xyzw": [
        -1.1672758546410478e-06,
        -1.0928374649665784e-06,
        0.7101836204528809,
        0.7040164470672607
      ],
      "front_depth_min_m": 7.1796875,
      "front_depth_median_m": 7.203125,
      "front_depth_valid_count": 9,
      "depth_sensor_timestamp_ns": 1793071812062494976
    },
    {
      "file": "capture_005.png",
      "waypoint": 5,
      "time_s": 35.0630000000001,
      "position_enu_m": [
        38.868927001953125,
        24.805315017700195,
        -38.61922836303711
      ],
      "orientation_enu_flu_xyzw": [
        0.011372214053142213,
        -3.806452864330012e-05,
        -0.0043609341332443135,
        0.999925824025016
      ],
      "target_enu_m": [
        38.87509382177589,
        25.020152764491556,
        -38.4223747253418
      ],
      "position_error_m": 0.29145264072743027,
      "sensor_timestamp_ns": 1793071818848639744,
      "camera_position_enu_m": [
        40.368858337402344,
        24.789613723754883,
        -38.4199104309082
      ],
      "camera_orientation_ned_xyzw": [
        0.008064456284046173,
        0.008116946555674076,
        0.7101373672485352,
        0.7039701342582703
      ],
      "front_depth_min_m": 7.16015625,
      "front_depth_median_m": 7.1875,
      "front_depth_valid_count": 9,
      "depth_sensor_timestamp_ns": 1793071818848639744
    },
    {
      "file": "capture_006.png",
      "waypoint": 6,
      "time_s": 42.01600000000053,
      "position_enu_m": [
        38.887874603271484,
        26.806785583496094,
        -38.583614349365234
      ],
      "orientation_enu_flu_xyzw": [
        0.011001045311139606,
        -3.9147836950914616e-05,
        -0.0043600493459834315,
        0.9999299802682236
      ],
      "target_enu_m": [
        38.892546834594,
        27.020076611127614,
        -38.4223747253418
      ],
      "position_error_m": 0.2674193496530504,
      "sensor_timestamp_ns": 1793071825787787776,
      "camera_position_enu_m": [
        40.38779067993164,
        26.78993034362793,
        -38.3838996887207
      ],
      "camera_orientation_ned_xyzw": [
        0.00776640186086297,
        0.00782118458300829,
        0.71014004945755,
        0.703974187374115
      ],
      "front_depth_min_m": 7.09375,
      "front_depth_median_m": 7.16796875,
      "front_depth_valid_count": 9,
      "depth_sensor_timestamp_ns": 1793071825787787776
    },
    {
      "file": "capture_007.png",
      "waypoint": 7,
      "time_s": 48.8130000000001,
      "position_enu_m": [
        38.90690612792969,
        28.792482376098633,
        -38.600746154785156
      ],
      "orientation_enu_flu_xyzw": [
        0.011474947717991967,
        -3.7947966502915875e-05,
        -0.004361018453427978,
        0.9999246499876226
      ],
      "target_enu_m": [
        38.90999984741211,
        29.020000457763672,
        -38.4223747253418
      ],
      "position_error_m": 0.28912007095053543,
      "sensor_timestamp_ns": 1793071832564932352,
      "camera_position_enu_m": [
        40.406822204589844,
        28.77543830871582,
        -38.40102767944336
      ],
      "camera_orientation_ned_xyzw": [
        0.008099175058305264,
        0.008152349852025509,
        0.7101370096206665,
        0.7039697170257568
      ],
      "front_depth_min_m": 7.19140625,
      "front_depth_median_m": 7.32421875,
      "front_depth_valid_count": 9,
      "depth_sensor_timestamp_ns": 1793071832567932416
    },
    {
      "file": "capture_008.png",
      "waypoint": 8,
      "time_s": 56.20300000000043,
      "position_enu_m": [
        38.908931732177734,
        29.008970260620117,
        -37.215450286865234
      ],
      "orientation_enu_flu_xyzw": [
        1.0969961811042793e-06,
        -1.9364680303723958e-08,
        -0.004361271361758317,
        0.9999904896102287
      ],
      "target_enu_m": [
        38.90999984741211,
        29.020000457763672,
        -36.9223747253418
      ],
      "position_error_m": 0.2932849994143202,
      "sensor_timestamp_ns": 1793071839960090112,
      "camera_position_enu_m": [
        40.40887451171875,
        28.99588394165039,
        -37.01642608642578
      ],
      "camera_orientation_ned_xyzw": [
        1.2772228501489735e-06,
        1.3730759746977128e-06,
        0.7101839184761047,
        0.7040162086486816
      ],
      "front_depth_min_m": 7.1875,
      "front_depth_median_m": 7.2109375,
      "front_depth_valid_count": 9,
      "depth_sensor_timestamp_ns": 1793071839960090112
    },
    {
      "file": "capture_009.png",
      "waypoint": 9,
      "time_s": 62.85900000000038,
      "position_enu_m": [
        38.8920783996582,
        27.224546432495117,
        -37.11247253417969
      ],
      "orientation_enu_flu_xyzw": [
        -0.01131072205683951,
        4.1207103748663876e-05,
        -0.004361102817674539,
        0.9999265206257616
      ],
      "target_enu_m": [
        38.892546834594,
        27.020076611127614,
        -36.9223747253418
      ],
      "position_error_m": 0.27918686252457336,
      "sensor_timestamp_ns": 1793071846608231936,
      "camera_position_enu_m": [
        40.392024993896484,
        27.21335792541504,
        -36.9133186340332
      ],
      "camera_orientation_ned_xyzw": [
        -0.008050397038459778,
        -0.008106871508061886,
        0.710137665271759,
        0.703970193862915
      ],
      "front_depth_min_m": 7.1640625,
      "front_depth_median_m": 7.21875,
      "front_depth_valid_count": 9,
      "depth_sensor_timestamp_ns": 1793071846608231936
    },
    {
      "file": "capture_010.png",
      "waypoint": 10,
      "time_s": 69.60900000000038,
      "position_enu_m": [
        38.872047424316406,
        25.21381950378418,
        -37.104225158691406
      ],
      "orientation_enu_flu_xyzw": [
        -0.009893707720968417,
        3.4260118680018437e-05,
        -0.0043614400753002125,
        0.9999415438985653
      ],
      "target_enu_m": [
        38.87509382177589,
        25.020152764491556,
        -36.9223747253418
      ],
      "position_error_m": 0.26567963142694817,
      "sensor_timestamp_ns": 1793071853349375744,
      "camera_position_enu_m": [
        40.372013092041016,
        25.203638076782227,
        -36.90460205078125
      ],
      "camera_orientation_ned_xyzw": [
        -0.006976901087909937,
        -0.007024313788861036,
        0.7101494073867798,
        0.7039813995361328
      ],
      "front_depth_min_m": 7.16015625,
      "front_depth_median_m": 7.18359375,
      "front_depth_valid_count": 9,
      "depth_sensor_timestamp_ns": 1793071853352375808
    },
    {
      "file": "capture_011.png",
      "waypoint": 11,
      "time_s": 76.5,
      "position_enu_m": [
        38.8536491394043,
        23.234615325927734,
        -37.109130859375
      ],
      "orientation_enu_flu_xyzw": [
        -0.011978798406795851,
        4.324661873200686e-05,
        -0.0043601758621041944,
        0.9999187443912188
      ],
      "target_enu_m": [
        38.857640808957775,
        23.020228917855494,
        -36.9223747253418
      ],
      "position_error_m": 0.284350697187415,
      "sensor_timestamp_ns": 1793071860237522688,
      "camera_position_enu_m": [
        40.35362243652344,
        23.225595474243164,
        -36.90937805175781
      ],
      "camera_orientation_ned_xyzw": [
        -0.008470995351672173,
        -0.008531731553375721,
        0.7101320028305054,
        0.7039658427238464
      ],
      "front_depth_min_m": 7.17578125,
      "front_depth_median_m": 7.203125,
      "front_depth_valid_count": 9,
      "depth_sensor_timestamp_ns": 1793071860240522752
    }
  ]
}