camera trajectory

[mo230761]

import numpy as np
import json
from scipy.spatial.transform import Rotation as R

def parse_matrix(matrix_str):
    rows = matrix_str.strip().split('] [')
    matrix = []
    for row in rows:
        row = row.replace('[', '').replace(']', '')
        matrix.append(list(map(float, row.split())))
    return np.array(matrix)

tgt_camera_path = "my_example_test_data/cameras/camera_extrinsics.json"
with open(tgt_camera_path, 'r') as file:
    cam_data = json.load(file)

cam_idx = list(range(5))[::4]
traj = [parse_matrix(cam_data[f"frame{idx}"]["cam01"]) for idx in cam_idx]

print( traj )

traj = np.stack(traj).transpose(0, 2, 1)

print( traj )

c2ws = []
for c2w in traj:
    c2w = c2w[:, [1, 2, 0, 3]]
    c2w[:3, 1] *= -1.
    c2w[:3, 3] /= 100
    c2ws.append(c2w)

print( c2ws )
```  我用上面的代码运行的c2ws的结果是，这个结果的旋转矩阵并不是单位矩阵。我想问一下是我哪里写的有问题吗还是本身是这样设置的？