HugMinjun's picture
Add files using upload-large-folder tool
3174513 verified
Raw History Blame Contribute Delete
57.9 kB
{
"format_version": "1.0",
"camera_model": "opencv_pinhole",
"pose_type": "c2w",
"coordinate_system": "opencv",
"image_hw": [
480,
832
],
"num_frames": 81,
"frames": [
{
"frame_index": 0,
"c2w": [
[
0.9999993890531685,
0.0010987386401422902,
0.00012110611746331895,
1.772038785929908e-06
],
[
-0.0010985244364598605,
0.999997856913083,
-0.0017548257186470132,
0.0016485081287100911
],
[
-0.0001230339527457741,
0.0017546916085118788,
0.9999984529588063,
-0.00031754255178384483
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 1,
"c2w": [
[
0.9999990593758663,
0.000484399506374463,
0.0012832008809193299,
-0.0004840046167373657
],
[
-0.0004921443086425406,
0.9999816251852107,
0.0060421093935600495,
-0.004577221814543009
],
[
-0.0012802505075331964,
-0.006042735230216433,
0.9999809229728209,
0.005094293039292097
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 632.914306640625,
"fy": 629.94287109375,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 2,
"c2w": [
[
0.999992549943429,
0.0011898070028621176,
0.00367211341534602,
-0.0035352844279259443
],
[
-0.0012514931596333048,
0.9998573765914166,
0.016842216024116886,
-0.012112471275031567
],
[
-0.003651550699444888,
-0.016846686173474547,
0.999851416632723,
0.005466863978654146
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 629.94287109375,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 3,
"c2w": [
[
0.9999871119801533,
0.0008023724937498512,
0.00501318980018718,
-0.0043454221449792385
],
[
-0.0009062220172620643,
0.9997843378646646,
0.02074744616016941,
-0.014941862784326077
],
[
-0.0049954614648552035,
-0.020751721829645325,
0.9997721797518963,
0.006436765659600496
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 626.971435546875,
"fy": 626.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 4,
"c2w": [
[
0.9999802608425551,
0.0007594884243473604,
0.0062370748422922425,
-0.004903317894786596
],
[
-0.0009486728037049515,
0.9995378036557786,
0.0303855077774421,
-0.02219313383102417
],
[
-0.006211114647676468,
-0.030390824936397078,
0.9995187941277134,
0.00501031382009387
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 632.914306640625,
"fy": 629.94287109375,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 5,
"c2w": [
[
0.9999704263702694,
0.0008452397937292647,
0.007644079706045702,
-0.006575804203748703
],
[
-0.0011115148781706639,
0.9993902864201806,
0.034897277023627965,
-0.025822848081588745
],
[
-0.007609922439610686,
-0.03490474149280119,
0.9993616703185001,
0.0018988574156537652
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 632.914306640625,
"fy": 626.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 6,
"c2w": [
[
0.9999563538668841,
0.00015275969741431494,
0.009341682167637585,
-0.008161425590515137
],
[
-0.0005788675341462576,
0.9989583355558942,
0.04562793810567392,
-0.032812803983688354
],
[
-0.009324981159457006,
-0.04563135421913487,
0.998914823315033,
0.00392754003405571
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 632.914306640625,
"fy": 626.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 7,
"c2w": [
[
0.9999510830845876,
0.0001136260378454166,
0.009890324923068483,
-0.008722945116460323
],
[
-0.0006178075399743145,
0.9986990169667387,
0.05098913436716619,
-0.036279208958148956
],
[
-0.009871664084838822,
-0.050992750453303606,
0.9986502338904263,
0.0028249225579202175
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 632.914306640625,
"fy": 629.94287109375,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 8,
"c2w": [
[
0.9999224411181912,
0.0001062017615615595,
0.012453933893500154,
-0.008776778355240822
],
[
-0.0008684542083563231,
0.9981241430463728,
0.06121634467387634,
-0.043044768273830414
],
[
-0.012424070811365854,
-0.061222412473935714,
0.9980468218852989,
0.004049250390380621
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 9,
"c2w": [
[
0.9999365343867884,
0.0006011611757578821,
0.011250146833718541,
-0.008699765428900719
],
[
-0.001351551223890822,
0.9977646471724781,
0.06681229050159108,
-0.04800320416688919
],
[
-0.011184833831070506,
-0.06682325536832656,
0.9977021359274272,
0.0029155549127608538
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 638.857177734375,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 10,
"c2w": [
[
0.9999403307971053,
0.0007982374617865551,
0.010894845677175571,
-0.00920133851468563
],
[
-0.0016404063956899707,
0.9969901240704429,
0.07751129964630712,
-0.055013954639434814
],
[
-0.010800181120325715,
-0.07752454658337125,
0.9969319438982838,
0.0041334861889481544
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 11,
"c2w": [
[
0.9999264987553539,
0.0006025384398691709,
0.01210925407641416,
-0.010046450421214104
],
[
-0.001592181199569998,
0.9966406239570355,
0.0818836469483242,
-0.05815216526389122
],
[
-0.012019236493489174,
-0.08189690852503868,
0.9965683289810859,
0.004717002622783184
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 12,
"c2w": [
[
0.9999171315524196,
0.0007515071275658643,
0.012851663900771401,
-0.009944342076778412
],
[
-0.0019318251204665665,
0.9957499497432376,
0.09207771520863897,
-0.0661591961979866
],
[
-0.012727846624040829,
-0.09209491203848628,
0.9956688852710716,
0.005664866883307695
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 638.857177734375,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 13,
"c2w": [
[
0.9999144254463405,
0.0003404736657705894,
0.013077685651424111,
-0.010609356686472893
],
[
-0.00161293300971647,
0.9952427037864015,
0.09741334101158425,
-0.07016254961490631
],
[
-0.012982304549683393,
-0.09742609833928473,
0.9951580854974569,
0.004922766704112291
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 14,
"c2w": [
[
0.99991626467659,
3.212822846375473e-05,
0.012940734252437355,
-0.010175412520766258
],
[
-0.0014306022423635847,
0.9941419444944437,
0.10807288084450484,
-0.07751811295747757
],
[
-0.012861454522697413,
-0.10808234437031533,
0.994058745659922,
0.005306491628289223
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 15,
"c2w": [
[
0.9999196051016048,
-0.00034981585122303825,
0.012675210543466918,
-0.010454699397087097
],
[
-0.0010775425159833022,
0.9936592442930761,
0.1124284000288157,
-0.08094357699155807
],
[
-0.012634169366334868,
-0.11243301943727824,
0.9935789822176386,
0.005576079711318016
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 16,
"c2w": [
[
0.9999129437205021,
0.00017318206037211271,
0.013193748071458462,
-0.010724470019340515
],
[
-0.0017764841812959668,
0.9925769158737476,
0.12160555159413233,
-0.08853112906217575
],
[
-0.013074749869605684,
-0.12161840355198504,
0.9924908134755269,
0.004133598413318396
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 17,
"c2w": [
[
0.9999015948854317,
-0.00015716922029027815,
0.014027681326772064,
-0.010892229154706001
],
[
-0.0016178224371867602,
0.991973746809613,
0.12643365173504406,
-0.09246818721294403
],
[
-0.013934963083230669,
-0.1264439043146522,
0.991875877247519,
0.00443422794342041
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 638.857177734375,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 18,
"c2w": [
[
0.999902224772103,
0.00025572823224924814,
0.013981255268054993,
-0.011401924304664135
],
[
-0.0021708229457240765,
0.9905501902647976,
0.13713354109812773,
-0.10057098418474197
],
[
-0.01381406614786553,
-0.13715048366464014,
0.9904538941349156,
0.0034863909240812063
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 641.82861328125,
"fy": 638.857177734375,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 19,
"c2w": [
[
0.9999115778495183,
-0.00010006373615006256,
0.013297611429701428,
-0.0104781873524189
],
[
-0.001800095916899766,
0.9897491050699907,
0.1428057025046374,
-0.10365711897611618
],
[
-0.013175588684251607,
-0.14281701229336005,
0.98966140920136,
0.006464597303420305
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 641.82861328125,
"fy": 638.857177734375,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 20,
"c2w": [
[
0.9999097803944664,
-0.000906609912037004,
0.013401833081992082,
-0.010396414436399937
],
[
-0.0011497759055794326,
0.9882811673465444,
0.15264013981753968,
-0.11140910536050797
],
[
-0.01338316430658816,
-0.1526417777891046,
0.9881909626112374,
0.008146033622324467
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 638.857177734375,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 21,
"c2w": [
[
0.9999028539988896,
-0.0003782933065176183,
0.013933393665944949,
-0.011712654493749142
],
[
-0.0018342347610414511,
0.9873673165636637,
0.1584374253915766,
-0.11559446156024933
],
[
-0.01381731333209675,
-0.1584475909442748,
0.9872707038984996,
0.007031172048300505
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 22,
"c2w": [
[
0.9999098247243376,
-0.0014947052732320765,
0.013345721257785593,
-0.010823176242411137
],
[
-0.0007567201479095285,
0.9859362832484231,
0.16711993522288646,
-0.12261751294136047
],
[
-0.013407825862611172,
-0.1671149641128234,
0.9858462450987008,
0.010096912272274494
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 638.857177734375,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 23,
"c2w": [
[
0.999922547214235,
-0.000710774134165019,
0.0124255532160843,
-0.011366869322955608
],
[
-0.0014483857682715277,
0.9849388208763153,
0.17289714083651156,
-0.12637342512607574
],
[
-0.012361300548963785,
-0.1729017464657446,
0.9848615051456902,
0.008818269707262516
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 638.857177734375,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 24,
"c2w": [
[
0.9999271610186135,
-0.0013536617271261498,
0.011993342202401978,
-0.011092071421444416
],
[
-0.0008698900640353271,
0.9830235311800833,
0.18347746574856807,
-0.13405276834964752
],
[
-0.012038104025630216,
-0.18347453432607225,
0.9829507512105067,
0.011122964322566986
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 25,
"c2w": [
[
0.9999180813834965,
-0.0013310926598115989,
0.012730228382836125,
-0.011943289078772068
],
[
-0.0010894298522352108,
0.9821180496310059,
0.18826298024727797,
-0.13667970895767212
],
[
-0.012753182541829626,
-0.18826142669522386,
0.9820361457470567,
0.013304898515343666
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 632.914306640625,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 26,
"c2w": [
[
0.9999340008290505,
-0.0021129881915359656,
0.01129288567685924,
-0.010932405479252338
],
[
-0.0001629980328943326,
0.9802338597710777,
0.19784224419960453,
-0.14501874148845673
],
[
-0.011487707240761837,
-0.19783102749365977,
0.980168820736078,
0.012207943014800549
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 27,
"c2w": [
[
0.9999423968963853,
-0.0018226763322118126,
0.01057736924284533,
-0.010713083669543266
],
[
-0.0003685037250812669,
0.9790649260029144,
0.20354786875797146,
-0.1488051563501358
],
[
-0.01072693311790928,
-0.2035400415689645,
0.9790078571615183,
0.013597488403320312
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 28,
"c2w": [
[
0.9999522362819518,
-0.0020065431140986654,
0.009565507799064846,
-0.009329021908342838
],
[
-6.814580270146593e-05,
0.9772438737854625,
0.21211884995193533,
-0.1567312777042389
],
[
-0.009773459514024868,
-0.2121093702162008,
0.9771970602471203,
0.014624837785959244
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 29,
"c2w": [
[
0.9999583221797578,
-0.0021902462072649793,
0.008863223171926497,
-0.008658520877361298
],
[
0.0002159097713453074,
0.9761992482517657,
0.21687549676175225,
-0.15926238894462585
],
[
-0.009127282531753485,
-0.21686454420729476,
0.9761590352905349,
0.017203515395522118
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 30,
"c2w": [
[
0.9999752966160022,
-0.0017734773953062197,
0.0068015392130169605,
-0.007839086465537548
],
[
0.00017522970185216991,
0.9736354874684245,
0.22810941856195852,
-0.16728046536445618
],
[
-0.007026766844677556,
-0.22810259165570967,
0.973611746143019,
0.018181513994932175
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 638.857177734375,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 31,
"c2w": [
[
0.9999820957409482,
-0.0010647632958794718,
0.005888503771368996,
-0.007485846523195505
],
[
-0.00034159927195458455,
0.9722801904732193,
0.23381855042596073,
-0.1732877641916275
],
[
-0.00597423697881792,
-0.2338163755866648,
0.9722624187944514,
0.01874200627207756
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 32,
"c2w": [
[
0.9999915446743433,
-0.0013416198510744909,
0.0038872401516402994,
-0.005494396667927504
],
[
0.00035149129780635797,
0.9697099404605123,
0.2442590997812306,
-0.1788453459739685
],
[
-0.004097198273075379,
-0.24425566815991193,
0.9697022128148757,
0.021656811237335205
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 33,
"c2w": [
[
0.9999903836383531,
-0.0015033586082228443,
0.004119774716519392,
-0.005341553594917059
],
[
0.00043448573431777263,
0.9687481187015001,
0.24804615242823777,
-0.18248343467712402
],
[
-0.004363926324591717,
-0.2480419771433878,
0.968739456057114,
0.023561596870422363
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 34,
"c2w": [
[
0.9999989627684913,
-0.0009977127662351433,
0.0010387642546885922,
-0.0034055288415402174
],
[
0.0006941560312626856,
0.9657799949792664,
0.2593617540140657,
-0.19010332226753235
],
[
-0.0012619862697307675,
-0.2593607639314095,
0.9657796858101596,
0.026284901425242424
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 632.914306640625,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 35,
"c2w": [
[
0.9999990669851098,
-0.001300036999317185,
-0.0004194433341307641,
-0.0017501830589026213
],
[
0.001364591497608078,
0.9647629659895607,
0.263117003147025,
-0.19495506584644318
],
[
6.260155585996075e-05,
-0.2631173300237512,
0.9647638398707834,
0.02736089564859867
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 36,
"c2w": [
[
0.9999943232113757,
-0.0015506526115621306,
-0.0029914915178527613,
-3.537416341714561e-05
],
[
0.0023119946969555696,
0.9616141143221532,
0.27439560823187836,
-0.20160119235515594
],
[
0.002451168199936302,
-0.27440096685853593,
0.9616122405427023,
0.030233081430196762
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 37,
"c2w": [
[
0.9999914203352009,
-0.001156888341489804,
-0.003977545141560504,
0.0011670594103634357
],
[
0.0022174865933890383,
0.9605445074704274,
0.2781174786337632,
-0.20520739257335663
],
[
0.0034988582703456956,
-0.27812391263204783,
0.9605388317049163,
0.03210052475333214
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 38,
"c2w": [
[
0.9999829017559593,
-0.0007527177076549138,
-0.0057991043949607605,
0.002467528684064746
],
[
0.0024003232394100658,
0.9571229314124374,
0.28967211224556766,
-0.21321743726730347
],
[
0.005332414469770551,
-0.2896810790861479,
0.9571083730567855,
0.03393154591321945
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 39,
"c2w": [
[
0.9999760164959318,
-0.00044707863371724985,
-0.006911335154939655,
0.0036631477996706963
],
[
0.0024551558385723557,
0.9559906932341269,
0.29338671861476934,
-0.21609333157539368
],
[
0.006476005152635004,
-0.2933966505780681,
0.9559688628751641,
0.03480644151568413
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 40,
"c2w": [
[
0.9999391274158579,
0.0007355615054232776,
-0.011009105871248634,
0.006407759618014097
],
[
0.0026526504895425366,
0.9524846159205866,
0.30457514652379747,
-0.2244219183921814
],
[
0.010710037730696753,
-0.3045858095576418,
0.9524246845330728,
0.035696741193532944
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 41,
"c2w": [
[
0.9999272964056812,
0.0011569004055046708,
-0.01200264488669724,
0.00718738092109561
],
[
0.002599906897166031,
0.9512896837723241,
0.30828749250087634,
-0.2277686446905136
],
[
0.011774650183783921,
-0.3082962846513135,
0.951217513759732,
0.03848923742771149
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 632.914306640625,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 42,
"c2w": [
[
0.9999183348035536,
0.0006904690018989019,
-0.012761151054932439,
0.007622032891958952
],
[
0.003349832229615672,
0.949465429731054,
0.31385374996908955,
-0.2303333580493927
],
[
0.012332978055717645,
-0.31387086675603315,
0.9493855784948992,
0.04075656458735466
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 43,
"c2w": [
[
0.9998837446974118,
0.0009122173091283874,
-0.015220543665118423,
0.009461352601647377
],
[
0.0040256332879229275,
0.9469984799922496,
0.32121281600988394,
-0.2367621511220932
],
[
0.014706847606200892,
-0.3212367456440021,
0.9468847141450424,
0.04385707899928093
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 44,
"c2w": [
[
0.9998661087853307,
0.001073221630376129,
-0.016328279083022555,
0.01057339832186699
],
[
0.004333026007023558,
0.9448628573321971,
0.3274376363823482,
-0.24044187366962433
],
[
0.015779397583666945,
-0.3274645462174011,
0.9447316981992977,
0.04604107141494751
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 45,
"c2w": [
[
0.9998122285384923,
0.0025496431267475967,
-0.019209554519044846,
0.0131740877404809
],
[
0.0041038966764173086,
0.9409610606375803,
0.33848994135109745,
-0.24852819740772247
],
[
0.018938471347054817,
-0.3385052166270503,
0.9407739115320485,
0.04790407046675682
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 46,
"c2w": [
[
0.9997586939931534,
0.004390131235358595,
-0.02152395253759289,
0.013810981065034866
],
[
0.0032824632971571385,
0.9389701451089937,
0.3439829821789138,
-0.25256896018981934
],
[
0.02172047927203786,
-0.3439706286032752,
0.9387291555280793,
0.04890986159443855
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 47,
"c2w": [
[
0.999701774034477,
0.004501628006322562,
-0.024002048612848364,
0.01598975993692875
],
[
0.004265661771558887,
0.9355629275671338,
0.35313427006121184,
-0.258376806974411
],
[
0.02404510598794466,
-0.35313134087376996,
0.935264715987256,
0.051244642585515976
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 632.914306640625,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 48,
"c2w": [
[
0.9996476668196013,
0.005966171748995106,
-0.02586401006783121,
0.017272602766752243
],
[
0.0036556076094344365,
0.9341806840588248,
0.35678156631809405,
-0.26210054755210876
],
[
0.026290278719199884,
-0.3567504090061395,
0.9338297312244986,
0.0530318059027195
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 49,
"c2w": [
[
0.999524735405707,
0.006428131308858768,
-0.030149335648193977,
0.020958788692951202
],
[
0.005082174569283632,
0.9302740809193913,
0.3668300776534388,
-0.2704676687717438
],
[
0.03040517741764905,
-0.36680896049232,
0.9297992857002763,
0.05484757199883461
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 50,
"c2w": [
[
0.9994658751434076,
0.006047116979476076,
-0.03211536703915068,
0.022420117631554604
],
[
0.006283293177124327,
0.9288363541198568,
0.37043696831199574,
-0.2745666801929474
],
[
0.03206999611277087,
-0.3704408989860171,
0.9283022437265561,
0.05561680719256401
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 51,
"c2w": [
[
0.9992914771277857,
0.008249540531924013,
-0.036721775839158456,
0.025759797543287277
],
[
0.006304238097210751,
0.925210274075307,
0.37940243189456374,
-0.28043362498283386
],
[
0.03710526002850428,
-0.37936511941203443,
0.9245027343668104,
0.058003515005111694
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 52,
"c2w": [
[
0.9991954714983629,
0.008682017786640584,
-0.039153956432469765,
0.02727017179131508
],
[
0.007062701964055224,
0.9229354744682061,
0.3848898910196427,
-0.28444191813468933
],
[
0.03947819623703981,
-0.3848567688573216,
0.9221316280697511,
0.059503450989723206
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 53,
"c2w": [
[
0.9990720449290267,
0.010254346341740573,
-0.04183177527234828,
0.029610395431518555
],
[
0.006971859309686284,
0.919932297306802,
0.39201525678166493,
-0.29072922468185425
],
[
0.04250226134099893,
-0.3919431294881087,
0.919007149606557,
0.0608070082962513
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 54,
"c2w": [
[
0.998928288820921,
0.010794462886667803,
-0.04500836993598376,
0.03170977905392647
],
[
0.00789614270418234,
0.9184246580553797,
0.3955171278291922,
-0.29221275448799133
],
[
0.0456061917254796,
-0.3954486402136773,
0.9173551374628323,
0.0628778487443924
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 55,
"c2w": [
[
0.9987298983966862,
0.012420608780253735,
-0.04882948418806853,
0.034268829971551895
],
[
0.008473571696601775,
0.9139285039446873,
0.40578675219889604,
-0.2986248731613159
],
[
0.049666775929664606,
-0.4056851219295001,
0.912662474967498,
0.06984220445156097
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 632.914306640625,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 56,
"c2w": [
[
0.9986021205493716,
0.013601899042484602,
-0.05107634654844528,
0.036313265562057495
],
[
0.008610939985652278,
0.9115478306200944,
0.41110388492978833,
-0.3029464781284332
],
[
0.0521503264310236,
-0.4109690266117861,
0.9101564715030593,
0.0707138255238533
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 57,
"c2w": [
[
0.9983578330808827,
0.014627058078312074,
-0.05538669784359427,
0.03944842889904976
],
[
0.009883082937610053,
0.9083759702007618,
0.41803758375709843,
-0.30635979771614075
],
[
0.056426605406423726,
-0.4178984875945335,
0.9067397048042557,
0.07364612817764282
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 632.914306640625,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 58,
"c2w": [
[
0.9982232316403624,
0.016318448987436215,
-0.057306963242833596,
0.040818631649017334
],
[
0.009387287332021177,
0.9066869306089278,
0.42169976132256365,
-0.3105066120624542
],
[
0.05884096064831944,
-0.4214884554594651,
0.9049227719890677,
0.0749528631567955
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 632.914306640625,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 59,
"c2w": [
[
0.9978491677538385,
0.019239873106854027,
-0.06266470853522453,
0.043245043605566025
],
[
0.009627674210742595,
0.9025754099637278,
0.4304241364260377,
-0.3165246844291687
],
[
0.06484093076340189,
-0.4301016817121746,
0.9004488864372565,
0.07780756056308746
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 60,
"c2w": [
[
0.9977071191412051,
0.021285573117922493,
-0.06424506823094848,
0.045507170259952545
],
[
0.00896734741619865,
0.8993106361912607,
0.4372184423301313,
-0.32070469856262207
],
[
0.06708271830564758,
-0.43679206037920476,
0.8970577489183258,
0.07949505746364594
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 632.914306640625,
"fy": 629.94287109375,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 61,
"c2w": [
[
0.9972834732325724,
0.02336567284792635,
-0.06985498800759299,
0.04912606254220009
],
[
0.009977157675677074,
0.896764382396523,
0.4423958620847367,
-0.32641172409057617
],
[
0.07298034216069407,
-0.4418910361133684,
0.8940951749454651,
0.08229398727416992
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 632.914306640625,
"fy": 629.94287109375,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 62,
"c2w": [
[
0.9970617732991887,
0.02405825903611375,
-0.07272565157926704,
0.051426999270915985
],
[
0.01092263575373349,
0.8950472780818989,
0.44583748835912757,
-0.328910231590271
],
[
0.07581897027570977,
-0.44532187254876154,
0.8921546466706296,
0.0825757384300232
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 63,
"c2w": [
[
0.9966993374677734,
0.0268641519927483,
-0.07660775436606639,
0.05554040148854256
],
[
0.010788128649220265,
0.8914614069903399,
0.45296818445344755,
-0.3352236747741699
],
[
0.08046146264858019,
-0.4522995436483608,
0.8882291797976105,
0.08543911576271057
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 64,
"c2w": [
[
0.996444511983872,
0.02892734783291122,
-0.07912991270421726,
0.057000838220119476
],
[
0.010416013973320598,
0.8897074840323745,
0.45641220350653555,
-0.33774852752685547
],
[
0.08360527010978863,
-0.45561365366298695,
0.8862428320757993,
0.09013057500123978
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 632.914306640625,
"fy": 629.94287109375,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 65,
"c2w": [
[
0.995822024319276,
0.031166207316163673,
-0.08583218162312829,
0.06127909943461418
],
[
0.012531866882337322,
0.8844159115837387,
0.4665312933233386,
-0.3428696393966675
],
[
0.09045135816063307,
-0.46565777439985906,
0.8803302726521831,
0.09098926186561584
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 66,
"c2w": [
[
0.9954438826010978,
0.03339518730960647,
-0.08930978701467365,
0.06439258903265
],
[
0.01274371099590706,
0.881658731447349,
0.47171546412292054,
-0.34758833050727844
],
[
0.09449377980641308,
-0.4707044112043205,
0.8772162121453807,
0.09197743237018585
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 67,
"c2w": [
[
0.9948511635458744,
0.03629216297503948,
-0.09462579615524006,
0.06765016168355942
],
[
0.01348421559982717,
0.8779826642688671,
0.47850247352861136,
-0.35069864988327026
],
[
0.10044569837020012,
-0.4773146971861806,
0.8729727037708497,
0.09641392529010773
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 68,
"c2w": [
[
0.9946428271877177,
0.037432794627892584,
-0.09635575857399843,
0.06982257217168808
],
[
0.01350555314981604,
0.8770841554355926,
0.4801468362052918,
-0.35462313890457153
],
[
0.10248534704113635,
-0.4788759444471806,
0.8718799134466165,
0.09804492443799973
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 69,
"c2w": [
[
0.9939081843888394,
0.0409846552065714,
-0.10230727756361886,
0.07289666682481766
],
[
0.014769709136648181,
0.8703777087777624,
0.49216308247855217,
-0.35697752237319946
],
[
0.10921710807790012,
-0.49067596446164913,
0.8644701968273577,
0.1048421785235405
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 632.914306640625,
"fy": 629.94287109375,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 70,
"c2w": [
[
0.9933975845654337,
0.04314168183512243,
-0.10630161931032636,
0.07596695423126221
],
[
0.015317507367734434,
0.868423606392875,
0.4955863333745507,
-0.36152541637420654
],
[
0.11369526352315633,
-0.4939425423549075,
0.8620290899409198,
0.10589337348937988
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 632.914306640625,
"fy": 629.94287109375,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 71,
"c2w": [
[
0.9926703148197352,
0.04670654041605649,
-0.11146364949189062,
0.08004521578550339
],
[
0.01549265770926457,
0.8655117501661578,
0.50064896672361,
-0.3674614727497101
],
[
0.11985667955016643,
-0.49870623558030425,
0.8584442130741698,
0.1099073588848114
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 632.914306640625,
"fy": 629.94287109375,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 72,
"c2w": [
[
0.9922270393145451,
0.04957218603884025,
-0.11414070625514187,
0.08130837231874466
],
[
0.01534418002131421,
0.8614917386694567,
0.5075396933676715,
-0.3712618052959442
],
[
0.12349112758642027,
-0.5053460028293562,
0.8540347527073046,
0.11220899224281311
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 73,
"c2w": [
[
0.9911872411788412,
0.05300008215322046,
-0.12140364169179184,
0.08722034841775894
],
[
0.016593516946647704,
0.8595784320472466,
0.5107343481248723,
-0.37617364525794983
],
[
0.1314249143793458,
-0.5082478828789637,
0.8511237168763615,
0.11330997198820114
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 632.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 74,
"c2w": [
[
0.990824178431752,
0.0546595030132312,
-0.12361143217918837,
0.08917851001024246
],
[
0.017357842176318337,
0.8555409207293784,
0.5174441402436685,
-0.377140611410141
],
[
0.13403787804208753,
-0.5148417928722122,
0.8467418588696916,
0.11787599325180054
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 638.857177734375,
"fy": 629.94287109375,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 75,
"c2w": [
[
0.9898382653519144,
0.057225513675256946,
-0.13017468659349776,
0.09411516040563583
],
[
0.019649766068956402,
0.8516195465920788,
0.5237919764140501,
-0.38233062624931335
],
[
0.14083357248379266,
-0.5210272434785964,
0.841841146781593,
0.12267986685037613
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 632.914306640625,
"fy": 629.94287109375,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 76,
"c2w": [
[
0.989047855780027,
0.06091371870577061,
-0.13443904883018803,
0.09630946815013885
],
[
0.01944829821197141,
0.8491351451113353,
0.5278174580604639,
-0.38548702001571655
],
[
0.14630824540534157,
-0.524651335850949,
0.8386506263732384,
0.12351614981889725
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 632.914306640625,
"fy": 629.94287109375,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 77,
"c2w": [
[
0.9878052705308368,
0.064357371601906,
-0.14177050550800285,
0.10091647505760193
],
[
0.020988807825483784,
0.8472129916717045,
0.5308385975875768,
-0.38830336928367615
],
[
0.15427319098782324,
-0.5273407583936357,
0.8355306739308023,
0.12817585468292236
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 632.914306640625,
"fy": 629.94287109375,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 78,
"c2w": [
[
0.987291707447013,
0.06813358153177429,
-0.14357193135851623,
0.10258699953556061
],
[
0.020025436251442902,
0.8428915468645048,
0.5377107234631848,
-0.39034757018089294
],
[
0.15765172472669248,
-0.5337524288394532,
0.8308154298029642,
0.13210685551166534
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 632.914306640625,
"fy": 629.94287109375,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 79,
"c2w": [
[
0.9860191960679184,
0.07096415107604036,
-0.15076549422077232,
0.10883601009845734
],
[
0.021951659142601554,
0.8415776927252433,
0.539689829224291,
-0.3955974280834198
],
[
0.16517950734417308,
-0.5354540842773677,
0.8282539791538721,
0.13397465646266937
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 632.914306640625,
"fy": 629.94287109375,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 80,
"c2w": [
[
0.9854830016978668,
0.07390854001928106,
-0.15284234058918442,
0.10973867028951645
],
[
0.021225088056812537,
0.8395702554811518,
0.5428363305346224,
-0.39543378353118896
],
[
0.1684421235960366,
-0.5382000685837296,
0.825813500237751,
0.1390591859817505
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 632.914306640625,
"fy": 626.971435546875,
"cx": 416.0,
"cy": 240.0
}
}
]
}