| { |
| "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": [ |
| [ |
| 0.9999999031425294, |
| 0.000244320719390176, |
| 0.000366090586854425, |
| -0.00021381645638030022 |
| ], |
| [ |
| -0.00024396029776587144, |
| 0.9999994858810072, |
| -0.0009842363000351893, |
| 0.0003059486043639481 |
| ], |
| [ |
| -0.00036633086796081026, |
| 0.0009841468931359753, |
| 0.9999994486281418, |
| -0.0007320428849197924 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1533.2572021484375, |
| "fy": 1515.4285888671875, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 1, |
| "c2w": [ |
| [ |
| 0.999998897209442, |
| 0.0002397391506903546, |
| 0.0014656415110624588, |
| -0.0002657256554812193 |
| ], |
| [ |
| -0.0002494844050285674, |
| 0.9999778402484859, |
| 0.006652576155559107, |
| -0.0026419740170240402 |
| ], |
| [ |
| -0.0014640141498533082, |
| -0.006652934473860762, |
| 0.9999767972935447, |
| 0.006548880133777857 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1515.4285888671875, |
| "fy": 1497.5999755859375, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 2, |
| "c2w": [ |
| [ |
| 0.9999976681610647, |
| 0.0014534642893628477, |
| 0.0015972207090281835, |
| 0.0002832487807609141 |
| ], |
| [ |
| -0.001476030548088057, |
| 0.9998978113418739, |
| 0.014219289980541845, |
| -0.003116917097941041 |
| ], |
| [ |
| -0.0015763902609800156, |
| -0.01422161437000571, |
| 0.9998976250989177, |
| 0.008345508947968483 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1503.5428466796875, |
| "fy": 1491.6572265625, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 3, |
| "c2w": [ |
| [ |
| 0.9999981821698047, |
| 0.0012065877514133468, |
| 0.001476415619945864, |
| -0.000660788849927485 |
| ], |
| [ |
| -0.0012346591589481471, |
| 0.9998156224898644, |
| 0.01916237568688912, |
| -0.003825593739748001 |
| ], |
| [ |
| -0.0014530223143176203, |
| -0.01916416372301155, |
| 0.9998152947194553, |
| 0.01057429239153862 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1503.5428466796875, |
| "fy": 1497.5999755859375, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 4, |
| "c2w": [ |
| [ |
| 0.9999958730318741, |
| 0.0005729852842328942, |
| 0.002815245475011849, |
| -0.0013188563752919436 |
| ], |
| [ |
| -0.0006476866174518222, |
| 0.9996457955285393, |
| 0.02660571337437606, |
| -0.0037775803357362747 |
| ], |
| [ |
| -0.002799003620236285, |
| -0.026607426970264164, |
| 0.999642041137104, |
| 0.009445996023714542 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1503.5428466796875, |
| "fy": 1497.5999755859375, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 5, |
| "c2w": [ |
| [ |
| 0.9999944433548648, |
| 0.0012956284747122416, |
| 0.0030715804155817543, |
| -0.0009488479699939489 |
| ], |
| [ |
| -0.001389110411133035, |
| 0.999529817309312, |
| 0.030630290267610452, |
| -0.003938206937164068 |
| ], |
| [ |
| -0.0030304507353780216, |
| -0.030634386830290735, |
| 0.9995260630478187, |
| 0.010931938886642456 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1503.5428466796875, |
| "fy": 1497.5999755859375, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 6, |
| "c2w": [ |
| [ |
| 0.9999943323127439, |
| 0.0022711012420335765, |
| 0.002485445943609525, |
| -0.001319653121754527 |
| ], |
| [ |
| -0.002365835537075419, |
| 0.9992441619140275, |
| 0.0388008724508091, |
| -0.003989050630480051 |
| ], |
| [ |
| -0.002395446639290067, |
| -0.03880653269593733, |
| 0.9992438715626518, |
| 0.013596123084425926 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1491.6572265625, |
| "fy": 1491.6572265625, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 7, |
| "c2w": [ |
| [ |
| 0.9999959487039112, |
| 0.002409036834226131, |
| 0.0015162840422312009, |
| -0.00014213733084034175 |
| ], |
| [ |
| -0.0024715921849935937, |
| 0.9990847439272743, |
| 0.04270322802604904, |
| -0.004138316493481398 |
| ], |
| [ |
| -0.0014120226047985762, |
| -0.042706802658417246, |
| 0.999086650495771, |
| 0.01465563103556633 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1491.6572265625, |
| "fy": 1491.6572265625, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 8, |
| "c2w": [ |
| [ |
| 0.999990454475981, |
| 0.002472781748122306, |
| 0.003602264197232773, |
| -0.003212227486073971 |
| ], |
| [ |
| -0.002650710469785877, |
| 0.9987328308360265, |
| 0.05025640600223117, |
| -0.0030764045659452677 |
| ], |
| [ |
| -0.003473426395632882, |
| -0.05026547483792337, |
| 0.998729852036271, |
| 0.01764470338821411 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1491.6572265625, |
| "fy": 1491.6572265625, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 9, |
| "c2w": [ |
| [ |
| 0.9999891295712413, |
| 0.003079963252745392, |
| 0.003500652183881181, |
| -0.002881404710933566 |
| ], |
| [ |
| -0.00326341199639966, |
| 0.9985535754428826, |
| 0.05366662941136626, |
| -0.0027911418583244085 |
| ], |
| [ |
| -0.003330297508110795, |
| -0.05367747010242666, |
| 0.9985527719264068, |
| 0.017274776473641396 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1491.6572265625, |
| "fy": 1491.6572265625, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 10, |
| "c2w": [ |
| [ |
| 0.9999861483885849, |
| 0.0035406219457565767, |
| 0.0038944867698177173, |
| -0.003379582893103361 |
| ], |
| [ |
| -0.003775987283417736, |
| 0.998057292953186, |
| 0.06218827785839715, |
| -0.0027400709223002195 |
| ], |
| [ |
| -0.0036667357415718044, |
| -0.06220212198305671, |
| 0.998056837594837, |
| 0.02158781699836254 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1485.71435546875, |
| "fy": 1479.771484375, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 11, |
| "c2w": [ |
| [ |
| 0.9999828454832587, |
| 0.0032565414621598776, |
| 0.004868642204103044, |
| -0.00418147724121809 |
| ], |
| [ |
| -0.0035723198280823948, |
| 0.9977917369475804, |
| 0.06632411484654073, |
| -0.00322494818829 |
| ], |
| [ |
| -0.00464190373146944, |
| -0.06634036943548362, |
| 0.99778625372016, |
| 0.02213381975889206 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1491.6572265625, |
| "fy": 1479.771484375, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 12, |
| "c2w": [ |
| [ |
| 0.9999847603379998, |
| 0.0037563352161259856, |
| 0.004045866717642533, |
| -0.0036758871283382177 |
| ], |
| [ |
| -0.0040458668212680765, |
| 0.9972420385703943, |
| 0.07410767483621285, |
| -0.002977595664560795 |
| ], |
| [ |
| -0.0037563351045132695, |
| -0.07412291449821326, |
| 0.9972420385708142, |
| 0.023983005434274673 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1491.6572265625, |
| "fy": 1479.771484375, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 13, |
| "c2w": [ |
| [ |
| 0.9999833307601503, |
| 0.0039871433611480215, |
| 0.004176229118916812, |
| -0.004278736189007759 |
| ], |
| [ |
| -0.004300766939801798, |
| 0.9969442767816347, |
| 0.07799751531987059, |
| -0.002163573633879423 |
| ], |
| [ |
| -0.003852480443239553, |
| -0.07801417614870765, |
| 0.99694480625272, |
| 0.0245538167655468 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1491.6572265625, |
| "fy": 1479.771484375, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 14, |
| "c2w": [ |
| [ |
| 0.9999846369947225, |
| 0.0033479450656198084, |
| 0.004417809227444529, |
| -0.003812600625678897 |
| ], |
| [ |
| -0.0037185708570692563, |
| 0.9962238411165768, |
| 0.0867423231284112, |
| -0.004225778393447399 |
| ], |
| [ |
| -0.004110718345187071, |
| -0.08675741844228826, |
| 0.9962209856954005, |
| 0.026607371866703033 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1485.71435546875, |
| "fy": 1473.82861328125, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 15, |
| "c2w": [ |
| [ |
| 0.9999806330926085, |
| 0.003301353980197037, |
| 0.00527584131701606, |
| -0.004880542866885662 |
| ], |
| [ |
| -0.0037635169680598694, |
| 0.9959221984427268, |
| 0.09013773121748891, |
| -0.003252628492191434 |
| ], |
| [ |
| -0.00495675092535659, |
| -0.09015584124671358, |
| 0.9959153352114632, |
| 0.027530888095498085 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1485.71435546875, |
| "fy": 1479.771484375, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 16, |
| "c2w": [ |
| [ |
| 0.9999816784706888, |
| 0.003162787254097788, |
| 0.0051613466972912705, |
| -0.003537284443154931 |
| ], |
| [ |
| -0.003657628862414486, |
| 0.9950938405516208, |
| 0.09886794347679682, |
| -0.0038070417940616608 |
| ], |
| [ |
| -0.004823326035958686, |
| -0.09888501035552122, |
| 0.9950871772125996, |
| 0.02885647863149643 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1485.71435546875, |
| "fy": 1479.771484375, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 17, |
| "c2w": [ |
| [ |
| 0.9999720825338572, |
| 0.003193680541140991, |
| 0.006755335484042166, |
| -0.005739196669310331 |
| ], |
| [ |
| -0.003867802904085689, |
| 0.9947505057739993, |
| 0.10225688907388049, |
| -0.00295487348921597 |
| ], |
| [ |
| -0.006393297552591076, |
| -0.10228016262684475, |
| 0.9947350873873052, |
| 0.030162883922457695 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1491.6572265625, |
| "fy": 1479.771484375, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 18, |
| "c2w": [ |
| [ |
| 0.9999585606094689, |
| 0.003567220732432053, |
| 0.008375679082033752, |
| -0.007031197194010019 |
| ], |
| [ |
| -0.00446703301150509, |
| 0.9939217480835277, |
| 0.10999820136101891, |
| -0.0026993865612894297 |
| ], |
| [ |
| -0.007932381730176507, |
| -0.11003105753754897, |
| 0.9938964954648225, |
| 0.03474819287657738 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1485.71435546875, |
| "fy": 1473.82861328125, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 19, |
| "c2w": [ |
| [ |
| 0.9999628579321472, |
| 0.004337108751554843, |
| 0.007447969109106315, |
| -0.006150740198791027 |
| ], |
| [ |
| -0.00515374571636591, |
| 0.9935380062009064, |
| 0.11338284323220695, |
| -0.0027349782176315784 |
| ], |
| [ |
| -0.006908086657249264, |
| -0.11341701689784234, |
| 0.9935234565005153, |
| 0.035006627440452576 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1485.71435546875, |
| "fy": 1473.82861328125, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 20, |
| "c2w": [ |
| [ |
| 0.9999455810825859, |
| 0.0034391678024223316, |
| 0.009849213077018349, |
| -0.009053872898221016 |
| ], |
| [ |
| -0.004588692175114398, |
| 0.992862136762069, |
| 0.11917936603448, |
| -7.743632886558771e-05 |
| ], |
| [ |
| -0.009369032902694575, |
| -0.11921807542937977, |
| 0.992823887561829, |
| 0.03698493912816048 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1485.71435546875, |
| "fy": 1479.771484375, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 21, |
| "c2w": [ |
| [ |
| 0.9999539877701717, |
| 0.003850903438655925, |
| 0.008785948169547232, |
| -0.008055954240262508 |
| ], |
| [ |
| -0.004914912815482255, |
| 0.9922083248994519, |
| 0.12449290595146899, |
| 0.0001180649342131801 |
| ], |
| [ |
| -0.008238080756343491, |
| -0.12453035992452233, |
| 0.9921815980366302, |
| 0.03696684166789055 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1485.71435546875, |
| "fy": 1473.82861328125, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 22, |
| "c2w": [ |
| [ |
| 0.9999403260578411, |
| 0.003458774562512067, |
| 0.010362490138156646, |
| -0.00919006671756506 |
| ], |
| [ |
| -0.004808184484683238, |
| 0.9910815861137692, |
| 0.1331697076221801, |
| -0.00022031288244761527 |
| ], |
| [ |
| -0.009809469164991707, |
| -0.1332115856250549, |
| 0.9910390747947125, |
| 0.0402819886803627 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1473.82861328125, |
| "fy": 1461.94287109375, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 23, |
| "c2w": [ |
| [ |
| 0.9999424037198527, |
| 0.004329969252177148, |
| 0.009820417976728979, |
| -0.010366152040660381 |
| ], |
| [ |
| -0.005634952034801303, |
| 0.9905526583450934, |
| 0.13701707324648973, |
| 0.0001441546919522807 |
| ], |
| [ |
| -0.00913436141872802, |
| -0.13706451915701434, |
| 0.9905200053657311, |
| 0.041244592517614365 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1473.82861328125, |
| "fy": 1461.94287109375, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 24, |
| "c2w": [ |
| [ |
| 0.999929742121416, |
| 0.003943183417008434, |
| 0.011178645961770085, |
| -0.010643579065799713 |
| ], |
| [ |
| -0.005541919934144991, |
| 0.9891492289676008, |
| 0.14680970661453485, |
| -0.00012889527715742588 |
| ], |
| [ |
| -0.010478451433408566, |
| -0.14686134323688396, |
| 0.989101586247953, |
| 0.04457150027155876 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1461.94287109375, |
| "fy": 1456.0, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 25, |
| "c2w": [ |
| [ |
| 0.9999148141288672, |
| 0.002971614467978201, |
| 0.012709602396871338, |
| -0.011617780663073063 |
| ], |
| [ |
| -0.004829438440276746, |
| 0.9888636058003066, |
| 0.14874624582814377, |
| 0.00035310842213220894 |
| ], |
| [ |
| -0.012126046758297966, |
| -0.14879495499199047, |
| 0.9887937198217563, |
| 0.043554238975048065 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1461.94287109375, |
| "fy": 1456.0, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 26, |
| "c2w": [ |
| [ |
| 0.9999151934802959, |
| 0.003896383745378886, |
| 0.012426746998807223, |
| -0.012026196345686913 |
| ], |
| [ |
| -0.0058047097790480204, |
| 0.9875111336529898, |
| 0.15744226324519311, |
| 0.0009090656531043351 |
| ], |
| [ |
| -0.01165809554106682, |
| -0.15750104477461874, |
| 0.9874500036474049, |
| 0.04648993909358978 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1461.94287109375, |
| "fy": 1456.0, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 27, |
| "c2w": [ |
| [ |
| 0.9999088115294267, |
| 0.003211612858663692, |
| 0.013116942046654732, |
| -0.01245945692062378 |
| ], |
| [ |
| -0.005285805773430483, |
| 0.9868906382454603, |
| 0.16130383876645207, |
| 0.0008199495496228337 |
| ], |
| [ |
| -0.012426941825517642, |
| -0.1613584633240978, |
| 0.9868176211593259, |
| 0.048276059329509735 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1461.94287109375, |
| "fy": 1456.0, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 28, |
| "c2w": [ |
| [ |
| 0.9999082756183084, |
| 0.0036442975428969517, |
| 0.013044517830847764, |
| -0.012336524203419685 |
| ], |
| [ |
| -0.005808990056827626, |
| 0.9854311058129136, |
| 0.1699758551408341, |
| -2.8412012397893704e-05 |
| ], |
| [ |
| -0.012235031039607252, |
| -0.17003603968499406, |
| 0.9853618874422244, |
| 0.04947509989142418 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1461.94287109375, |
| "fy": 1456.0, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 29, |
| "c2w": [ |
| [ |
| 0.9998864987099304, |
| 0.004239417800141685, |
| 0.014457421426749498, |
| -0.013627307489514351 |
| ], |
| [ |
| -0.006688504604979932, |
| 0.9847551161535816, |
| 0.1738177928622193, |
| 0.0005380759830586612 |
| ], |
| [ |
| -0.0135001334713385, |
| -0.17389476284828145, |
| 0.9846717005429756, |
| 0.05291960760951042 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1438.1715087890625, |
| "fy": 1438.1715087890625, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 30, |
| "c2w": [ |
| [ |
| 0.9999028506250924, |
| 0.002538672240180539, |
| 0.013705635887155808, |
| -0.012230385094881058 |
| ], |
| [ |
| -0.004997518545883778, |
| 0.9831966679526617, |
| 0.18248105911345275, |
| -0.0006970305694267154 |
| ], |
| [ |
| -0.013012075937293893, |
| -0.18253182536215684, |
| 0.9831138380725609, |
| 0.05493754521012306 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1450.05712890625, |
| "fy": 1444.1142578125, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 31, |
| "c2w": [ |
| [ |
| 0.999921442522667, |
| 0.003387183775518979, |
| 0.012067964594726956, |
| -0.010555808432400227 |
| ], |
| [ |
| -0.005576761180478103, |
| 0.9824732468511757, |
| 0.18632020544332845, |
| -0.00012551753025036305 |
| ], |
| [ |
| -0.011225351581337403, |
| -0.18637286875449177, |
| 0.9824149557463466, |
| 0.05483129993081093 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1438.1715087890625, |
| "fy": 1438.1715087890625, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 32, |
| "c2w": [ |
| [ |
| 0.999883998169663, |
| 0.002323681604000548, |
| 0.015052930214805403, |
| -0.013207975775003433 |
| ], |
| [ |
| -0.0051999075199785985, |
| 0.9809940798997518, |
| 0.19396797715969136, |
| 0.0008192242821678519 |
| ], |
| [ |
| -0.014316115605577249, |
| -0.1940237503643356, |
| 0.9808923657203804, |
| 0.05778598412871361 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1438.1715087890625, |
| "fy": 1438.1715087890625, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 33, |
| "c2w": [ |
| [ |
| 0.999900590002039, |
| 0.0030139874674092034, |
| 0.013774105891830663, |
| -0.012538163922727108 |
| ], |
| [ |
| -0.005691961810037783, |
| 0.9800339523016589, |
| 0.19874872051598758, |
| 0.0013455046573653817 |
| ], |
| [ |
| -0.012900065283793404, |
| -0.1988073645907902, |
| 0.9799536826300204, |
| 0.05895114690065384 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1438.1715087890625, |
| "fy": 1438.1715087890625, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 34, |
| "c2w": [ |
| [ |
| 0.9998912484527723, |
| 0.0022825907550760114, |
| 0.014569867775695617, |
| -0.012936858460307121 |
| ], |
| [ |
| -0.005227585174244945, |
| 0.97865705500879, |
| 0.20543378747121, |
| 0.0023571751080453396 |
| ], |
| [ |
| -0.013789982625167771, |
| -0.20548761145374542, |
| 0.9785625569774431, |
| 0.05683647468686104 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1438.1715087890625, |
| "fy": 1438.1715087890625, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 35, |
| "c2w": [ |
| [ |
| 0.9999133321268802, |
| 0.0030388458815662667, |
| 0.012809904395700247, |
| -0.011595664545893669 |
| ], |
| [ |
| -0.005663966125140814, |
| 0.9776432381721716, |
| 0.21019423955942154, |
| 0.0031621160451322794 |
| ], |
| [ |
| -0.011884768514874357, |
| -0.21024857733629984, |
| 0.9775757198321823, |
| 0.06041404977440834 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1438.1715087890625, |
| "fy": 1432.2286376953125, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 36, |
| "c2w": [ |
| [ |
| 0.9999203234189393, |
| 0.0023062248597695055, |
| 0.012410807413685228, |
| -0.010933173820376396 |
| ], |
| [ |
| -0.0049857376154773215, |
| 0.975387064063127, |
| 0.22044323005876704, |
| 0.0022120855282992125 |
| ], |
| [ |
| -0.011596949348557987, |
| -0.2204875429252382, |
| 0.9753208467886849, |
| 0.06172214448451996 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1438.1715087890625, |
| "fy": 1432.2286376953125, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 37, |
| "c2w": [ |
| [ |
| 0.9998941635987031, |
| 0.0021789825499378477, |
| 0.014384492910681002, |
| -0.01204147282987833 |
| ], |
| [ |
| -0.005349752237384971, |
| 0.9745168330683414, |
| 0.22425057907940818, |
| 0.0024175785947591066 |
| ], |
| [ |
| -0.013529292377983282, |
| -0.22430379867826236, |
| 0.9744253507304974, |
| 0.06100638210773468 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1432.2286376953125, |
| "fy": 1432.2286376953125, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 38, |
| "c2w": [ |
| [ |
| 0.9998893197424535, |
| 0.0014784104270808745, |
| 0.014804140217637488, |
| -0.012725641019642353 |
| ], |
| [ |
| -0.004830253847881366, |
| 0.9734068694319568, |
| 0.2290321706451761, |
| 0.0032936548814177513 |
| ], |
| [ |
| -0.014071848234663455, |
| -0.2290783290607933, |
| 0.9733062736066049, |
| 0.061883144080638885 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1438.1715087890625, |
| "fy": 1432.2286376953125, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 39, |
| "c2w": [ |
| [ |
| 0.9999001926291688, |
| 0.003156586992773256, |
| 0.013771010809238217, |
| -0.01273760199546814 |
| ], |
| [ |
| -0.00631385165281626, |
| 0.9718089695593205, |
| 0.23568509066412832, |
| 0.0030770590528845787 |
| ], |
| [ |
| -0.01263883133273491, |
| -0.23574851567424404, |
| 0.9717319060831201, |
| 0.06275317072868347 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1432.2286376953125, |
| "fy": 1432.2286376953125, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 40, |
| "c2w": [ |
| [ |
| 0.9998923961297108, |
| 0.0033016888809771603, |
| 0.01429318062987535, |
| -0.013345137238502502 |
| ], |
| [ |
| -0.006654633259666798, |
| 0.9704107308160642, |
| 0.24136845148695632, |
| 0.003335645655170083 |
| ], |
| [ |
| -0.013073332328230176, |
| -0.2414375951826169, |
| 0.9703282823942987, |
| 0.06075958535075188 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1438.1715087890625, |
| "fy": 1438.1715087890625, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 41, |
| "c2w": [ |
| [ |
| 0.9998919563619134, |
| 0.0030162393035704665, |
| 0.01438672663285028, |
| -0.01315654069185257 |
| ], |
| [ |
| -0.006451902656333155, |
| 0.969460628761527, |
| 0.2451621141885844, |
| 0.005414277780801058 |
| ], |
| [ |
| -0.013207897442741305, |
| -0.24522844774162564, |
| 0.9693753451905893, |
| 0.06430961936712265 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1432.2286376953125, |
| "fy": 1432.2286376953125, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 42, |
| "c2w": [ |
| [ |
| 0.9999097401151618, |
| 0.0010147380497741152, |
| 0.013397086605651644, |
| -0.011863857507705688 |
| ], |
| [ |
| -0.004330818181232058, |
| 0.9682626910101384, |
| 0.24989718928328514, |
| 0.004565099254250526 |
| ], |
| [ |
| -0.012718318941986561, |
| -0.24993265393800634, |
| 0.9681796903771502, |
| 0.0640384778380394 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1432.2286376953125, |
| "fy": 1420.3428955078125, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 43, |
| "c2w": [ |
| [ |
| 0.9998478778309431, |
| 0.004550228728388849, |
| 0.016837951641452055, |
| -0.014794154092669487 |
| ], |
| [ |
| -0.008732430835380018, |
| 0.9662606293996949, |
| 0.2574182214292743, |
| 0.005678543355315924 |
| ], |
| [ |
| -0.015098537964512968, |
| -0.25752609865919435, |
| 0.9661533742945319, |
| 0.06798545271158218 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1432.2286376953125, |
| "fy": 1420.3428955078125, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 44, |
| "c2w": [ |
| [ |
| 0.9998811846020834, |
| 0.00531887937732666, |
| 0.014468109790314532, |
| -0.013625632040202618 |
| ], |
| [ |
| -0.008913634454491585, |
| 0.9652541169261257, |
| 0.2611609405672632, |
| 0.006627418100833893 |
| ], |
| [ |
| -0.01257631899829389, |
| -0.26125887406810744, |
| 0.9651868404206089, |
| 0.06719787418842316 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1432.2286376953125, |
| "fy": 1432.2286376953125, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 45, |
| "c2w": [ |
| [ |
| 0.999860964701246, |
| 0.00522390833659345, |
| 0.015835468050676253, |
| -0.014196973294019699 |
| ], |
| [ |
| -0.00926058447394708, |
| 0.9637059861983033, |
| 0.2668051981141983, |
| 0.007556724362075329 |
| ], |
| [ |
| -0.01386696945601336, |
| -0.26691474846333757, |
| 0.9636203734930366, |
| 0.07160677015781403 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1420.3428955078125, |
| "fy": 1414.4000244140625, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 46, |
| "c2w": [ |
| [ |
| 0.9998926729125527, |
| 0.005342382056160168, |
| 0.013641906382781836, |
| -0.01302484143525362 |
| ], |
| [ |
| -0.00888048187283728, |
| 0.9615960476463978, |
| 0.2743249500000554, |
| 0.006613804493099451 |
| ], |
| [ |
| -0.011652454569607873, |
| -0.27441665420450184, |
| 0.9615402852703109, |
| 0.07142005115747452 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1420.3428955078125, |
| "fy": 1414.4000244140625, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 47, |
| "c2w": [ |
| [ |
| 0.9998768989360922, |
| 0.006845096572432636, |
| 0.014118485289038595, |
| -0.012981628067791462 |
| ], |
| [ |
| -0.010524039128295854, |
| 0.9599743111874862, |
| 0.27989027575201325, |
| 0.007828394882380962 |
| ], |
| [ |
| -0.011637507223148201, |
| -0.28000440445290525, |
| 0.9599281753926203, |
| 0.07317346334457397 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1408.4571533203125, |
| "fy": 1402.5142822265625, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 48, |
| "c2w": [ |
| [ |
| 0.9998855087838919, |
| 0.006249501698740123, |
| 0.013780894473710394, |
| -0.013740502297878265 |
| ], |
| [ |
| -0.00990641816484062, |
| 0.9587816487461275, |
| 0.2839711480182481, |
| 0.007708922028541565 |
| ], |
| [ |
| -0.011438190552767269, |
| -0.2840751551195136, |
| 0.9587337868463296, |
| 0.07278888672590256 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1420.3428955078125, |
| "fy": 1414.4000244140625, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 49, |
| "c2w": [ |
| [ |
| 0.9999094567680131, |
| 0.004259925460092477, |
| 0.012764454589675183, |
| -0.012381484732031822 |
| ], |
| [ |
| -0.007839011383351883, |
| 0.9553955585271515, |
| 0.29522512875282897, |
| 0.009058250114321709 |
| ], |
| [ |
| -0.010937466179564021, |
| -0.2952984588203387, |
| 0.9553424475296302, |
| 0.0781264454126358 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1396.5714111328125, |
| "fy": 1390.6285400390625, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 50, |
| "c2w": [ |
| [ |
| 0.9998972295569586, |
| 0.004363568949998788, |
| 0.013656119153633814, |
| -0.012954078614711761 |
| ], |
| [ |
| -0.008201300964613965, |
| 0.9553948407434146, |
| 0.29521760947367937, |
| 0.009571031667292118 |
| ], |
| [ |
| -0.011758783389766719, |
| -0.29529926777234744, |
| 0.9553324413345903, |
| 0.07543233036994934 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1408.4571533203125, |
| "fy": 1402.5142822265625, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 51, |
| "c2w": [ |
| [ |
| 0.9999014365032696, |
| 0.003152992016490744, |
| 0.013681225092864352, |
| -0.01327301375567913 |
| ], |
| [ |
| -0.0071940373580867785, |
| 0.951871993892191, |
| 0.3064114114555713, |
| 0.00886695645749569 |
| ], |
| [ |
| -0.012056662273951564, |
| -0.30647963371984244, |
| 0.9518008568023894, |
| 0.07839978486299515 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1396.5714111328125, |
| "fy": 1390.6285400390625, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 52, |
| "c2w": [ |
| [ |
| 0.9999020352527332, |
| 0.0030266985025153913, |
| 0.013665979424015373, |
| -0.012427267618477345 |
| ], |
| [ |
| -0.007092479748017058, |
| 0.9512786345803917, |
| 0.30825096288882753, |
| 0.009981678798794746 |
| ], |
| [ |
| -0.012067171518906596, |
| -0.30831769084345506, |
| 0.9512069096072071, |
| 0.08215463161468506 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1390.6285400390625, |
| "fy": 1384.685791015625, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 53, |
| "c2w": [ |
| [ |
| 0.9998814187429175, |
| 0.004884772171950119, |
| 0.014604364192827731, |
| -0.013375862501561642 |
| ], |
| [ |
| -0.009269703080641623, |
| 0.9482151845601998, |
| 0.3174933642995755, |
| 0.011747950688004494 |
| ], |
| [ |
| -0.012297197137777088, |
| -0.317591093657071, |
| 0.9481480243992813, |
| 0.08485034108161926 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1390.6285400390625, |
| "fy": 1384.685791015625, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 54, |
| "c2w": [ |
| [ |
| 0.9998869006255909, |
| 0.0050959015531239415, |
| 0.014149831967593087, |
| -0.012452380731701851 |
| ], |
| [ |
| -0.009348259041943962, |
| 0.9476009235047672, |
| 0.3193197454367611, |
| 0.012705680914223194 |
| ], |
| [ |
| -0.01178117185321425, |
| -0.31941590686794863, |
| 0.9475413882409, |
| 0.08298040926456451 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1390.6285400390625, |
| "fy": 1384.685791015625, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 55, |
| "c2w": [ |
| [ |
| 0.9998629618988182, |
| 0.006082021444752224, |
| 0.015396961975273151, |
| -0.013466030359268188 |
| ], |
| [ |
| -0.010812480152293594, |
| 0.9442066044911493, |
| 0.32917621163785576, |
| 0.01203217450529337 |
| ], |
| [ |
| -0.012535856407868319, |
| -0.32929758130062187, |
| 0.9441429739471037, |
| 0.08394171297550201 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1390.6285400390625, |
| "fy": 1384.685791015625, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 56, |
| "c2w": [ |
| [ |
| 0.9998602594035138, |
| 0.004699191613930546, |
| 0.016043044091226345, |
| -0.01435843389481306 |
| ], |
| [ |
| -0.00974626664781383, |
| 0.9435659950503074, |
| 0.33104112021190335, |
| 0.012585037387907505 |
| ], |
| [ |
| -0.013582045205607986, |
| -0.33115122011385917, |
| 0.9434799401498342, |
| 0.08433005958795547 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1390.6285400390625, |
| "fy": 1372.800048828125, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 57, |
| "c2w": [ |
| [ |
| 0.9998716709926235, |
| 0.00566896605082394, |
| 0.014983469902991974, |
| -0.012514596804976463 |
| ], |
| [ |
| -0.010453969704436246, |
| 0.9395999873413365, |
| 0.34211486127553575, |
| 0.012253858149051666 |
| ], |
| [ |
| -0.0121390305971272, |
| -0.3422275947554125, |
| 0.9395386726069805, |
| 0.08981716632843018 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1378.742919921875, |
| "fy": 1366.857177734375, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 58, |
| "c2w": [ |
| [ |
| 0.9998413074971524, |
| 0.005433387327690983, |
| 0.01696579277642449, |
| -0.014817721210420132 |
| ], |
| [ |
| -0.010938491729440288, |
| 0.93892835129959, |
| 0.34393880345858024, |
| 0.014922406524419785 |
| ], |
| [ |
| -0.014060911103845636, |
| -0.34406980313300084, |
| 0.9388387834718736, |
| 0.0894722193479538 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1366.857177734375, |
| "fy": 1366.857177734375, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 59, |
| "c2w": [ |
| [ |
| 0.9998062350895561, |
| 0.005799140343712898, |
| 0.018811226629882646, |
| -0.01581440307199955 |
| ], |
| [ |
| -0.012007278734575199, |
| 0.9369165657078006, |
| 0.3493467820943696, |
| 0.013750392943620682 |
| ], |
| [ |
| -0.015598638832831102, |
| -0.34950496258790653, |
| 0.936804656047881, |
| 0.08690094947814941 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1390.6285400390625, |
| "fy": 1384.685791015625, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 60, |
| "c2w": [ |
| [ |
| 0.9998447565141652, |
| 0.004709637503171849, |
| 0.016978874689407064, |
| -0.015595532953739166 |
| ], |
| [ |
| -0.010374721095213127, |
| 0.9362241274744609, |
| 0.35125026447944674, |
| 0.015042808838188648 |
| ], |
| [ |
| -0.014241770722997045, |
| -0.3513718862534019, |
| 0.9361276459529437, |
| 0.08539927005767822 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1390.6285400390625, |
| "fy": 1384.685791015625, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 61, |
| "c2w": [ |
| [ |
| 0.9998223286934911, |
| 0.004674564802875797, |
| 0.01826087319457686, |
| -0.015909167006611824 |
| ], |
| [ |
| -0.010941936556868011, |
| 0.9327653797427078, |
| 0.36031794345803364, |
| 0.014957684092223644 |
| ], |
| [ |
| -0.015348780743439466, |
| -0.3604537346142289, |
| 0.9326508028905267, |
| 0.09032611548900604 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1378.742919921875, |
| "fy": 1366.857177734375, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 62, |
| "c2w": [ |
| [ |
| 0.9997814788581274, |
| 0.005091113694644241, |
| 0.020274986895276813, |
| -0.017383424565196037 |
| ], |
| [ |
| -0.012174344713587758, |
| 0.9302425508562867, |
| 0.3667432097628861, |
| 0.01505186129361391 |
| ], |
| [ |
| -0.016993524150398263, |
| -0.3669099032974411, |
| 0.9301012541649499, |
| 0.08685873448848724 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1378.742919921875, |
| "fy": 1372.800048828125, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 63, |
| "c2w": [ |
| [ |
| 0.9997249358626663, |
| 0.007381245159357633, |
| 0.022261397851120752, |
| -0.020012615248560905 |
| ], |
| [ |
| -0.01517381154608751, |
| 0.927321030213651, |
| 0.37395917205847273, |
| 0.016506696119904518 |
| ], |
| [ |
| -0.017883178060743337, |
| -0.37419409955715766, |
| 0.9271779590774671, |
| 0.08915402740240097 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1378.742919921875, |
| "fy": 1372.800048828125, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 64, |
| "c2w": [ |
| [ |
| 0.9998164239355795, |
| 0.004499331577230524, |
| 0.01862456560645437, |
| -0.01669776625931263 |
| ], |
| [ |
| -0.011109608590169401, |
| 0.9280922863635072, |
| 0.3721844765563603, |
| 0.018635204061865807 |
| ], |
| [ |
| -0.01561073430829617, |
| -0.3723230640289652, |
| 0.9279718966468975, |
| 0.09020038694143295 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1366.857177734375, |
| "fy": 1360.914306640625, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 65, |
| "c2w": [ |
| [ |
| 0.9998118770804449, |
| 0.003390932036879417, |
| 0.019097435136650086, |
| -0.01666945219039917 |
| ], |
| [ |
| -0.010481413623513422, |
| 0.9229140454298729, |
| 0.38486335850106534, |
| 0.01730271801352501 |
| ], |
| [ |
| -0.016320245627137967, |
| -0.3849911249992502, |
| 0.9227759659063952, |
| 0.09683410823345184 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1360.914306640625, |
| "fy": 1349.028564453125, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 66, |
| "c2w": [ |
| [ |
| 0.9997599126310457, |
| 0.003061717909132035, |
| 0.02169661216432269, |
| -0.019192367792129517 |
| ], |
| [ |
| -0.011251119780225607, |
| 0.9214155891614375, |
| 0.38841565925432586, |
| 0.0188487209379673 |
| ], |
| [ |
| -0.01880237750007018, |
| -0.3885665167429208, |
| 0.921228816671851, |
| 0.09795965999364853 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1360.914306640625, |
| "fy": 1349.028564453125, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 67, |
| "c2w": [ |
| [ |
| 0.9998511900747494, |
| 0.001447500886652384, |
| 0.017190184620631148, |
| -0.015210127457976341 |
| ], |
| [ |
| -0.008102536802109922, |
| 0.9191255059205308, |
| 0.3938815218612046, |
| 0.01958661712706089 |
| ], |
| [ |
| -0.015229793284174804, |
| -0.39396219248490266, |
| 0.9190004593519036, |
| 0.09708230197429657 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1360.914306640625, |
| "fy": 1349.028564453125, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 68, |
| "c2w": [ |
| [ |
| 0.999852848440047, |
| 0.0005910036542827842, |
| 0.017144450443408385, |
| -0.014060134068131447 |
| ], |
| [ |
| -0.007478233948103739, |
| 0.9144621944974244, |
| 0.40460223782373356, |
| 0.0172217208892107 |
| ], |
| [ |
| -0.015438830374846783, |
| -0.4046709101846049, |
| 0.9143320496225761, |
| 0.10104245692491531 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1349.028564453125, |
| "fy": 1343.085693359375, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 69, |
| "c2w": [ |
| [ |
| 0.9998761160527718, |
| -0.0016263377975110514, |
| 0.01565591174582356, |
| -0.013984793797135353 |
| ], |
| [ |
| -0.004984821581175347, |
| 0.9107326909835555, |
| 0.41296624211629673, |
| 0.01908922754228115 |
| ], |
| [ |
| -0.014929973242724786, |
| -0.41299312415489475, |
| 0.9106117588191749, |
| 0.10361405462026596 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1349.028564453125, |
| "fy": 1343.085693359375, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 70, |
| "c2w": [ |
| [ |
| 0.9998897145907322, |
| 0.0005174961416025506, |
| 0.014842198402132866, |
| -0.011668306775391102 |
| ], |
| [ |
| -0.006653958959552669, |
| 0.909080374539527, |
| 0.41656763851413114, |
| 0.018587281927466393 |
| ], |
| [ |
| -0.013277179136753588, |
| -0.41662045656066743, |
| 0.9089835596364502, |
| 0.10500739514827728 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1343.085693359375, |
| "fy": 1331.2000732421875, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 71, |
| "c2w": [ |
| [ |
| 0.9998942662287776, |
| -0.0005989137376672845, |
| 0.01452920043049197, |
| -0.01124577596783638 |
| ], |
| [ |
| -0.005613626033494904, |
| 0.9058010555599442, |
| 0.4236660653737174, |
| 0.021599050611257553 |
| ], |
| [ |
| -0.01341430451311753, |
| -0.42370283106066886, |
| 0.9057019197206134, |
| 0.10813252627849579 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1343.085693359375, |
| "fy": 1331.2000732421875, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 72, |
| "c2w": [ |
| [ |
| 0.9999042808290391, |
| -0.002171885430492412, |
| 0.013664263369780471, |
| -0.011808495968580246 |
| ], |
| [ |
| -0.003847247610372943, |
| 0.9050083951702725, |
| 0.4253763079405736, |
| 0.02214667946100235 |
| ], |
| [ |
| -0.013290141669161756, |
| -0.42538816107762867, |
| 0.9049134127359411, |
| 0.10626637190580368 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1349.028564453125, |
| "fy": 1343.085693359375, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 73, |
| "c2w": [ |
| [ |
| 0.9998978283574868, |
| -0.0005226993401303283, |
| 0.014284944220440557, |
| -0.012107986956834793 |
| ], |
| [ |
| -0.0057573534374712465, |
| 0.8999641885398311, |
| 0.4359258104623285, |
| 0.02117544785141945 |
| ], |
| [ |
| -0.013083796367159966, |
| -0.43596351467897143, |
| 0.8998692283556431, |
| 0.11034704744815826 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1343.085693359375, |
| "fy": 1331.2000732421875, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 74, |
| "c2w": [ |
| [ |
| 0.9998243543049791, |
| -0.00038387811135448877, |
| 0.018738014201789773, |
| -0.015085754916071892 |
| ], |
| [ |
| -0.0077564043684188325, |
| 0.9016777331153022, |
| 0.43233910740912984, |
| 0.025661064311861992 |
| ], |
| [ |
| -0.01706161568856903, |
| -0.43240850852133433, |
| 0.901516379789325, |
| 0.10600748658180237 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1343.085693359375, |
| "fy": 1337.1429443359375, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 75, |
| "c2w": [ |
| [ |
| 0.9998497889782026, |
| -0.0010264546153677142, |
| 0.01730161469822681, |
| -0.0126450564712286 |
| ], |
| [ |
| -0.006711411219786935, |
| 0.8974374206634828, |
| 0.44109073097528784, |
| 0.02659706398844719 |
| ], |
| [ |
| -0.015979876084695598, |
| -0.4411405925368889, |
| 0.8972957267125038, |
| 0.11387258023023605 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1325.2572021484375, |
| "fy": 1313.3714599609375, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 76, |
| "c2w": [ |
| [ |
| 0.9998167335832381, |
| 0.0006410274378808897, |
| 0.019133434892021867, |
| -0.013916032388806343 |
| ], |
| [ |
| -0.009144114534350434, |
| 0.894050983762535, |
| 0.4478718830230646, |
| 0.028164714574813843 |
| ], |
| [ |
| -0.016819168122295416, |
| -0.4479647614679824, |
| 0.8938929958706501, |
| 0.11503443121910095 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1331.2000732421875, |
| "fy": 1325.2572021484375, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 77, |
| "c2w": [ |
| [ |
| 0.9999349369010216, |
| -8.739837281558498e-05, |
| 0.011406766688008725, |
| -0.007839798927307129 |
| ], |
| [ |
| -0.005073247129018069, |
| 0.8922238304724576, |
| 0.45156494383490703, |
| 0.029213853180408478 |
| ], |
| [ |
| -0.010216855108992541, |
| -0.45159343296662263, |
| 0.8921653362315211, |
| 0.11449842900037766 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1331.2000732421875, |
| "fy": 1325.2572021484375, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 78, |
| "c2w": [ |
| [ |
| 0.9999453410639331, |
| 0.0004771108782109235, |
| 0.01044448417798381, |
| -0.0068689375184476376 |
| ], |
| [ |
| -0.005213638832542647, |
| 0.8886508122682075, |
| 0.4585548514901776, |
| 0.02684849500656128 |
| ], |
| [ |
| -0.00906271784058535, |
| -0.45858424113816315, |
| 0.8886047270440764, |
| 0.11539725214242935 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1325.2572021484375, |
| "fy": 1313.3714599609375, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 79, |
| "c2w": [ |
| [ |
| 0.9999236657643096, |
| 0.00044386676413594333, |
| 0.01234769722501729, |
| -0.006663506850600243 |
| ], |
| [ |
| -0.006202136879403075, |
| 0.8823599893470903, |
| 0.4705341461546978, |
| 0.02810121327638626 |
| ], |
| [ |
| -0.01068625952305807, |
| -0.47057481039862054, |
| 0.8822953879941273, |
| 0.12013217806816101 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1325.2572021484375, |
| "fy": 1313.3714599609375, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 80, |
| "c2w": [ |
| [ |
| 0.9999781980783989, |
| -0.0013689733223806034, |
| 0.006459820424867228, |
| -0.003868354018777609 |
| ], |
| [ |
| -0.0018443951449243227, |
| 0.881432655755139, |
| 0.47230612061987065, |
| 0.029333237558603287 |
| ], |
| [ |
| -0.00634047115191773, |
| -0.47230773790028546, |
| 0.8814109139017319, |
| 0.11781548708677292 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 1313.3714599609375, |
| "fy": 1307.4285888671875, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| } |
| ] |
| } |
|
|
