HugMinjun's picture
Add files using upload-large-folder tool
a232815 verified
Raw History Blame Contribute Delete
58.7 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": [
[
0.9999996274711112,
0.0008544882230154563,
0.00012209633767756454,
6.112243136158213e-05
],
[
-0.0008544956735907737,
0.9999996330590426,
6.0982976633284024e-05,
0.00012200963101349771
],
[
-0.00012204418363997931,
-6.108728470763623e-05,
0.9999999906867806,
-0.00013925136590842158
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 1,
"c2w": [
[
0.9999963268702161,
0.00036481618993316345,
0.0026857317855636074,
-0.004576271399855614
],
[
-0.00036760270375163154,
0.9999993946411134,
0.0010371044590702628,
-0.00048601135495118797
],
[
-0.0026853518072346987,
-0.0010380879319166864,
0.9999958556209705,
0.0005811863229610026
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 2,
"c2w": [
[
0.9999961983498892,
0.00024237930850803304,
0.0027467322476186565,
-0.00897189974784851
],
[
-0.0002458997005047314,
0.9999991487729579,
0.0012814002876036198,
-0.0006079677841626108
],
[
-0.0027464193246101326,
-0.0012820708368057752,
0.9999954067270824,
0.00016465845692437142
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 3,
"c2w": [
[
0.9999921005634033,
-0.00024825458895820745,
0.003967011526568743,
-0.01226835884153843
],
[
0.00024002174204929843,
0.9999978169924651,
0.002075668535006313,
-0.0004304454196244478
],
[
-0.003967518160791828,
-0.002074699969377192,
0.9999899771596117,
-7.536700286436826e-05
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 4,
"c2w": [
[
0.9999913573784313,
-0.00024844439268151535,
0.004150113712451885,
-0.01707891933619976
],
[
0.00023983157502318448,
0.999997816994265,
0.0020756896491586634,
-0.0005480831605382264
],
[
-0.004150620346184397,
-0.002074676381450243,
0.9999892339763734,
0.0026355262380093336
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 933.028564453125,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 5,
"c2w": [
[
0.9999903441034091,
-4.023290231232707e-06,
0.004394506088186396,
-0.01891740970313549
],
[
-4.02329023123436e-06,
0.9999983236290771,
0.0018310441965475822,
-0.0007920035859569907
],
[
-0.004394506088186394,
-0.0018310441965473947,
0.999988667732486,
0.0008360877400264144
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 933.028564453125,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 6,
"c2w": [
[
0.9999849127039118,
-5.867281598746867e-06,
0.005493116613106298,
-0.024159329012036324
],
[
-5.867282053513205e-06,
0.9999977182792843,
0.0021362120213091838,
-0.0006062317406758666
],
[
-0.005493116613105813,
-0.002136212021310436,
0.999982630983196,
0.001995612168684602
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 933.028564453125,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 7,
"c2w": [
[
0.9999877494663708,
0.00024036553403177142,
0.0049440005656033684,
-0.026115979999303818
],
[
-0.0002479091964886813,
0.9999988060527111,
0.0015252652827385579,
-0.0004796886641997844
],
[
-0.0049436280415231515,
-0.0015264722606322216,
0.9999866151225348,
0.0015184144722297788
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 933.028564453125,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 8,
"c2w": [
[
0.9999827111028099,
0.0009733200740064725,
0.005799150240126218,
-0.03063906542956829
],
[
-0.0009835831581936705,
0.9999979548395438,
0.0017671674797883434,
-0.0005190186784602702
],
[
-0.005797418360351238,
-0.0017728408739193164,
0.9999816233189445,
0.0002796673506963998
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 933.028564453125,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 9,
"c2w": [
[
0.9999813663087214,
0.00011773172513871413,
0.0061035378743992,
-0.03295889496803284
],
[
-0.00012592728340612172,
0.9999990910673625,
0.001342388456707755,
-0.0003011311637237668
],
[
-0.006103374284985747,
-0.0013431320449997447,
0.9999804722186567,
0.00012146126391598955
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 10,
"c2w": [
[
0.9999842048999465,
0.00024070934523848356,
0.005615337000806415,
-0.03711474686861038
],
[
-0.00024756382887507655,
0.9999992251451914,
0.0012200086753750806,
-0.00017521661357022822
],
[
-0.005615038982245954,
-0.0012213795595448196,
0.9999834896483039,
-0.0008442502003163099
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 933.028564453125,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 11,
"c2w": [
[
0.9999806286798368,
0.00121957401267581,
0.006103679571054821,
-0.03930532559752464
],
[
-0.0012218091437163623,
0.9999991878954999,
0.00036247862956239257,
0.00010913261940004304
],
[
-0.00610323254471243,
-0.0003699291393830953,
0.9999813066777483,
0.000318066100589931
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 933.028564453125,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 12,
"c2w": [
[
0.9999750483038251,
0.0012147522876722048,
0.006958961606680173,
-0.0441964715719223
],
[
-0.001226643297452471,
0.9999977946353211,
0.0017047201280885878,
-0.00025294694933108985
],
[
-0.0069568754469566075,
-0.0017132137560415127,
0.9999743330619247,
-0.0008059664978645742
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 933.028564453125,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 13,
"c2w": [
[
0.999973586206687,
0.0009740477347862145,
0.007202646732084415,
-0.04688020423054695
],
[
-0.0009828393315613711,
0.9999987762641916,
0.0012171676000709097,
-0.00044327747309580445
],
[
-0.0072014523386042745,
-0.0012242144945573323,
0.999973319835627,
-0.0004896275931969285
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 933.028564453125,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 14,
"c2w": [
[
0.9999710921985903,
0.000727318911669267,
0.00756873664220289,
-0.05176902562379837
],
[
-0.0007374813129252799,
0.9999988302907877,
0.0013399770032676626,
-0.00045222853077575564
],
[
-0.007567753198366103,
-0.0013455200693145667,
0.9999704589072976,
-0.0012403191067278385
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 933.028564453125,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 15,
"c2w": [
[
0.9999702428533415,
0.0006037612400456833,
0.007690830916983589,
-0.05372527986764908
],
[
-0.0006169038880828419,
0.999998353446626,
0.0017066146693965009,
-0.0007027762476354837
],
[
-0.007689787865830915,
-0.0017113083889085268,
0.999968968811621,
-0.0015998446615412831
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 933.028564453125,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 16,
"c2w": [
[
0.9999719843268484,
0.001215287176905882,
0.007386043494557064,
-0.05959237739443779
],
[
-0.0012261053234228435,
0.9999981820602803,
0.0014603225228649584,
-0.0007250584894791245
],
[
-0.007384255355939441,
-0.0014693376781940645,
0.9999716565081365,
-0.002641195198521018
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 17,
"c2w": [
[
0.9999659514241179,
0.001092136242788496,
0.00817943952148944,
-0.06179201602935791
],
[
-0.001105114961261762,
0.99999813736771,
0.001582397558756179,
-0.0010353514226153493
],
[
-0.00817769609247693,
-0.0015913829013622976,
0.9999652957913495,
-0.002590618561953306
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 18,
"c2w": [
[
0.9999713417880649,
0.000973859270182777,
0.007507809314309829,
-0.06594240665435791
],
[
-0.0009830233766759773,
0.9999987762673971,
0.0012170163308458423,
-0.0009769651805981994
],
[
-0.007506614924122856,
-0.0012243618053970418,
0.9999710754169595,
-0.0028760386630892754
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 19,
"c2w": [
[
0.9999707569232135,
0.001095150463392898,
0.007568747840780561,
-0.06789224594831467
],
[
-0.0011020792970069509,
0.9999989774370658,
0.0009113429896547621,
-0.0005990483914501965
],
[
-0.007567742043562088,
-0.0009196576994813221,
0.9999709413328357,
-0.00244590500369668
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 20,
"c2w": [
[
0.9999584564060557,
0.0012157245227776977,
0.009033685621211932,
-0.07376217097043991
],
[
-0.0012256485952196034,
0.9999986514492969,
0.001093108004228724,
-0.0009514856501482427
],
[
-0.009032344520622113,
-0.0011041347166853134,
0.99995859796243,
-0.0030406794976443052
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 21,
"c2w": [
[
0.999957301656303,
0.0019445760430306257,
0.009034018389271502,
-0.07572638243436813
],
[
-0.0019539486257223885,
0.9999975618593845,
0.0010287662777655883,
-0.0008336302707903087
],
[
-0.00903199584880725,
-0.0010463743589652125,
0.9999586632214792,
-0.004198090173304081
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 22,
"c2w": [
[
0.9999568322532253,
0.001582689760370583,
0.009155802707500665,
-0.08059371262788773
],
[
-0.0015910716222373277,
0.9999983217774504,
0.0009082584303157707,
-0.0006074499106034636
],
[
-0.009154349850708723,
-0.0009227867607125756,
0.9999576722758847,
-0.0024965761695057154
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 23,
"c2w": [
[
0.9999558935400823,
0.0014619838425673445,
0.009277584691051319,
-0.08303363621234894
],
[
-0.0014676460337781708,
0.9999987408826239,
0.0006035298556086452,
-0.0007952999440021813
],
[
-0.009276690658585668,
-0.0006171194464179138,
0.9999567801530297,
-0.0022658028174191713
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 24,
"c2w": [
[
0.9999609019949565,
0.0009716834617223626,
0.008789215703571052,
-0.08743978291749954
],
[
-0.0009775841630248877,
0.9999992996626834,
0.0006670857123149634,
-0.0008330238051712513
],
[
-0.008788561352000797,
-0.0006756518286718822,
0.9999611515873843,
-0.003778211073949933
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 25,
"c2w": [
[
0.9999518424889006,
0.0009713487056773185,
0.009765714758516252,
-0.08986537903547287
],
[
-0.0009779049900921915,
0.9999992996697673,
0.0006666046848942059,
-0.0010123469401150942
],
[
-0.009765060413693048,
-0.0006761225240662743,
0.9999520920791403,
-0.0016700514825060964
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 26,
"c2w": [
[
0.9999449119529749,
0.0015843338541290798,
0.01037607563559239,
-0.09574005007743835
],
[
-0.0015893999677585396,
0.9999986216925553,
0.0004800215961518231,
-0.0007040256750769913
],
[
-0.010375300819704667,
-0.000496486886980088,
0.9999460518616352,
-0.0029432186856865883
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 27,
"c2w": [
[
0.999948406067733,
0.0007305483975926186,
0.010131707735500041,
-0.09769431501626968
],
[
-0.0007342585951790597,
0.9999996647355887,
0.0003624817574028944,
-0.0009672270971350372
],
[
-0.010131439528231954,
-0.0003699023490322451,
0.9999486072320604,
-0.0031909241806715727
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 28,
"c2w": [
[
0.9999465286150363,
0.0013374209845614688,
0.010254326689181572,
-0.10159781575202942
],
[
-0.001348060243774419,
0.9999985601977577,
0.00103069684700972,
-0.0010879578767344356
],
[
-0.010252933449387311,
-0.0010444651843580354,
0.9999468918138409,
-0.002771977102383971
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 29,
"c2w": [
[
0.9999423490846093,
0.0015849195404685466,
0.010620100621134781,
-0.10453396290540695
],
[
-0.0015888085191101138,
0.9999986738455097,
0.0003577634864276018,
-0.0007508631097152829
],
[
-0.010619519510900358,
-0.0003746161673756252,
0.9999435411402411,
-0.00325379753485322
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 30,
"c2w": [
[
0.9999322616246411,
0.0019502588726456275,
0.011474696185961216,
-0.10992508381605148
],
[
-0.001955861329548259,
0.9999979735162182,
0.00047704288752041903,
-0.000642116239760071
],
[
-0.011473742575551515,
-0.0004994534879487036,
0.9999340497140419,
-0.004628586582839489
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 31,
"c2w": [
[
0.9999259067370488,
0.0014633126946903307,
0.01208469081311817,
-0.11186697334051132
],
[
-0.0014662686679119213,
0.9999988972388402,
0.000235748379515295,
-0.000752531283069402
],
[
-0.012084332512994062,
-0.00025345031564945504,
0.9999269496671508,
-0.0034089554101228714
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 32,
"c2w": [
[
0.9999096043227397,
0.0023192313186701573,
0.013244030701889405,
-0.11772787570953369
],
[
-0.002319231318670158,
0.9999973104614838,
-1.5358679573794455e-05,
-0.0002763263473752886
],
[
-0.013244030701889408,
-1.5358679573762448e-05,
0.9999122938612557,
-0.0030797545332461596
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 33,
"c2w": [
[
0.9999307343681104,
0.0010946675012511449,
0.011718710215375912,
-0.11968064308166504
],
[
-0.0011025352902230875,
0.9999991711299524,
0.0006649476233394504,
-0.00048227194929495454
],
[
-0.01171797260553457,
-0.0006778218568904175,
0.9999311124650265,
-0.0036633904092013836
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 34,
"c2w": [
[
0.9999093733560939,
0.0009731053637038056,
0.013427514311115813,
-0.12455242872238159
],
[
-0.0009837592459189884,
0.9999992065385869,
0.0007868544611468211,
-0.0006740207318216562
],
[
-0.01342673796460474,
-0.0007999925925209624,
0.9999095372679879,
-0.002141981152817607
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 933.028564453125,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 35,
"c2w": [
[
0.999905439814802,
0.0007319681148435493,
0.013732285004574213,
-0.12699644267559052
],
[
-0.0007328078630198429,
0.9999997299215726,
5.61196783419301e-05,
-0.000456455338280648
],
[
-0.013732240217965054,
-6.617749808318287e-05,
0.9999057061539028,
-0.002254041377454996
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 933.028564453125,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 36,
"c2w": [
[
0.9998938944851921,
0.001098131941348202,
0.014525628298821525,
-0.13188667595386505
],
[
-0.0010990184661544985,
0.9999993946718968,
5.304952048616995e-05,
-0.00028253241907805204
],
[
-0.014525561250677369,
-6.900782537265855e-05,
0.9998944960885988,
-0.002509565558284521
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 37,
"c2w": [
[
0.9998772126266514,
0.0018295180969534746,
0.015563178772076837,
-0.13480046391487122
],
[
-0.001832367594506665,
0.999998306960502,
0.00016883462138533186,
-0.00030272951698862016
],
[
-0.015562843537005166,
-0.00019733135507521389,
0.9998788721447106,
-0.0011370490537956357
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 933.028564453125,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 38,
"c2w": [
[
0.9998747636178895,
0.0015834576250809062,
0.01574641997465595,
-0.13966713845729828
],
[
-0.001590184655432179,
0.9999986496679713,
0.00041469867960993513,
-0.0005108092445880175
],
[
-0.0157457420539749,
-0.0004396864596691188,
0.9998759314449898,
-2.8364591344143264e-05
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 933.028564453125,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 39,
"c2w": [
[
0.9998812355334745,
0.0025651758935579905,
0.015196535812077581,
-0.14162781834602356
],
[
-0.0025614659459082785,
0.9999966847007716,
-0.00026358997274536283,
-0.00043029693188145757
],
[
-0.01519716158565774,
0.00022463325864458135,
0.9998844912386827,
-0.0005486853769980371
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 933.028564453125,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 40,
"c2w": [
[
0.999888014800411,
0.0006075737074729933,
0.014952883089332616,
-0.14650550484657288
],
[
-0.0006130496955420836,
0.9999997466949798,
0.0003616352409053451,
-0.0005826405249536037
],
[
-0.014952659581628424,
-0.000370761603536162,
0.9998881339966335,
-0.00029634032398462296
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 41,
"c2w": [
[
0.9998896629772833,
0.0015899795883564704,
0.014769354626518157,
-0.14847420156002045
],
[
-0.001583669642789812,
0.9999986496698033,
-0.0004389180249753547,
-0.00037419539876282215
],
[
-0.01477003255371322,
0.0004154798175016087,
0.9998908307984848,
-0.0013321716105565429
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 42,
"c2w": [
[
0.9998891172946711,
0.0013449585906667111,
0.014830515907181718,
-0.15044523775577545
],
[
-0.0013404328647403797,
0.999999051975708,
-0.00031509906502374426,
-0.0002855309867300093
],
[
-0.01483092564268672,
0.00029518481506401073,
0.9998899722021949,
-0.002529899822548032
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 43,
"c2w": [
[
0.9998682824442683,
0.0019544675479953224,
0.016112039552856564,
-0.15630178153514862
],
[
-0.001951517506992221,
0.9999980760239761,
-0.00019881590784597532,
4.062250695824332e-07
],
[
-0.016112397132918593,
0.00016734679304008262,
0.9998701728993029,
-0.0019374486291781068
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 44,
"c2w": [
[
0.999853368463896,
0.0023238200896905817,
0.016965890238693812,
-0.15921317040920258
],
[
-0.0023145007828610036,
0.9999971597090421,
-0.0005689112197413555,
-0.00011873261973960325
],
[
-0.016967164097950935,
0.0005295602331758692,
0.9998559070728303,
-0.0005794958560727537
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 45,
"c2w": [
[
0.9998609446494454,
0.0015969515655702197,
0.01659943102687185,
-0.16409337520599365
],
[
-0.001576687760424083,
0.9999979959337489,
-0.0012337682891748855,
1.8092627215082757e-05
],
[
-0.016601368028713013,
0.001207424607362562,
0.9998614587558581,
-0.0004956336924806237
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 46,
"c2w": [
[
0.999842536933945,
0.002446589686986261,
0.017575993183774907,
-0.16701902449131012
],
[
-0.0024358625423923884,
0.9999968337521348,
-0.000631711468743597,
0.00016362135647796094
],
[
-0.017577483072588544,
0.0005887992940770403,
0.999845330740822,
-5.497769598150626e-05
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 47,
"c2w": [
[
0.9998293961920256,
0.0024417573251452143,
0.018308913988953995,
-0.17189881205558777
],
[
-0.0024406399284363166,
0.9999970181582631,
-8.337459235258299e-05,
0.00017548813775647432
],
[
-0.018309062975191782,
3.8674901801880474e-05,
0.9998323743094257,
0.0002787016564980149
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 48,
"c2w": [
[
0.9998483175554544,
0.0017077971601362773,
0.01733278138056311,
-0.1738600879907608
],
[
-0.0017099169370011363,
0.9999985323150337,
0.00010747951819438851,
-0.00031328925979323685
],
[
-0.017332572388284617,
-0.00013710083188629214,
0.9998497702843995,
-0.0002824487164616585
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 49,
"c2w": [
[
0.9998309980421758,
0.0026903005202718916,
0.018186193584621656,
-0.17871248722076416
],
[
-0.002680310986003986,
0.9999962434255782,
-0.0005736442708386266,
0.00041807114030234516
],
[
-0.018187668542312633,
0.0005248026693751679,
0.999834452944662,
0.0015112200053408742
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 50,
"c2w": [
[
0.9998113318932268,
0.002326183841242997,
0.01928443638351811,
-0.1816721260547638
],
[
-0.0023120602094394865,
0.9999970424375155,
-0.000754648137099201,
0.00011605016334215179
],
[
-0.019286134798894888,
0.0007099189810401176,
0.9998137531658385,
0.0001315188710577786
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 51,
"c2w": [
[
0.9998188631139275,
0.002080774454392994,
0.018918544850050102,
-0.18654058873653412
],
[
-0.002069228152417423,
0.9999976607757735,
-0.0006298712832439959,
0.00032553955679759383
],
[
-0.018919811215407447,
0.0005906104047146675,
0.9998208299105011,
0.0008440041565336287
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 52,
"c2w": [
[
0.9998071307014887,
0.0020803460874266435,
0.01952878794534321,
-0.18946747481822968
],
[
-0.0020696193268891047,
0.9999976961850415,
-0.0005694738385433769,
0.00039256634772755206
],
[
-0.01952992765730117,
0.0005289468475612989,
0.9998091328553339,
0.0010913580190390348
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 53,
"c2w": [
[
0.9997825487024944,
0.0020825809898307244,
0.020748931692143653,
-0.19434775412082672
],
[
-0.002067385115209688,
0.9999975788549356,
-0.0007537924457058557,
0.00028017492149956524
],
[
-0.02075045128978774,
0.00071073250002389,
0.999784433580851,
0.0014391838340088725
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 54,
"c2w": [
[
0.9997791818960878,
0.002453210227669906,
0.020870294841428744,
-0.19727979600429535
],
[
-0.0024290053166231866,
0.9999963477894799,
-0.001185048890911374,
0.0007882851641625166
],
[
-0.0208731257927778,
0.0011340931535333907,
0.9997814893527275,
0.001311169471591711
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 55,
"c2w": [
[
0.9997922992590185,
0.0022087913807070157,
0.02026029572842047,
-0.2011987715959549
],
[
-0.00218529398892118,
0.9999969138654274,
-0.0011818416996543424,
0.0009937150171026587
],
[
-0.020262843644181003,
0.0011373215277886088,
0.9997940406239647,
0.0006294202175922692
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 56,
"c2w": [
[
0.9997807609286897,
0.0028174544325407403,
0.020748301794864882,
-0.20413337647914886
],
[
-0.002797190018600525,
0.9999955822032744,
-0.001005635089912749,
0.0008198383147828281
],
[
-0.020751043464126685,
0.0009473776727260407,
0.9997842250559342,
0.0005134922685101628
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 57,
"c2w": [
[
0.9997312714145892,
0.003305962697642975,
0.022944619552548645,
-0.20998364686965942
],
[
-0.0032849537016538814,
0.9999941501606274,
-0.0009532700051755744,
0.0006939967861399055
],
[
-0.022947636805287705,
0.0008776418213434768,
0.9997362830816365,
0.001370848622173071
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 58,
"c2w": [
[
0.9997372377158908,
0.0031823995076156403,
0.02270083385195487,
-0.21293026208877563
],
[
-0.003164384807340039,
0.999994649328379,
-0.0008294476495121337,
0.0009226595284417272
],
[
-0.02270335202103851,
0.000757395528198218,
0.9997419587868775,
0.0005929364706389606
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 59,
"c2w": [
[
0.9997223997957477,
0.0024496729464786545,
0.02343336188181991,
-0.21779055893421173
],
[
-0.0024325073786899782,
0.9999967518853211,
-0.0007610037178965103,
0.0008999405545182526
],
[
-0.02343514997779309,
0.0007037906374238737,
0.9997251114302651,
0.0017632533563300967
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 60,
"c2w": [
[
0.9997160243870895,
0.0026959889510443204,
0.023677040086300356,
-0.22074954211711884
],
[
-0.00267430965364236,
0.9999959753921753,
-0.0009472419586776776,
0.0011449431767687201
],
[
-0.023679498549354132,
0.0008836532281894707,
0.9997192108314327,
0.0005590182263404131
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 944.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 61,
"c2w": [
[
0.9997032954140399,
0.003064592058579051,
0.024164631464674957,
-0.2256193906068802
],
[
-0.003038041655413329,
0.9999947406103374,
-0.0011353653877732327,
0.0010567746357992291
],
[
-0.024167983805212827,
0.0010616153626787355,
0.9997073479431932,
0.0012425301829352975
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 62,
"c2w": [
[
0.9996376918090227,
0.0031863492253366367,
0.02672699559142382,
-0.22855886816978455
],
[
-0.0031601954406661643,
0.9999944856172611,
-0.0010207349539493417,
0.0008495475631207228
],
[
-0.02673010062657021,
0.0009359026037040005,
0.9996422489104838,
0.001380185247398913
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 63,
"c2w": [
[
0.9996548742517721,
0.0037930525493803536,
0.025995098327014517,
-0.23440922796726227
],
[
-0.0037740102880369237,
0.999992572981504,
-0.0007815549739633673,
0.0010724638123065233
],
[
-0.025997869740024798,
0.0006831794706933646,
0.9996617648158763,
0.0016396432183682919
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 64,
"c2w": [
[
0.9996681992204596,
0.0025770996084814447,
0.025629085526637268,
-0.2363707721233368
],
[
-0.002548940781263412,
0.9999961115070504,
-0.0011313141349673197,
0.0009742637630552053
],
[
-0.025631901377333222,
0.0010656117427696491,
0.9996708808920043,
0.0012990871910005808
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 65,
"c2w": [
[
0.9996109173812733,
0.004162202767623466,
0.02758060768531504,
-0.24221958220005035
],
[
-0.004136955144963367,
0.9999909699698141,
-0.0009724098718533667,
0.0011864452390000224
],
[
-0.02758440599865503,
0.0008579317872090167,
0.9996191097106687,
0.0020748141687363386
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 66,
"c2w": [
[
0.9996152588933521,
0.003912198252988952,
0.027459586530149998,
-0.2441437691450119
],
[
-0.0038987923650986274,
0.9999922529448464,
-0.0005417272232733955,
0.0005858935764990747
],
[
-0.027461493143515182,
0.0004344595722293433,
0.9996227676674881,
0.003226849250495434
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 67,
"c2w": [
[
0.9996065015200725,
0.0035571230383389853,
0.02782425191252624,
-0.24907533824443817
],
[
-0.0035214578421766166,
0.99999291426349,
-0.0013306981172401932,
0.0011886919382959604
],
[
-0.027828788214138558,
0.0012321925594534907,
0.9996119448306074,
0.0015009366907179356
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 68,
"c2w": [
[
0.9996032533418494,
0.00232401194394914,
0.028070177713627225,
-0.25201907753944397
],
[
-0.0023137342208397285,
0.9999972438649389,
-0.0003986182151294617,
0.0010723096784204245
],
[
-0.028071026741919296,
0.0003335131339236521,
0.99960587544624,
0.0011242683976888657
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 69,
"c2w": [
[
0.9995779916799428,
0.0026955631513530327,
0.028923562857807613,
-0.2578430771827698
],
[
-0.0026743762693725763,
0.9999961264949447,
-0.0007711722739496797,
0.0009996070293709636
],
[
-0.02892552956580588,
0.0006934943427011518,
0.9995813287596638,
0.002607564441859722
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 70,
"c2w": [
[
0.9995415527441177,
0.004774207361737367,
0.02989801468232997,
-0.26176702976226807
],
[
-0.004745071536124811,
0.9999881956670469,
-0.001045381595923677,
0.0011218617437407374
],
[
-0.029902652624721148,
0.0009030341251438487,
0.9995524077782885,
0.0022138580679893494
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 71,
"c2w": [
[
0.9994888128371507,
0.003930290749795064,
0.03172799754168807,
-0.26569393277168274
],
[
-0.0038954283689974986,
0.9999917393729925,
-0.0011605272932697075,
0.0006774031207896769
],
[
-0.03173229665822032,
0.0010363399048999638,
0.999495866598955,
0.0020236235577613115
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 72,
"c2w": [
[
0.9994553616938374,
0.004404323339616999,
0.03270446326359918,
-0.26954907178878784
],
[
-0.004382370988199321,
0.9999901214245221,
-0.0007428848439843338,
0.0012430017814040184
],
[
-0.03270741209514738,
0.000599157149450274,
0.9994647898774369,
0.0037834022659808397
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 938.971435546875,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 73,
"c2w": [
[
0.9995215411535249,
0.0033223653149688777,
0.030751433442972282,
-0.27348074316978455
],
[
-0.0032679281011884376,
0.9999930035107873,
-0.0018203228834860199,
0.0021867535542696714
],
[
-0.030757266068509672,
0.001718958460398375,
0.9995254052628189,
0.00261760875582695
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 944.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 74,
"c2w": [
[
0.9994727522622953,
0.00405864978475349,
0.03221404735760117,
-0.27742132544517517
],
[
-0.003995724849122431,
0.999989981940004,
-0.0020174743024459064,
0.0018545700004324317
],
[
-0.03222191285698479,
0.001887692124167037,
0.9994789567320976,
0.001893128384836018
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 75,
"c2w": [
[
0.9994998933343048,
0.002963532218060289,
0.031483022432833366,
-0.2812904417514801
],
[
-0.0028943507034516645,
0.9999932963391776,
-0.00224276853736153,
0.0022298963740468025
],
[
-0.03148945789814744,
0.0021505240057411307,
0.9995017705275876,
0.0029733688570559025
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 944.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 76,
"c2w": [
[
0.9994960749126943,
0.004058007042316152,
0.03148219835022622,
-0.2832145690917969
],
[
-0.003996511116788292,
0.9999899817007246,
-0.0020160349892535596,
0.001935295993462205
],
[
-0.03149006403632528,
0.001889200102958074,
0.9995022795321473,
0.003918301314115524
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 944.914306640625,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 77,
"c2w": [
[
0.9994542603642991,
0.004674330240650559,
0.032700643364532093,
-0.2891010642051697
],
[
-0.00460047432007014,
0.9999866953010663,
-0.002333421711390673,
0.0020135859958827496
],
[
-0.03271111547598711,
0.002181709800627719,
0.999462467062502,
0.0033582968171685934
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 78,
"c2w": [
[
0.9994607245472212,
0.0029687788861465485,
0.03270239195330782,
-0.2910274267196655
],
[
-0.0028889273403214237,
0.9999927300989563,
-0.002488744273253673,
0.0020152206998318434
],
[
-0.03270954274160563,
0.00239292732035153,
0.9994620351531487,
0.004246093798428774
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 79,
"c2w": [
[
0.9994267672185217,
0.0034478810761381694,
0.03367861462738293,
-0.2968927323818207
],
[
-0.003386208380891148,
0.999992484347968,
-0.001888078489111713,
0.002175557892769575
],
[
-0.03368487138072695,
0.0017729533735198078,
0.9994309311185038,
0.004330160561949015
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 80,
"c2w": [
[
0.9994321877411558,
0.004195233308801777,
0.03343205235116741,
-0.2988151013851166
],
[
-0.004103385734870777,
0.9999876177149956,
-0.002815429309897769,
0.0028313586954027414
],
[
-0.03344344976878635,
0.0026766460679165964,
0.9994370271474786,
0.005119753070175648
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 944.914306640625,
"fy": 938.971435546875,
"cx": 416.0,
"cy": 240.0
}
}
]
}