Hugging Face's logo

Datasets:
HugMinjun
/
geo4d_evals

Modalities:
Image
Formats:
imagefolder
Size:
10K - 100K
Libraries:
Datasets
Dataset card Data Studio Files
xet
 Community
1
geo4d_evals / dycheck_eval /source /backpack /transforms.json
HugMinjun's picture
HugMinjun
Add files using upload-large-folder tool
9758a1b verified
Raw History Blame Contribute Delete
133 kB
{
"format_version": "1.0",
"camera_model": "opencv_pinhole",
"pose_type": "c2w",
"coordinate_system": "opencv",
"image_hw": [
480,
832
],
"num_frames": 180,
"frames": [
{
"frame_index": 0,
"c2w": [
[
1.0,
-6.774332206305189e-09,
-1.2630501089461177e-09,
0.0
],
[
-6.774332206305189e-09,
-1.0,
1.2375060975955421e-08,
0.0
],
[
-1.2630501089461177e-09,
-1.2375060975955421e-08,
-1.0,
0.0
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 1,
"c2w": [
[
0.999998152256012,
-0.0016506870742887259,
0.000956828473135829,
0.0007260441780090332
],
[
-0.0016485406085848808,
-0.9999961256980896,
-0.0022398075088858604,
0.0005418956279754639
],
[
0.0009605219820514321,
0.0022382261231541634,
-0.9999970197677612,
-0.00019276142120361328
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 2,
"c2w": [
[
0.9999874830245972,
-0.004286031238734722,
0.002585700945928693,
0.001087188720703125
],
[
-0.004280952736735344,
-0.9999889135360718,
-0.0019665025174617767,
0.0010994970798492432
],
[
0.0025941007770597935,
0.001955408602952957,
-0.999994695186615,
-0.0008499622344970703
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 3,
"c2w": [
[
0.9999784827232361,
-0.0062501863576471806,
0.0019930351991206408,
0.0017552811186760664
],
[
-0.006251576356589794,
-0.9999802112579346,
0.0006918578292243183,
0.0016232209745794535
],
[
0.00198867148719728,
-0.0007043025689199567,
-0.9999977946281433,
-0.0008310947450809181
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 4,
"c2w": [
[
0.9999694228172302,
-0.006254487670958042,
0.004689203109592199,
0.0023229122161865234
],
[
-0.006251174490898848,
-0.9999802112579346,
-0.0007208968163467944,
0.002073138952255249
],
[
0.004693618975579739,
0.0006915617268532515,
-0.9999887347221375,
-0.0010645687580108643
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 5,
"c2w": [
[
0.9999215006828308,
-0.007284598890691996,
0.010191765613853931,
0.0030301809310913086
],
[
-0.007268679328262806,
-0.9999722838401794,
-0.001598194008693099,
0.002066969871520996
],
[
0.010203125886619091,
0.001523987972177565,
-0.9999467730522156,
-0.0016074776649475098
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 6,
"c2w": [
[
0.999904215335846,
-0.00785818975418806,
0.011391902342438698,
0.003589278319850564
],
[
-0.007855364121496677,
-0.9999691247940063,
-0.00029275447013787925,
0.002248939359560609
],
[
0.011393850669264793,
0.00020323888747952878,
-0.9999350905418396,
-0.00177625915966928
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 7,
"c2w": [
[
0.9999052882194519,
-0.008357911370694637,
0.010933971032500267,
0.0041519999504089355
],
[
-0.008361304178833961,
-0.9999650120735168,
0.0002646039938554168,
0.002498716115951538
],
[
0.010931377299129963,
-0.000356001197360456,
-0.9999402165412903,
-0.002047806978225708
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 8,
"c2w": [
[
0.9998767375946045,
-0.008467000909149647,
0.013220627792179585,
0.004866838455200195
],
[
-0.008468507789075375,
-0.9999641180038452,
5.8040855947183445e-05,
0.002680271863937378
],
[
0.013219662010669708,
-0.00016999269428197294,
-0.9999126195907593,
-0.0026468634605407715
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 9,
"c2w": [
[
0.9998867511749268,
-0.0077795288525521755,
0.012881647795438766,
0.0053244829177856445
],
[
-0.007769767660647631,
-0.999969482421875,
-0.0008076545200310647,
0.002917259931564331
],
[
0.012887537479400635,
0.0007074757013469934,
-0.999916672706604,
-0.003315150737762451
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 10,
"c2w": [
[
0.9998727440834045,
-0.0076866066083312035,
0.013980062678456306,
0.00583066139370203
],
[
-0.007641826290637255,
-0.999965488910675,
-0.003253763308748603,
0.0029553694184869528
],
[
0.014004590921103954,
0.003146515926346183,
-0.9998970031738281,
-0.004129531793296337
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 11,
"c2w": [
[
0.9998061656951904,
-0.009602188132703304,
0.017187992110848427,
0.005960247945040464
],
[
-0.009573881514370441,
-0.9999526739120483,
-0.0017284128116443753,
0.00230218842625618
],
[
0.01720377430319786,
0.001563522033393383,
-0.9998508095741272,
-0.00440336624160409
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 12,
"c2w": [
[
0.9998285174369812,
-0.010205392725765705,
0.015454021282494068,
0.0060997167602181435
],
[
-0.010247892700135708,
-0.9999439120292664,
0.002673389622941613,
0.001760475104674697
],
[
0.01542587112635374,
-0.002831302350386977,
-0.9998769760131836,
-0.004419567994773388
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 13,
"c2w": [
[
0.9998216032981873,
-0.008668147027492523,
0.016780082136392593,
0.006089985370635986
],
[
-0.008685802109539509,
-0.999961793422699,
0.0009795412188395858,
0.0013758540153503418
],
[
0.016770949587225914,
-0.0011251149699091911,
-0.9998587369918823,
-0.0051226019859313965
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 14,
"c2w": [
[
0.9997062683105469,
-0.009860501624643803,
0.022139206528663635,
0.005399882793426514
],
[
-0.009808589704334736,
-0.9999488592147827,
-0.0024521404411643744,
0.00038933753967285156
],
[
0.02216225489974022,
0.002234265673905611,
-0.9997518658638,
-0.006026893854141235
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 15,
"c2w": [
[
0.99964439868927,
-0.011087151244282722,
0.024252088740468025,
0.005084872245788574
],
[
-0.011020634323358536,
-0.9999351501464844,
-0.002874663332477212,
-6.395578384399414e-05
],
[
0.024282386526465416,
0.0026063676923513412,
-0.999701738357544,
-0.006808280944824219
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 16,
"c2w": [
[
0.9997015595436096,
-0.009098434820771217,
0.02267233096063137,
0.004968718625605106
],
[
-0.008944478817284107,
-0.9999362826347351,
-0.006882671266794205,
-2.0481873434619047e-05
],
[
0.022733507677912712,
0.006677824538201094,
-0.9997192621231079,
-0.007854762487113476
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 17,
"c2w": [
[
0.9997236728668213,
-0.0071306671015918255,
0.02239830605685711,
0.005420207977294922
],
[
-0.006874139420688152,
-0.9999101161956787,
-0.011509186588227749,
-0.0005730390548706055
],
[
0.022478362545371056,
0.011352038010954857,
-0.9996829032897949,
-0.008487999439239502
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 18,
"c2w": [
[
0.9997465014457703,
-0.004437473602592945,
0.022072890773415565,
0.005778610706329346
],
[
-0.004193384200334549,
-0.999929666519165,
-0.011092357337474823,
-0.0006115138530731201
],
[
0.022120559588074684,
0.010996985249221325,
-0.99969482421875,
-0.00844043493270874
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 19,
"c2w": [
[
0.9998276233673096,
-0.0031930531840771437,
0.018290268257260323,
0.006213247776031494
],
[
-0.003089640522375703,
-0.9999790787696838,
-0.0056794388219714165,
-0.00022041797637939453
],
[
0.018308021128177643,
0.005621949676424265,
-0.9998165965080261,
-0.007780164480209351
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 20,
"c2w": [
[
0.9997778534889221,
-0.007463020738214254,
0.019710827618837357,
0.006551206111907959
],
[
-0.0074965497478842735,
-0.999970555305481,
0.0016277162358164787,
-0.00025784969329833984
],
[
0.01969810016453266,
-0.0017751178238540888,
-0.9998043775558472,
-0.006316274404525757
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 21,
"c2w": [
[
0.9994781017303467,
-0.012775979936122894,
0.029669051989912987,
0.006954415701329708
],
[
-0.013093464076519012,
-0.9998587965965271,
0.010531330481171608,
6.667547131655738e-05
],
[
0.029530316591262817,
-0.010914305225014687,
-0.9995042681694031,
-0.005776462145149708
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 22,
"c2w": [
[
0.999356210231781,
-0.01308458112180233,
0.03340592607855797,
0.007233381271362305
],
[
-0.013632194139063358,
-0.9997755289077759,
0.016217872500419617,
0.0007813870906829834
],
[
0.03318622708320618,
-0.016662826761603355,
-0.9993102550506592,
-0.005999863147735596
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 23,
"c2w": [
[
0.9994704127311707,
-0.012371571734547615,
0.030096475034952164,
0.008035063743591309
],
[
-0.012856654822826385,
-0.9997897148132324,
0.015977846458554268,
0.0009936690330505371
],
[
0.02989247441291809,
-0.016356326639652252,
-0.9994192719459534,
-0.006636291742324829
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 24,
"c2w": [
[
0.9995052218437195,
-0.01091777067631483,
0.02949840947985649,
0.00879164133220911
],
[
-0.011283875443041325,
-0.9998610019683838,
0.01227313932031393,
0.0010333878453820944
],
[
0.029360314831137657,
-0.012599922716617584,
-0.9994894862174988,
-0.007811876945197582
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 25,
"c2w": [
[
0.9995166659355164,
-0.008242188021540642,
0.0299744363874197,
0.00946354866027832
],
[
-0.008431583642959595,
-0.9999452233314514,
0.00619767140597105,
0.0013136565685272217
],
[
0.02992171421647072,
-0.006447407882660627,
-0.9995314478874207,
-0.009221255779266357
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 26,
"c2w": [
[
0.9994375705718994,
-0.008499057963490486,
0.032438408583402634,
0.010263502597808838
],
[
-0.0086829774081707,
-0.9999470114707947,
0.005533156450837851,
0.0010591745376586914
],
[
0.03238965943455696,
-0.005811706185340881,
-0.9994584321975708,
-0.009580999612808228
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 27,
"c2w": [
[
0.9992637038230896,
-0.011905018240213394,
0.0364728681743145,
0.011377036571502686
],
[
-0.012286374345421791,
-0.9998719692230225,
0.010249648243188858,
0.0008733272552490234
],
[
0.036346178501844406,
-0.010690220631659031,
-0.9992820620536804,
-0.00936824083328247
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 28,
"c2w": [
[
0.9993417859077454,
-0.01384845282882452,
0.033528853207826614,
0.012625455856323242
],
[
-0.014266573823988438,
-0.9998230338096619,
0.012263504788279533,
0.0011976361274719238
],
[
0.03335309028625488,
-0.012733775191009045,
-0.9993625283241272,
-0.009360909461975098
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 29,
"c2w": [
[
0.999427318572998,
-0.014358820393681526,
0.030639946460723877,
0.01323169469833374
],
[
-0.014726096764206886,
-0.9998220205307007,
0.011795035563409328,
0.0018429756164550781
],
[
0.030465129762887955,
-0.01223948784172535,
-0.9994608759880066,
-0.009395956993103027
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 30,
"c2w": [
[
0.9993918538093567,
-0.015021806582808495,
0.031468939036130905,
0.013714373111724854
],
[
-0.015462789684534073,
-0.9997849464416504,
0.013817086815834045,
0.0024885833263397217
],
[
0.031254615634679794,
-0.01429528184235096,
-0.9994091987609863,
-0.009367197751998901
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 31,
"c2w": [
[
0.9993820190429688,
-0.014694886282086372,
0.031931642442941666,
0.014347076416015625
],
[
-0.015201976522803307,
-0.9997612237930298,
0.015696143731474876,
0.0029531121253967285
],
[
0.031693365424871445,
-0.01617186889052391,
-0.999366819858551,
-0.009400159120559692
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 32,
"c2w": [
[
0.9994140863418579,
-0.014302404597401619,
0.03109576739370823,
0.015336177311837673
],
[
-0.014855301938951015,
-0.9997343420982361,
0.017622724175453186,
0.003313738852739334
],
[
0.030835460871458054,
-0.018074335530400276,
-0.9993610382080078,
-0.00925756897777319
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 33,
"c2w": [
[
0.9993883371353149,
-0.01280907355248928,
0.03254050761461258,
0.015976982191205025
],
[
-0.013469175435602665,
-0.9997062683105469,
0.02014797180891037,
0.0034386140760034323
],
[
0.03227287158370018,
-0.020573941990733147,
-0.9992673397064209,
-0.009354534558951855
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 34,
"c2w": [
[
0.9994341731071472,
-0.009127704426646233,
0.03237263858318329,
0.016493337228894234
],
[
-0.009685362689197063,
-0.9998067021369934,
0.01711146906018257,
0.003304444020614028
],
[
0.03221018984913826,
-0.017415327951312065,
-0.9993293881416321,
-0.00994310062378645
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 35,
"c2w": [
[
0.9995229244232178,
-0.00594508508220315,
0.030308295041322708,
0.01722031831741333
],
[
-0.006373967044055462,
-0.9998806715011597,
0.014073722064495087,
0.002862989902496338
],
[
0.030221009626984596,
-0.014260191470384598,
-0.9994415044784546,
-0.010709881782531738
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 36,
"c2w": [
[
0.9995247721672058,
-0.003694328246638179,
0.03060423582792282,
0.018115341663360596
],
[
-0.004158598370850086,
-0.9998770356178284,
0.015120390802621841,
0.0022956430912017822
],
[
0.030544612556695938,
-0.015240475535392761,
-0.9994171857833862,
-0.011503040790557861
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 37,
"c2w": [
[
0.9995405077934265,
-0.002216543070971966,
0.030230531468987465,
0.019234120845794678
],
[
-0.0027460907585918903,
-0.9998432993888855,
0.017486728727817535,
0.001584470272064209
],
[
0.030187034979462624,
-0.017561709508299828,
-0.9993900060653687,
-0.01247251033782959
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 38,
"c2w": [
[
0.9995784759521484,
-0.00089176808251068,
0.029018519446253777,
0.02056354284286499
],
[
-0.001371951075270772,
-0.9998623728752136,
0.016531767323613167,
0.000733494758605957
],
[
0.028999783098697662,
-0.016564609482884407,
-0.9994421601295471,
-0.01384127140045166
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 39,
"c2w": [
[
0.9997056722640991,
0.0019062971696257591,
0.02418510988354683,
0.02200978994369507
],
[
0.0015823065768927336,
-0.9999088644981384,
0.013408358208835125,
-0.00023853778839111328
],
[
0.024208465591073036,
-0.01336614415049553,
-0.9996175765991211,
-0.015617311000823975
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 40,
"c2w": [
[
0.9998070597648621,
0.006614023819565773,
0.01849646121263504,
0.023538053035736084
],
[
0.006475927773863077,
-0.9999507665634155,
0.007516023702919483,
-0.0012909770011901855
],
[
0.01854526251554489,
-0.007394792046397924,
-0.9998006820678711,
-0.017920345067977905
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 41,
"c2w": [
[
0.9998637437820435,
0.013294058851897717,
0.009785209782421589,
0.0250244140625
],
[
0.013227986171841621,
-0.9998894929885864,
0.006786371115595102,
-0.0021949708461761475
],
[
0.009874346666038036,
-0.006656007841229439,
-0.9999290704727173,
-0.0199415385723114
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 42,
"c2w": [
[
0.9998689293861389,
0.015215443447232246,
0.005528037901967764,
0.026850862428545952
],
[
0.015143882483243942,
-0.9998038411140442,
0.012764154002070427,
-0.0031109077390283346
],
[
0.005721165798604488,
-0.012678764760494232,
-0.9999032616615295,
-0.02139606885612011
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 43,
"c2w": [
[
0.9998494982719421,
0.017054857686161995,
0.0031755799427628517,
0.02890368551015854
],
[
0.016988931223750114,
-0.9996607303619385,
0.01974327489733696,
-0.0038788430392742157
],
[
0.003511221380904317,
-0.01968635432422161,
-0.9998000264167786,
-0.022686747834086418
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 44,
"c2w": [
[
0.9998198747634888,
0.018750421702861786,
-0.002947996836155653,
0.03024303913116455
],
[
0.01881064660847187,
-0.9995824098587036,
0.02193503826856613,
-0.004381090402603149
],
[
-0.0025354744866490364,
-0.021986540406942368,
-0.9997550249099731,
-0.02438601851463318
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 45,
"c2w": [
[
0.9997783899307251,
0.020008528605103493,
-0.006547190248966217,
0.03247256577014923
],
[
0.020174134522676468,
-0.9994508028030396,
0.02628958970308304,
-0.004618354141712189
],
[
-0.006017578300088644,
-0.02641584724187851,
-0.9996329545974731,
-0.025740312412381172
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 46,
"c2w": [
[
0.9996312856674194,
0.023421218618750572,
-0.013739405199885368,
0.03494603931903839
],
[
0.023991571739315987,
-0.99878990650177,
0.04293124005198479,
-0.004716552793979645
],
[
-0.012717277742922306,
-0.043245039880275726,
-0.9989835619926453,
-0.025877954438328743
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 47,
"c2w": [
[
0.999184250831604,
0.030004294589161873,
-0.02702808380126953,
0.03762906789779663
],
[
0.03146504610776901,
-0.9979711771011353,
0.055348291993141174,
-0.004584223031997681
],
[
-0.02531256154179573,
-0.05615358427166939,
-0.9981012344360352,
-0.025559335947036743
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 48,
"c2w": [
[
0.9986261129379272,
0.03763415291905403,
-0.03646283224225044,
0.040413737297058105
],
[
0.03992403298616409,
-0.9971346855163574,
0.06425343453884125,
-0.00435328483581543
],
[
-0.03394022956490517,
-0.06562089920043945,
-0.9972672462463379,
-0.025490716099739075
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 49,
"c2w": [
[
0.9989171624183655,
0.033708058297634125,
-0.03206636384129524,
0.0441293865442276
],
[
0.035973936319351196,
-0.9966881275177002,
0.0729287639260292,
-0.0037362652365118265
],
[
-0.02950187958776951,
-0.07400334626436234,
-0.9968215227127075,
-0.02598355896770954
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 50,
"c2w": [
[
0.9991363883018494,
0.02868397906422615,
-0.030061110854148865,
0.047645628452301025
],
[
0.030698509886860847,
-0.9971547722816467,
0.06884748488664627,
-0.0029522478580474854
],
[
-0.028000758960843086,
-0.0697108581662178,
-0.9971742033958435,
-0.027046188712120056
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 51,
"c2w": [
[
0.9981873631477356,
0.03673325479030609,
-0.047672923654317856,
0.05147155374288559
],
[
0.039405353367328644,
-0.9976316094398499,
0.05637726932764053,
-0.001853417488746345
],
[
-0.04548909515142441,
-0.05815364420413971,
-0.9972707033157349,
-0.029084591194987297
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 52,
"c2w": [
[
0.9978320598602295,
0.036529313772916794,
-0.054742660373449326,
0.05612684786319733
],
[
0.03925511986017227,
-0.9979987144470215,
0.04957393556833267,
-0.0008786695543676615
],
[
-0.05282220616936684,
-0.0516153946518898,
-0.9972690939903259,
-0.03099692054092884
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 53,
"c2w": [
[
0.9986129999160767,
0.02758079208433628,
-0.044847745448350906,
0.060252368450164795
],
[
0.03023739904165268,
-0.9977595806121826,
0.05967886000871658,
-0.0004775524139404297
],
[
-0.04310127720236778,
-0.060952167958021164,
-0.9972096681594849,
-0.031943440437316895
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 54,
"c2w": [
[
0.998067319393158,
0.03276510909199715,
-0.05280236527323723,
0.06433111429214478
],
[
0.036292001605033875,
-0.997073769569397,
0.06728160381317139,
-0.0001334547996520996
],
[
-0.050443362444639206,
-0.06906787306070328,
-0.9963358640670776,
-0.03313456475734711
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 55,
"c2w": [
[
0.9973717331886292,
0.03595452383160591,
-0.06290418654680252,
0.06883317232131958
],
[
0.03979580104351044,
-0.9973491430282593,
0.060917943716049194,
0.00020545721054077148
],
[
-0.06054715812206268,
-0.06326115876436234,
-0.9961586594581604,
-0.03504180908203125
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 56,
"c2w": [
[
0.998279333114624,
0.025235367938876152,
-0.05293016508221626,
0.07360535860061646
],
[
0.028474263846874237,
-0.9977095723152161,
0.06135822460055351,
3.1560659408569336e-05
],
[
-0.051260534673929214,
-0.06275979429483414,
-0.9967113733291626,
-0.03656400740146637
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 57,
"c2w": [
[
0.9984382390975952,
0.022990358993411064,
-0.05091710388660431,
0.0778760313987732
],
[
0.026432836428284645,
-0.9973349571228027,
0.06800197809934616,
-0.00020372867584228516
],
[
-0.04921801760792732,
-0.06924165785312653,
-0.9963850378990173,
-0.03766748309135437
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 58,
"c2w": [
[
0.9976747035980225,
0.030742134898900986,
-0.060828257352113724,
0.08178652822971344
],
[
0.03508203849196434,
-0.9968151450157166,
0.07161536067724228,
-0.0003361182752996683
],
[
-0.058432918041944504,
-0.07358281314373016,
-0.9955757856369019,
-0.038974616676568985
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 59,
"c2w": [
[
0.9975194931030273,
0.03382711485028267,
-0.061730340123176575,
0.08540426194667816
],
[
0.038520198315382004,
-0.9963259100914001,
0.07649097591638565,
-0.0008564514573663473
],
[
-0.05891606956720352,
-0.07867909967899323,
-0.9951575398445129,
-0.039925869554281235
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 60,
"c2w": [
[
0.9974933862686157,
0.03291139751672745,
-0.062640480697155,
0.08968240022659302
],
[
0.03780702129006386,
-0.9961854815483093,
0.07864558696746826,
-0.0010689198970794678
],
[
-0.05981320142745972,
-0.08081670105457306,
-0.9949327111244202,
-0.04093465209007263
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 61,
"c2w": [
[
0.996595025062561,
0.038442328572273254,
-0.07294164597988129,
0.09415477514266968
],
[
0.04407317936420441,
-0.9960389137268066,
0.07722686231136322,
-0.0010926127433776855
],
[
-0.06968393921852112,
-0.08017868548631668,
-0.9943417310714722,
-0.042163848876953125
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 62,
"c2w": [
[
0.995157778263092,
0.04749089479446411,
-0.08605612814426422,
0.09776091575622559
],
[
0.05468111112713814,
-0.9950299859046936,
0.08321860432624817,
-0.001435786485671997
],
[
-0.08167629688978195,
-0.08752128481864929,
-0.9928086400032043,
-0.04315468668937683
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 63,
"c2w": [
[
0.9946351051330566,
0.05049922689795494,
-0.09028204530477524,
0.10185664892196655
],
[
0.059052858501672745,
-0.9937499165534973,
0.09473028779029846,
-0.0018118023872375488
],
[
-0.08493396639823914,
-0.09955348074436188,
-0.9914006590843201,
-0.04394714534282684
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 64,
"c2w": [
[
0.9940134882926941,
0.04995442181825638,
-0.09716857969760895,
0.10638296604156494
],
[
0.05921971797943115,
-0.9937207102775574,
0.09493247419595718,
-0.001995861530303955
],
[
-0.09181612730026245,
-0.10011845827102661,
-0.9907301068305969,
-0.04541173577308655
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 65,
"c2w": [
[
0.9921703338623047,
0.058480363339185715,
-0.11035452038049698,
0.1093476414680481
],
[
0.06752661615610123,
-0.9944969415664673,
0.08009965717792511,
-0.0027042031288146973
],
[
-0.10506297647953033,
-0.08692436665296555,
-0.9906593561172485,
-0.04766073822975159
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 66,
"c2w": [
[
0.9917810559272766,
0.06325230002403259,
-0.11121819913387299,
0.11318647861480713
],
[
0.07136822491884232,
-0.9949504137039185,
0.07057070732116699,
-0.002938508987426758
],
[
-0.10619283467531204,
-0.07792813330888748,
-0.9912871718406677,
-0.04967397451400757
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 67,
"c2w": [
[
0.9918619394302368,
0.06450850516557693,
-0.10976596921682358,
0.11742222309112549
],
[
0.07276461273431778,
-0.994677722454071,
0.07294861972332001,
-0.0032282769680023193
],
[
-0.1044759601354599,
-0.08034203946590424,
-0.9912769198417664,
-0.05095069110393524
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 68,
"c2w": [
[
0.9903160333633423,
0.07359836995601654,
-0.11771757900714874,
0.12108743190765381
],
[
0.08222206681966782,
-0.9941416382789612,
0.07015626132488251,
-0.003185451030731201
],
[
-0.11186455935239792,
-0.07915585488080978,
-0.990565836429596,
-0.052384644746780396
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 69,
"c2w": [
[
0.9898557066917419,
0.07965482771396637,
-0.11764677613973618,
0.12545304000377655
],
[
0.08752337843179703,
-0.9941494464874268,
0.06329724937677383,
-0.003194682067260146
],
[
-0.11191654205322266,
-0.07295198738574982,
-0.9910361766815186,
-0.05419522151350975
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 70,
"c2w": [
[
0.9909598231315613,
0.07565116882324219,
-0.11079487204551697,
0.1309325098991394
],
[
0.08295141160488129,
-0.9945710897445679,
0.06282821297645569,
-0.0033283531665802
],
[
-0.10544035583734512,
-0.07145082950592041,
-0.9918553829193115,
-0.05582365393638611
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 71,
"c2w": [
[
0.9907385110855103,
0.07873016595840454,
-0.11062900722026825,
0.1363537460565567
],
[
0.08587294071912766,
-0.9944154024124146,
0.06135048717260361,
-0.0033717078622430563
],
[
-0.10518105328083038,
-0.07028233259916306,
-0.9919664263725281,
-0.05743217095732689
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 72,
"c2w": [
[
0.9914590120315552,
0.07886676490306854,
-0.1038704439997673,
0.14233818650245667
],
[
0.08560239523649216,
-0.9943944215774536,
0.06206374615430832,
-0.002496182918548584
],
[
-0.09839342534542084,
-0.07042521983385086,
-0.9926525354385376,
-0.05864843726158142
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 73,
"c2w": [
[
0.9927261471748352,
0.07145023345947266,
-0.09690013527870178,
0.14904657006263733
],
[
0.07770489156246185,
-0.9950226545333862,
0.06238456442952156,
-0.002037227153778076
],
[
-0.09196043759584427,
-0.06946040689945221,
-0.993337094783783,
-0.06012323498725891
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 74,
"c2w": [
[
0.9928462505340576,
0.07019570469856262,
-0.09658617526292801,
0.15556807816028595
],
[
0.07586995512247086,
-0.9955223202705383,
0.05638286471366882,
-0.0013727170880883932
],
[
-0.09219586104154587,
-0.0633075013756752,
-0.993726372718811,
-0.06142575666308403
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 75,
"c2w": [
[
0.992983341217041,
0.0708073228597641,
-0.094712033867836,
0.16202670335769653
],
[
0.07625623047351837,
-0.9955589771270752,
0.05520213022828102,
-0.0007153153419494629
],
[
-0.09038270264863968,
-0.06203717738389969,
-0.9939730167388916,
-0.06268389523029327
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 76,
"c2w": [
[
0.9937912225723267,
0.06682968139648438,
-0.08895409107208252,
0.16884088516235352
],
[
0.0721873790025711,
-0.9956775903701782,
0.0584387481212616,
8.821487426757812e-06
],
[
-0.08466415107250214,
-0.06449727714061737,
-0.9943199157714844,
-0.06364297866821289
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 77,
"c2w": [
[
0.9943389892578125,
0.06417186558246613,
-0.08468734472990036,
0.17559120059013367
],
[
0.0694124773144722,
-0.9957543015480042,
0.060459110885858536,
0.0010275542736053467
],
[
-0.08044800907373428,
-0.06599520891904831,
-0.9945716261863708,
-0.06430363655090332
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 78,
"c2w": [
[
0.9946140050888062,
0.06393541395664215,
-0.08157958835363388,
0.18218699097633362
],
[
0.06900329887866974,
-0.9957563281059265,
0.06089206784963608,
0.0018257200717926025
],
[
-0.07734023034572601,
-0.0661933645606041,
-0.9948049783706665,
-0.06512980163097382
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 79,
"c2w": [
[
0.9950762987136841,
0.06394891440868378,
-0.07572086900472641,
0.18857145309448242
],
[
0.06889905780553818,
-0.9955251812934875,
0.06467261910438538,
0.0025380849838256836
],
[
-0.07124628871679306,
-0.06957129389047623,
-0.9950295686721802,
-0.06582681834697723
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 80,
"c2w": [
[
0.9957059621810913,
0.06186922267079353,
-0.06886136531829834,
0.19476275146007538
],
[
0.06677426397800446,
-0.9952124357223511,
0.0713682547211647,
0.003284476464614272
],
[
-0.06411618739366531,
-0.07565996050834656,
-0.995070219039917,
-0.06650932133197784
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 81,
"c2w": [
[
0.9952006936073303,
0.06494016200304031,
-0.07320062816143036,
0.20075061917304993
],
[
0.06976262480020523,
-0.9954195022583008,
0.06536974757909775,
0.0038335323333740234
],
[
-0.0686202123761177,
-0.07016269117593765,
-0.9951725602149963,
-0.06793215870857239
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 82,
"c2w": [
[
0.9949731826782227,
0.06906335800886154,
-0.07251632213592529,
0.20666487514972687
],
[
0.07337735593318939,
-0.9955803751945496,
0.0586126483976841,
0.004298202693462372
],
[
-0.06814784556627274,
-0.0636390745639801,
-0.9956434965133667,
-0.06942486763000488
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 83,
"c2w": [
[
0.9955305457115173,
0.06854347884654999,
-0.06496718525886536,
0.21282504498958588
],
[
0.07290615886449814,
-0.9950624108314514,
0.0673457682132721,
0.0046738311648368835
],
[
-0.060030292719602585,
-0.07178127765655518,
-0.9956122636795044,
-0.07022926211357117
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 84,
"c2w": [
[
0.9951068758964539,
0.07232334464788437,
-0.06731738895177841,
0.21895046532154083
],
[
0.07720029354095459,
-0.9943461418151855,
0.07290980964899063,
0.004808001220226288
],
[
-0.06166370213031769,
-0.07774997502565384,
-0.9950640797615051,
-0.07071666419506073
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 85,
"c2w": [
[
0.9943690896034241,
0.07805254310369492,
-0.07167886942625046,
0.2250065803527832
],
[
0.08319094777107239,
-0.9939479231834412,
0.07174152135848999,
0.004902064800262451
],
[
-0.06564544886350632,
-0.07730058580636978,
-0.994844377040863,
-0.07204683125019073
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 86,
"c2w": [
[
0.9937901496887207,
0.0852433443069458,
-0.07151681184768677,
0.23106369376182556
],
[
0.0905243456363678,
-0.99312824010849,
0.074173204600811,
0.00394025444984436
],
[
-0.0647025927901268,
-0.08018661290407181,
-0.9946776628494263,
-0.07325270771980286
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 87,
"c2w": [
[
0.9931758642196655,
0.09139196574687958,
-0.07245150208473206,
0.23708824813365936
],
[
0.09695716202259064,
-0.9922721982002258,
0.077428437769413,
0.003775406628847122
],
[
-0.06481527537107468,
-0.08392474800348282,
-0.994361937046051,
-0.07419519126415253
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 88,
"c2w": [
[
0.9928337335586548,
0.0947776660323143,
-0.07279001921415329,
0.24348047375679016
],
[
0.10073447227478027,
-0.9914398193359375,
0.08306393772363663,
0.003861844539642334
],
[
-0.06429432332515717,
-0.08980114758014679,
-0.9938822984695435,
-0.07512274384498596
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 89,
"c2w": [
[
0.9918844103813171,
0.09900470077991486,
-0.07977084815502167,
0.25111034512519836
],
[
0.10586411505937576,
-0.9905747175216675,
0.08691657334566116,
0.003777444362640381
],
[
-0.07041383534669876,
-0.0946560651063919,
-0.9930166602134705,
-0.07646697759628296
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 90,
"c2w": [
[
0.9903249144554138,
0.10393818467855453,
-0.09194251149892807,
0.2577568292617798
],
[
0.11179991811513901,
-0.9900938272476196,
0.08494094014167786,
0.004215933382511139
],
[
-0.08220310509204865,
-0.09439829736948013,
-0.9921348690986633,
-0.0781855583190918
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 91,
"c2w": [
[
0.9900621175765991,
0.10735535621643066,
-0.09083938598632812,
0.2642441689968109
],
[
0.11522450298070908,
-0.9895804524421692,
0.08633536100387573,
0.004807174205780029
],
[
-0.08062431216239929,
-0.09594430029392242,
-0.9921161532402039,
-0.07994624972343445
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 92,
"c2w": [
[
0.9902399182319641,
0.10848989337682724,
-0.08749198913574219,
0.27096304297447205
],
[
0.11651845276355743,
-0.9888648390769958,
0.09257280826568604,
0.005656488239765167
],
[
-0.07647453993558884,
-0.10186371952295303,
-0.9918545484542847,
-0.08162257075309753
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 93,
"c2w": [
[
0.9906618595123291,
0.10633362084627151,
-0.08533623069524765,
0.2798374593257904
],
[
0.11426327377557755,
-0.988978922367096,
0.09415167570114136,
0.00687718391418457
],
[
-0.07438424974679947,
-0.10302326828241348,
-0.9918937683105469,
-0.08416509628295898
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 94,
"c2w": [
[
0.9904696941375732,
0.10753282159566879,
-0.08606085926294327,
0.2871078550815582
],
[
0.11527922004461288,
-0.989177405834198,
0.09076755493879318,
0.008546590805053711
],
[
-0.0753689631819725,
-0.09982354193925858,
-0.9921465516090393,
-0.08673350512981415
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 95,
"c2w": [
[
0.9886668920516968,
0.1121545284986496,
-0.0997953861951828,
0.29562264680862427
],
[
0.1207486093044281,
-0.9890634417533875,
0.08469542860984802,
0.009825490415096283
],
[
-0.08920499682426453,
-0.0957857221364975,
-0.9913967847824097,
-0.08945776522159576
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 96,
"c2w": [
[
0.9877632260322571,
0.11378706991672516,
-0.10665971785783768,
0.30341342091560364
],
[
0.12292693555355072,
-0.9889028668403625,
0.08342748880386353,
0.011576801538467407
],
[
-0.09598313271999359,
-0.09551796317100525,
-0.9907893538475037,
-0.09161998331546783
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 97,
"c2w": [
[
0.9889255166053772,
0.11413925886154175,
-0.09486093372106552,
0.3112722635269165
],
[
0.12351316958665848,
-0.9873272776603699,
0.09964607656002045,
0.0133468396961689
],
[
-0.08228526264429092,
-0.11025912314653397,
-0.9904907941818237,
-0.09309400618076324
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 98,
"c2w": [
[
0.9883065819740295,
0.11623713374137878,
-0.09868663549423218,
0.31942009925842285
],
[
0.12653228640556335,
-0.9863458275794983,
0.10541123151779175,
0.015187770128250122
],
[
-0.08508644998073578,
-0.11666565388441086,
-0.9895197749137878,
-0.09487208724021912
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 99,
"c2w": [
[
0.9870375394821167,
0.1211165189743042,
-0.10529788583517075,
0.32893913984298706
],
[
0.13185237348079681,
-0.9860286712646484,
0.10179584473371506,
0.016767531633377075
],
[
-0.09149757772684097,
-0.11436010152101517,
-0.9892168641090393,
-0.09705248475074768
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 100,
"c2w": [
[
0.9868963956832886,
0.12311116605997086,
-0.10430320352315903,
0.3377954661846161
],
[
0.134145125746727,
-0.9852374196052551,
0.10635919868946075,
0.018618114292621613
],
[
-0.08966941386461258,
-0.1189572736620903,
-0.9888420104980469,
-0.09868644177913666
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 101,
"c2w": [
[
0.9869612455368042,
0.12379629164934158,
-0.10286860167980194,
0.3462885916233063
],
[
0.13508829474449158,
-0.984572172164917,
0.1112150251865387,
0.020550161600112915
],
[
-0.08751355856657028,
-0.12366127222776413,
-0.9884580373764038,
-0.10015326738357544
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 102,
"c2w": [
[
0.9843277335166931,
0.1374051421880722,
-0.11053819209337234,
0.35467445850372314
],
[
0.1493978649377823,
-0.9827824831008911,
0.10871447622776031,
0.02315734326839447
],
[
-0.09369707107543945,
-0.12352484464645386,
-0.987908124923706,
-0.10166545957326889
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 103,
"c2w": [
[
0.9811680912971497,
0.15499471127986908,
-0.11526409536600113,
0.36149221658706665
],
[
0.16804912686347961,
-0.9791898131370544,
0.11378385871648788,
0.024229437112808228
],
[
-0.09522953629493713,
-0.13101112842559814,
-0.9867965579032898,
-0.10246016085147858
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 104,
"c2w": [
[
0.9773970246315002,
0.16893942654132843,
-0.12710028886795044,
0.3684694468975067
],
[
0.1846131682395935,
-0.9749920964241028,
0.12372720241546631,
0.024754583835601807
],
[
-0.10301937162876129,
-0.14439499378204346,
-0.9841428399085999,
-0.10219520330429077
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 105,
"c2w": [
[
0.9696179032325745,
0.19089850783348083,
-0.15296685695648193,
0.3744472563266754
],
[
0.2097170352935791,
-0.9706098437309265,
0.11804798990488052,
0.02489899843931198
],
[
-0.12593595683574677,
-0.14654120802879333,
-0.9811553359031677,
-0.10232523083686829
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 106,
"c2w": [
[
0.9659993648529053,
0.2055034190416336,
-0.15688705444335938,
0.3804401159286499
],
[
0.22513870894908905,
-0.9669517874717712,
0.1196526512503624,
0.025492429733276367
],
[
-0.1271131932735443,
-0.15090572834014893,
-0.9803416132926941,
-0.10211765766143799
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 107,
"c2w": [
[
0.9646779894828796,
0.20578579604625702,
-0.16446451842784882,
0.38782232999801636
],
[
0.22748036682605743,
-0.9655807018280029,
0.12612152099609375,
0.027162760496139526
],
[
-0.13284973800182343,
-0.15907910466194153,
-0.9782866835594177,
-0.10111649334430695
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 108,
"c2w": [
[
0.9602456092834473,
0.21131561696529388,
-0.18241193890571594,
0.3943423628807068
],
[
0.23537741601467133,
-0.964206874370575,
0.12207621335983276,
0.02886240929365158
],
[
-0.15008623898029327,
-0.16015879809856415,
-0.9756143093109131,
-0.10049811005592346
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 109,
"c2w": [
[
0.9563857316970825,
0.21980038285255432,
-0.1923905313014984,
0.3999476134777069
],
[
0.24480576813220978,
-0.9624398946762085,
0.11738667637109756,
0.030442379415035248
],
[
-0.15936267375946045,
-0.15936525166034698,
-0.9742721915245056,
-0.10002681612968445
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 110,
"c2w": [
[
0.9527335166931152,
0.2256966233253479,
-0.20337124168872833,
0.4059852957725525
],
[
0.25260570645332336,
-0.9604021310806274,
0.1175505518913269,
0.032260239124298096
],
[
-0.16878741979599,
-0.16336709260940552,
-0.9720195531845093,
-0.09867456555366516
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 111,
"c2w": [
[
0.9453806281089783,
0.23606598377227783,
-0.22478504478931427,
0.4107559323310852
],
[
0.26514533162117004,
-0.9580253958702087,
0.10901995003223419,
0.03417458012700081
],
[
-0.18961386382579803,
-0.16266605257987976,
-0.9682904481887817,
-0.0981568992137909
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 112,
"c2w": [
[
0.941615879535675,
0.2455115169286728,
-0.23039890825748444,
0.41519099473953247
],
[
0.27431562542915344,
-0.9561952948570251,
0.10218355804681778,
0.036340951919555664
],
[
-0.19521911442279816,
-0.1594196856021881,
-0.9677163362503052,
-0.09805424511432648
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 113,
"c2w": [
[
0.9380092620849609,
0.25159740447998047,
-0.2384060025215149,
0.4201676845550537
],
[
0.2814445197582245,
-0.9543307423591614,
0.10020898282527924,
0.038886845111846924
],
[
-0.2023058533668518,
-0.1610950231552124,
-0.9659817218780518,
-0.09798738360404968
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 114,
"c2w": [
[
0.9299346208572388,
0.259069561958313,
-0.26096856594085693,
0.4247279763221741
],
[
0.29065024852752686,
-0.9525823593139648,
0.09005148708820343,
0.041071243584156036
],
[
-0.22526444494724274,
-0.15959256887435913,
-0.9611379504203796,
-0.09865282475948334
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 115,
"c2w": [
[
0.9256819486618042,
0.26757994294166565,
-0.2674209177494049,
0.42898011207580566
],
[
0.2972199320793152,
-0.9517372250556946,
0.07652851939201355,
0.04309883713722229
],
[
-0.23403693735599518,
-0.15032388269901276,
-0.960536003112793,
-0.10026371479034424
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 116,
"c2w": [
[
0.9240429401397705,
0.2709113359451294,
-0.2697252631187439,
0.43335506319999695
],
[
0.3006477355957031,
-0.9507803320884705,
0.07501804828643799,
0.04484212398529053
],
[
-0.23612622916698456,
-0.1504121869802475,
-0.9600107073783875,
-0.10157535970211029
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 117,
"c2w": [
[
0.9204651713371277,
0.27445417642593384,
-0.2782423198223114,
0.43812263011932373
],
[
0.3059427738189697,
-0.9490106701850891,
0.07601188868284225,
0.04733741283416748
],
[
-0.2431931495666504,
-0.1550925225019455,
-0.9574984908103943,
-0.10256004333496094
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 118,
"c2w": [
[
0.9186506867408752,
0.278473824262619,
-0.28023776412010193,
0.44229835271835327
],
[
0.31021907925605774,
-0.947685182094574,
0.07521282881498337,
0.04928839951753616
],
[
-0.24463237822055817,
-0.15602941811084747,
-0.956979513168335,
-0.1040923148393631
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 119,
"c2w": [
[
0.9118520021438599,
0.2858131229877472,
-0.2946808636188507,
0.44615334272384644
],
[
0.3188289403915405,
-0.9452401399612427,
0.06977973878383636,
0.05180409550666809
],
[
-0.2586002051830292,
-0.15758158266544342,
-0.953044593334198,
-0.10598811507225037
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 120,
"c2w": [
[
0.9018641114234924,
0.2953971326351166,
-0.31524857878685,
0.4496297836303711
],
[
0.32927167415618896,
-0.942394495010376,
0.05893023684620857,
0.053904831409454346
],
[
-0.27968069911003113,
-0.1569494903087616,
-0.9471777081489563,
-0.10860289633274078
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 121,
"c2w": [
[
0.8949744701385498,
0.30700939893722534,
-0.32367566227912903,
0.4529035985469818
],
[
0.3387713134288788,
-0.9397762417793274,
0.04532792046666145,
0.05595400929450989
],
[
-0.29026660323143005,
-0.1502193659543991,
-0.9450817108154297,
-0.11190541088581085
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 122,
"c2w": [
[
0.8879643678665161,
0.3165093958377838,
-0.33367815613746643,
0.4572508931159973
],
[
0.34497392177581787,
-0.9381914138793945,
0.028105372563004494,
0.05771884322166443
],
[
-0.30415835976600647,
-0.14006683230400085,
-0.9422680139541626,
-0.11490926146507263
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 123,
"c2w": [
[
0.8807873725891113,
0.3240484595298767,
-0.34526246786117554,
0.46104028820991516
],
[
0.34855759143829346,
-0.9372388124465942,
0.009541593492031097,
0.059871673583984375
],
[
-0.3205014169216156,
-0.12874796986579895,
-0.9384576678276062,
-0.11906558275222778
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 124,
"c2w": [
[
0.8790048956871033,
0.3317354619503021,
-0.34249380230903625,
0.464808851480484
],
[
0.3511051535606384,
-0.936318039894104,
-0.005800922401249409,
0.06218675523996353
],
[
-0.32260751724243164,
-0.11515229940414429,
-0.9395021796226501,
-0.12338113784790039
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 125,
"c2w": [
[
0.8783884048461914,
0.3386332392692566,
-0.33728519082069397,
0.46864473819732666
],
[
0.3559149205684662,
-0.9344502687454224,
-0.011279381811618805,
0.06501218676567078
],
[
-0.31899580359458923,
-0.11013715714216232,
-0.9413349628448486,
-0.12626972794532776
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 126,
"c2w": [
[
0.8783731460571289,
0.34453341364860535,
-0.33129653334617615,
0.4723650813102722
],
[
0.36352285742759705,
-0.9315719604492188,
-0.004977344069629908,
0.06774916499853134
],
[
-0.3103414475917816,
-0.11606189608573914,
-0.9435135722160339,
-0.12945835292339325
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 127,
"c2w": [
[
0.8795979022979736,
0.3498149514198303,
-0.32239270210266113,
0.4759202301502228
],
[
0.3707064092159271,
-0.9287428259849548,
0.0036740084178745747,
0.07082939147949219
],
[
-0.2981346845626831,
-0.12274469435214996,
-0.9465988874435425,
-0.13303300738334656
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 128,
"c2w": [
[
0.8796485662460327,
0.35604211688041687,
-0.3153607249259949,
0.4797062277793884
],
[
0.3774217367172241,
-0.9260128140449524,
0.007289946544915438,
0.07435029000043869
],
[
-0.289432555437088,
-0.12543658912181854,
-0.9489438533782959,
-0.1372358500957489
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 129,
"c2w": [
[
0.8809827566146851,
0.3625829219818115,
-0.3039786219596863,
0.48303526639938354
],
[
0.3835521638393402,
-0.9234640002250671,
0.01010121125727892,
0.07806703448295593
],
[
-0.27705079317092896,
-0.12549065053462982,
-0.9526252746582031,
-0.1420091837644577
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 130,
"c2w": [
[
0.8799787759780884,
0.37067076563835144,
-0.29705309867858887,
0.4860442280769348
],
[
0.39031973481178284,
-0.9206491708755493,
0.007457786239683628,
0.08190903067588806
],
[
-0.2707172930240631,
-0.12250836938619614,
-0.9548318386077881,
-0.1472301036119461
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 131,
"c2w": [
[
0.876811146736145,
0.3765682280063629,
-0.2989960014820099,
0.4902257025241852
],
[
0.39418482780456543,
-0.919029951095581,
-0.0015111600514501333,
0.08615919947624207
],
[
-0.27535533905029297,
-0.11653468012809753,
-0.9542531967163086,
-0.15297740697860718
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 132,
"c2w": [
[
0.8765028715133667,
0.37972941994667053,
-0.2958855926990509,
0.49332842230796814
],
[
0.3960089087486267,
-0.918231189250946,
-0.005327973049134016,
0.09080615639686584
],
[
-0.2737145721912384,
-0.11250333487987518,
-0.9552085399627686,
-0.15844658017158508
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 133,
"c2w": [
[
0.8775006532669067,
0.38201236724853516,
-0.28992965817451477,
0.4963963031768799
],
[
0.3977980613708496,
-0.917460024356842,
-0.004873694386333227,
0.09568217396736145
],
[
-0.26786068081855774,
-0.11105678230524063,
-0.9570355415344238,
-0.16348490118980408
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 134,
"c2w": [
[
0.8753587007522583,
0.3847281038761139,
-0.29279929399490356,
0.5003923177719116
],
[
0.4006602466106415,
-0.9162067770957947,
-0.006041903514415026,
0.09975004196166992
],
[
-0.2705892026424408,
-0.1120242029428482,
-0.9561548233032227,
-0.16778701543807983
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 135,
"c2w": [
[
0.8719465136528015,
0.3909202218055725,
-0.294772207736969,
0.5033144950866699
],
[
0.40986502170562744,
-0.9121420979499817,
0.0027329109143465757,
0.10369831323623657
],
[
-0.2678057849407196,
-0.12319977581501007,
-0.9555636644363403,
-0.17135438323020935
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 136,
"c2w": [
[
0.8699068427085876,
0.3936581015586853,
-0.29714545607566833,
0.5062263011932373
],
[
0.41661736369132996,
-0.9089499711990356,
0.015490015037357807,
0.107326440513134
],
[
-0.263992577791214,
-0.13727082312107086,
-0.9547065496444702,
-0.17450423538684845
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 137,
"c2w": [
[
0.8656968474388123,
0.4022849202156067,
-0.29788556694984436,
0.5109716057777405
],
[
0.42560720443725586,
-0.9047837853431702,
0.014992154203355312,
0.1103658378124237
],
[
-0.2634909152984619,
-0.13976089656352997,
-0.9544838666915894,
-0.17789489030838013
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 138,
"c2w": [
[
0.8574633598327637,
0.4150494933128357,
-0.30412253737449646,
0.5137342214584351
],
[
0.43702101707458496,
-0.8994392156600952,
0.00466170022264123,
0.11266237497329712
],
[
-0.27160489559173584,
-0.13690517842769623,
-0.9526215195655823,
-0.18029002845287323
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 139,
"c2w": [
[
0.8495520353317261,
0.42204749584198,
-0.3164447247982025,
0.5172199606895447
],
[
0.4451706111431122,
-0.8954453468322754,
0.0008693845011293888,
0.1149558499455452
],
[
-0.28299203515052795,
-0.14161047339439392,
-0.9486105442047119,
-0.18184323608875275
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 140,
"c2w": [
[
0.843092679977417,
0.4244939982891083,
-0.3301507830619812,
0.5219274759292603
],
[
0.44701898097991943,
-0.8944835662841797,
-0.008555011823773384,
0.11746418476104736
],
[
-0.29894599318504333,
-0.14037100970745087,
-0.9438894391059875,
-0.18365463614463806
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 141,
"c2w": [
[
0.8397598266601562,
0.42676621675491333,
-0.3356695771217346,
0.5290750861167908
],
[
0.4464580714702606,
-0.8945714831352234,
-0.020422877743840218,
0.11926394701004028
],
[
-0.30899620056152344,
-0.13271206617355347,
-0.941758394241333,
-0.1847880482673645
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 142,
"c2w": [
[
0.8407013416290283,
0.4252799451351166,
-0.3351987600326538,
0.5364090800285339
],
[
0.4438600242137909,
-0.8957932591438293,
-0.02329716645181179,
0.1215139627456665
],
[
-0.3101766109466553,
-0.12919537723064423,
-0.9418593645095825,
-0.18586812913417816
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 143,
"c2w": [
[
0.8405851721763611,
0.42200955748558044,
-0.33959460258483887,
0.5458986759185791
],
[
0.441540390253067,
-0.8969780802726746,
-0.02173474244773388,
0.12275389581918716
],
[
-0.31378117203712463,
-0.13167482614517212,
-0.9403207302093506,
-0.18601112067699432
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 144,
"c2w": [
[
0.8340321779251099,
0.42816784977912903,
-0.34794047474861145,
0.5542822480201721
],
[
0.4455735385417938,
-0.8946419954299927,
-0.03286270052194595,
0.12280555814504623
],
[
-0.32535290718078613,
-0.12762451171875,
-0.9369404911994934,
-0.18563106656074524
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 145,
"c2w": [
[
0.8223877549171448,
0.442948579788208,
-0.35703638195991516,
0.5622040629386902
],
[
0.4576413333415985,
-0.887872576713562,
-0.04739925637841225,
0.12180936336517334
],
[
-0.33799824118614197,
-0.12441404163837433,
-0.932887077331543,
-0.1848038285970688
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 146,
"c2w": [
[
0.814034640789032,
0.45474815368652344,
-0.3613194525241852,
0.5715672373771667
],
[
0.47039613127708435,
-0.8810863494873047,
-0.049135610461235046,
0.12052923440933228
],
[
-0.3406979739665985,
-0.1299651861190796,
-0.9311465620994568,
-0.18327438831329346
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 147,
"c2w": [
[
0.8089021444320679,
0.46146073937416077,
-0.36432307958602905,
0.5808067321777344
],
[
0.47747766971588135,
-0.8771679997444153,
-0.05090511962771416,
0.11967805027961731
],
[
-0.34306326508522034,
-0.13277888298034668,
-0.9298803210258484,
-0.18187367916107178
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 148,
"c2w": [
[
0.8039640784263611,
0.4708441495895386,
-0.3632459044456482,
0.5900260210037231
],
[
0.4860379993915558,
-0.8722153902053833,
-0.054840076714754105,
0.11905200034379959
],
[
-0.34264978766441345,
-0.13246186077594757,
-0.9300779700279236,
-0.1807144582271576
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 149,
"c2w": [
[
0.8013160228729248,
0.4777420163154602,
-0.3600766360759735,
0.6001214981079102
],
[
0.49256929755210876,
-0.8684636354446411,
-0.056093282997608185,
0.1189180240035057
],
[
-0.33951157331466675,
-0.13241425156593323,
-0.9312348365783691,
-0.17956040799617767
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 150,
"c2w": [
[
0.7989836931228638,
0.48506271839141846,
-0.3554422855377197,
0.6101047992706299
],
[
0.49670347571372986,
-0.8655112385749817,
-0.06462161242961884,
0.11870944499969482
],
[
-0.33898481726646423,
-0.12491779774427414,
-0.932461678981781,
-0.17863479256629944
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 151,
"c2w": [
[
0.7958946228027344,
0.49354496598243713,
-0.3506637513637543,
0.6200035214424133
],
[
0.5019097328186035,
-0.8617714047431946,
-0.07373356074094772,
0.11856993287801743
],
[
-0.3385828137397766,
-0.11731740832328796,
-0.933594286441803,
-0.17787759006023407
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 152,
"c2w": [
[
0.7930089235305786,
0.4994902014732361,
-0.34877845644950867,
0.6309599876403809
],
[
0.5055396556854248,
-0.8590142130851746,
-0.08077260106801987,
0.11942961812019348
],
[
-0.3399507999420166,
-0.11226795613765717,
-0.9337180256843567,
-0.17699575424194336
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 153,
"c2w": [
[
0.785978376865387,
0.504449188709259,
-0.35744789242744446,
0.6411848068237305
],
[
0.5100694894790649,
-0.8558045625686646,
-0.08618413656949997,
0.12009822577238083
],
[
-0.3493810296058655,
-0.11458438634872437,
-0.9299480319023132,
-0.17555446922779083
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 154,
"c2w": [
[
0.7779533267021179,
0.5105546116828918,
-0.3662276268005371,
0.6501924991607666
],
[
0.5163676142692566,
-0.8515917658805847,
-0.0903104767203331,
0.12075495719909668
],
[
-0.35798484086990356,
-0.11885074526071548,
-0.9261325001716614,
-0.1743452250957489
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 155,
"c2w": [
[
0.773497998714447,
0.514110803604126,
-0.3706628084182739,
0.6594932675361633
],
[
0.5205325484275818,
-0.848951518535614,
-0.09125334769487381,
0.12221401184797287
],
[
-0.36158907413482666,
-0.12235777825117111,
-0.9242737293243408,
-0.1742759644985199
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 156,
"c2w": [
[
0.7691381573677063,
0.5155003070831299,
-0.3777379095554352,
0.667697012424469
],
[
0.520861804485321,
-0.8481259346008301,
-0.0968780592083931,
0.12416770309209824
],
[
-0.370309978723526,
-0.12223662436008453,
-0.9208304286003113,
-0.17460592091083527
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 157,
"c2w": [
[
0.7678817510604858,
0.5144702792167664,
-0.3816778361797333,
0.6750224828720093
],
[
0.5194348096847534,
-0.8487534523010254,
-0.09902045130729675,
0.12645086646080017
],
[
-0.374893456697464,
-0.12222075462341309,
-0.9189760684967041,
-0.17502599954605103
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 158,
"c2w": [
[
0.7683538198471069,
0.5104970335960388,
-0.38603782653808594,
0.6826199293136597
],
[
0.517775297164917,
-0.8503437638282776,
-0.09393735229969025,
0.12899991869926453
],
[
-0.37621960043907166,
-0.1277037262916565,
-0.9176875948905945,
-0.1757725477218628
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 159,
"c2w": [
[
0.7695345282554626,
0.502590000629425,
-0.3939795196056366,
0.6895052790641785
],
[
0.5136145353317261,
-0.8537150025367737,
-0.08585339039564133,
0.13174228370189667
],
[
-0.3794952630996704,
-0.13628646731376648,
-0.9151007533073425,
-0.1767984926700592
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 160,
"c2w": [
[
0.7722001075744629,
0.49706557393074036,
-0.3957686424255371,
0.6954298615455627
],
[
0.5089608430862427,
-0.8567772507667542,
-0.08301535993814468,
0.13433770835399628
],
[
-0.38034966588020325,
-0.13732628524303436,
-0.9145904183387756,
-0.17852681875228882
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 161,
"c2w": [
[
0.7720623016357422,
0.49669891595840454,
-0.3964972198009491,
0.7016505002975464
],
[
0.5052791833877563,
-0.8581324219703674,
-0.09111401438713074,
0.1368366777896881
],
[
-0.3855033218860626,
-0.12999607622623444,
-0.9135032296180725,
-0.1810372918844223
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 162,
"c2w": [
[
0.7703136205673218,
0.4975349009037018,
-0.3988432288169861,
0.7064183950424194
],
[
0.5022944211959839,
-0.858761191368103,
-0.10114111006259918,
0.1392846405506134
],
[
-0.39283230900764465,
-0.1224263459444046,
-0.911424458026886,
-0.18358829617500305
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 163,
"c2w": [
[
0.771673858165741,
0.4985952377319336,
-0.3948698341846466,
0.7102882862091064
],
[
0.5017228126525879,
-0.8587704300880432,
-0.1038632020354271,
0.14206331968307495
],
[
-0.3908882439136505,
-0.11796669661998749,
-0.9128473401069641,
-0.18666717410087585
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 164,
"c2w": [
[
0.7733718752861023,
0.49511632323265076,
-0.3959239423274994,
0.7147631049156189
],
[
0.4973410367965698,
-0.8611290454864502,
-0.10539770126342773,
0.1453234702348709
],
[
-0.3931257128715515,
-0.11539759486913681,
-0.9122146368026733,
-0.1897096186876297
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 165,
"c2w": [
[
0.7754955887794495,
0.4879780411720276,
-0.40060457587242126,
0.7187823057174683
],
[
0.49691346287727356,
-0.8631722927093506,
-0.08950202912092209,
0.1486676037311554
],
[
-0.3894657790660858,
-0.12965737283229828,
-0.9118691682815552,
-0.19186487793922424
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 166,
"c2w": [
[
0.7745876312255859,
0.48032864928245544,
-0.4114587903022766,
0.7223432660102844
],
[
0.4976496696472168,
-0.8643679618835449,
-0.0722002238035202,
0.15215663611888885
],
[
-0.3903316259384155,
-0.1488369256258011,
-0.9085641503334045,
-0.19351260364055634
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 167,
"c2w": [
[
0.7759292125701904,
0.4749782085418701,
-0.4151259660720825,
0.7265943884849548
],
[
0.49667736887931824,
-0.8657063245773315,
-0.06216225028038025,
0.15587478876113892
],
[
-0.388902872800827,
-0.15795016288757324,
-0.9076377749443054,
-0.19592730700969696
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 168,
"c2w": [
[
0.7721091508865356,
0.48472821712493896,
-0.4109574258327484,
0.727773129940033
],
[
0.5105242729187012,
-0.8582218885421753,
-0.053105004131793976,
0.15827026963233948
],
[
-0.3784341514110565,
-0.16880089044570923,
-0.9101064801216125,
-0.1971539407968521
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 169,
"c2w": [
[
0.7609699368476868,
0.49913644790649414,
-0.41447263956069946,
0.7279998064041138
],
[
0.5285861492156982,
-0.8474045991897583,
-0.050021059811115265,
0.16058853268623352
],
[
-0.3761933445930481,
-0.18101996183395386,
-0.9086860418319702,
-0.19845983386039734
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 170,
"c2w": [
[
0.7509543895721436,
0.5062030553817749,
-0.4240588843822479,
0.7304506301879883
],
[
0.5411725640296936,
-0.8397555947303772,
-0.04407627135515213,
0.1627262532711029
],
[
-0.37841740250587463,
-0.19638977944850922,
-0.9045614004135132,
-0.20002694427967072
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 171,
"c2w": [
[
0.7409951686859131,
0.507457971572876,
-0.43978697061538696,
0.732873260974884
],
[
0.5532681345939636,
-0.8325182199478149,
-0.02842058800160885,
0.16509267687797546
],
[
-0.38055291771888733,
-0.22226060926914215,
-0.8976523280143738,
-0.2006528675556183
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 172,
"c2w": [
[
0.7364370226860046,
0.502932071685791,
-0.45245981216430664,
0.7352136969566345
],
[
0.56105637550354,
-0.8277488946914673,
-0.006893017794936895,
0.16792601346969604
],
[
-0.37798982858657837,
-0.24877917766571045,
-0.891758143901825,
-0.20101884007453918
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 173,
"c2w": [
[
0.7352622151374817,
0.49845150113105774,
-0.4592772126197815,
0.7391422390937805
],
[
0.5643077492713928,
-0.8255307674407959,
0.007461910136044025,
0.17066246271133423
],
[
-0.37542808055877686,
-0.26466014981269836,
-0.8882616758346558,
-0.20275092124938965
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 174,
"c2w": [
[
0.73245769739151,
0.496227502822876,
-0.46611589193344116,
0.7425533533096313
],
[
0.5675672292709351,
-0.8231807947158813,
0.015519804321229458,
0.1731022596359253
],
[
-0.37599629163742065,
-0.27591970562934875,
-0.8845875263214111,
-0.204753577709198
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 175,
"c2w": [
[
0.7275912165641785,
0.49814796447753906,
-0.4716562330722809,
0.7452679872512817
],
[
0.5689390301704407,
-0.8223288655281067,
0.009145641699433327,
0.17531973123550415
],
[
-0.38330066204071045,
-0.2749979496002197,
-0.88173508644104,
-0.20752310752868652
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 176,
"c2w": [
[
0.724065899848938,
0.5056588649749756,
-0.4690817892551422,
0.7491246461868286
],
[
0.5715526938438416,
-0.8205621242523193,
-0.0023081600666046143,
0.17790332436561584
],
[
-0.386077880859375,
-0.2664336860179901,
-0.8831517100334167,
-0.21154816448688507
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 177,
"c2w": [
[
0.7187916040420532,
0.5051282644271851,
-0.47768616676330566,
0.7526023387908936
],
[
0.5720725059509277,
-0.820177435874939,
-0.006476840004324913,
0.1802060604095459
],
[
-0.39505907893180847,
-0.26861563324928284,
-0.8785066604614258,
-0.2147107571363449
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 178,
"c2w": [
[
0.710686981678009,
0.5059056282043457,
-0.4888593852519989,
0.7563148736953735
],
[
0.5755030512809753,
-0.817743182182312,
-0.009610873647034168,
0.18259276449680328
],
[
-0.4046235978603363,
-0.2745097279548645,
-0.872309684753418,
-0.21775470674037933
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
},
{
"frame_index": 179,
"c2w": [
[
0.7103385925292969,
0.5086837410926819,
-0.4864770472049713,
0.7607111930847168
],
[
0.5767432451248169,
-0.8168376088142395,
-0.011982197873294353,
0.1860964298248291
],
[
-0.40346789360046387,
-0.27206093072891235,
-0.8736112117767334,
-0.22148095071315765
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 827.7959472656249,
"fy": 828.5631353539156,
"cx": 415.39006076388887,
"cy": 245.40195547816265
}
}
]
}