| { |
| "format_version": "1.0", |
| "camera_model": "opencv_pinhole", |
| "pose_type": "c2w", |
| "coordinate_system": "opencv", |
| "image_hw": [ |
| 480, |
| 832 |
| ], |
| "num_frames": 386, |
| "frames": [ |
| { |
| "frame_index": 0, |
| "c2w": [ |
| [ |
| 1.0, |
| 1.0590683885425278e-09, |
| -2.60561172638063e-09, |
| -1.961170559283687e-09 |
| ], |
| [ |
| 1.0590683885425278e-09, |
| -1.0, |
| 2.4129223064051075e-08, |
| -6.122269358144194e-11 |
| ], |
| [ |
| -2.60561172638063e-09, |
| -2.4129223064051075e-08, |
| -1.0, |
| 4.3093972834640226e-11 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 1, |
| "c2w": [ |
| [ |
| 0.9999920129776001, |
| -0.0014363558730110526, |
| 0.0037269487511366606, |
| -0.00037586697726510465 |
| ], |
| [ |
| -0.00143066153395921, |
| -0.9999977946281433, |
| -0.0015301050152629614, |
| -0.0007643476710654795 |
| ], |
| [ |
| 0.0037291382905095816, |
| 0.0015247607370838523, |
| -0.9999918937683105, |
| -0.0005048070452176034 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 2, |
| "c2w": [ |
| [ |
| 0.9999815225601196, |
| -0.0020597358234226704, |
| 0.005715733394026756, |
| -0.00025010667741298676 |
| ], |
| [ |
| -0.0020189995411783457, |
| -0.9999725818634033, |
| -0.007123693358153105, |
| -0.0009511690586805344 |
| ], |
| [ |
| 0.0057302494533360004, |
| 0.007112022023648024, |
| -0.9999582767486572, |
| -0.0011763349175453186 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 3, |
| "c2w": [ |
| [ |
| 0.9999828338623047, |
| -0.0028551125433295965, |
| 0.005116971675306559, |
| -0.0001414922153344378 |
| ], |
| [ |
| -0.0028134735766798258, |
| -0.9999630451202393, |
| -0.0081262718886137, |
| -0.0010390897514298558 |
| ], |
| [ |
| 0.00513998419046402, |
| 0.008111735805869102, |
| -0.9999538660049438, |
| -0.0015337211079895496 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 4, |
| "c2w": [ |
| [ |
| 0.9999638199806213, |
| -0.004187670536339283, |
| 0.007403356023132801, |
| -0.00040501364856027067 |
| ], |
| [ |
| -0.0041418313048779964, |
| -0.9999722242355347, |
| -0.006196221336722374, |
| -0.0011955240042880177 |
| ], |
| [ |
| 0.007429097779095173, |
| 0.006165333557873964, |
| -0.9999533891677856, |
| -0.0013102213852107525 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 5, |
| "c2w": [ |
| [ |
| 0.9999468326568604, |
| -0.006730010267347097, |
| 0.007813781499862671, |
| -0.00032804356305859983 |
| ], |
| [ |
| -0.006687959190458059, |
| -0.999963104724884, |
| -0.0053953793831169605, |
| -0.0012481474550440907 |
| ], |
| [ |
| 0.007849804125726223, |
| 0.005342834163457155, |
| -0.9999549388885498, |
| -0.0012168544344604015 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 6, |
| "c2w": [ |
| [ |
| 0.9999573826789856, |
| -0.007688745856285095, |
| 0.0051095192320644855, |
| -0.0003448110946919769 |
| ], |
| [ |
| -0.007658497430384159, |
| -0.9999532103538513, |
| -0.005913459695875645, |
| -0.0011895616771653295 |
| ], |
| [ |
| 0.005154747050255537, |
| 0.005874076392501593, |
| -0.999969482421875, |
| -0.001617924775928259 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 7, |
| "c2w": [ |
| [ |
| 0.9999505281448364, |
| -0.007087378762662411, |
| 0.006975275464355946, |
| -0.0006802082061767578 |
| ], |
| [ |
| -0.007040368393063545, |
| -0.999952495098114, |
| -0.006741174031049013, |
| -0.0010234266519546509 |
| ], |
| [ |
| 0.007022721227258444, |
| 0.006691731978207827, |
| -0.9999529719352722, |
| -0.0015960047021508217 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 8, |
| "c2w": [ |
| [ |
| 0.9999340772628784, |
| -0.007747339084744453, |
| 0.008474516682326794, |
| -0.001091918209567666 |
| ], |
| [ |
| -0.007691380102187395, |
| -0.9999485611915588, |
| -0.006616009399294853, |
| -0.0008834862383082509 |
| ], |
| [ |
| 0.008525337092578411, |
| 0.006550392601639032, |
| -0.9999421834945679, |
| -0.0013834302080795169 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 9, |
| "c2w": [ |
| [ |
| 0.9999445080757141, |
| -0.008468560874462128, |
| 0.006262307055294514, |
| -0.0012838506372645497 |
| ], |
| [ |
| -0.00842272862792015, |
| -0.9999378323554993, |
| -0.007309323642402887, |
| -0.0008139722631312907 |
| ], |
| [ |
| 0.006323817186057568, |
| 0.007256172597408295, |
| -0.9999536871910095, |
| -0.0015150555409491062 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 10, |
| "c2w": [ |
| [ |
| 0.9999502301216125, |
| -0.008355589583516121, |
| 0.005451347213238478, |
| -0.001719387248158455 |
| ], |
| [ |
| -0.008309573866426945, |
| -0.9999300837516785, |
| -0.008409915491938591, |
| -0.0005639977753162384 |
| ], |
| [ |
| 0.00552123598754406, |
| 0.008364198729395866, |
| -0.9999497532844543, |
| -0.0016758888959884644 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 11, |
| "c2w": [ |
| [ |
| 0.9999547004699707, |
| -0.007982712239027023, |
| 0.005186974536627531, |
| -0.00239366851747036 |
| ], |
| [ |
| -0.007939022965729237, |
| -0.9999333024024963, |
| -0.008389526978135109, |
| -0.00023984728613868356 |
| ], |
| [ |
| 0.005253599490970373, |
| 0.008347966708242893, |
| -0.9999513626098633, |
| -0.001734160352498293 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 12, |
| "c2w": [ |
| [ |
| 0.9999611973762512, |
| -0.006457112729549408, |
| 0.005993212107568979, |
| -0.0032116661313921213 |
| ], |
| [ |
| -0.006400366313755512, |
| -0.99993497133255, |
| -0.009439853020012379, |
| 0.00017935018695425242 |
| ], |
| [ |
| 0.006053776480257511, |
| 0.009401127696037292, |
| -0.9999374747276306, |
| -0.0018995035206899047 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 13, |
| "c2w": [ |
| [ |
| 0.9999566674232483, |
| -0.004967618267983198, |
| 0.007870457135140896, |
| -0.003336448222398758 |
| ], |
| [ |
| -0.004881573375314474, |
| -0.9999285340309143, |
| -0.010914398357272148, |
| 0.00029990077018737793 |
| ], |
| [ |
| 0.007924113422632217, |
| 0.010875506326556206, |
| -0.9999094605445862, |
| -0.0023331157863140106 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 14, |
| "c2w": [ |
| [ |
| 0.9999635815620422, |
| -0.004256315995007753, |
| 0.007401233538985252, |
| -0.0038308242801576853 |
| ], |
| [ |
| -0.004163868259638548, |
| -0.9999136924743652, |
| -0.012461734935641289, |
| 0.0006097348523326218 |
| ], |
| [ |
| 0.007453635334968567, |
| 0.01243046298623085, |
| -0.9998949766159058, |
| -0.002689443761482835 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 15, |
| "c2w": [ |
| [ |
| 0.9999732971191406, |
| -0.004514655563980341, |
| 0.005743049085140228, |
| -0.003925362601876259 |
| ], |
| [ |
| -0.004443825222551823, |
| -0.9999146461486816, |
| -0.012286798097193241, |
| 0.0007788389921188354 |
| ], |
| [ |
| 0.005798029247671366, |
| 0.012260949239134789, |
| -0.9999080300331116, |
| -0.003166292794048786 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 16, |
| "c2w": [ |
| [ |
| 0.9999805688858032, |
| -0.003967470955103636, |
| 0.004813280887901783, |
| -0.004366659093648195 |
| ], |
| [ |
| -0.003923215437680483, |
| -0.9999502897262573, |
| -0.009169308468699455, |
| 0.0009917167481034994 |
| ], |
| [ |
| 0.004849420860409737, |
| 0.009150246158242226, |
| -0.9999463558197021, |
| -0.0030314114410430193 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 17, |
| "c2w": [ |
| [ |
| 0.9999786019325256, |
| -0.002120434306561947, |
| 0.006188748870044947, |
| -0.005016820505261421 |
| ], |
| [ |
| -0.0020490563474595547, |
| -0.9999315738677979, |
| -0.011517173610627651, |
| 0.0013227089075371623 |
| ], |
| [ |
| 0.006212746724486351, |
| 0.011504245921969414, |
| -0.9999145269393921, |
| -0.003013845067471266 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 18, |
| "c2w": [ |
| [ |
| 0.9999715089797974, |
| -0.0013007576344534755, |
| 0.007438605185598135, |
| -0.0054257833398878574 |
| ], |
| [ |
| -0.0012103042099624872, |
| -0.999925434589386, |
| -0.012151597999036312, |
| 0.001244798069819808 |
| ], |
| [ |
| 0.007453856524080038, |
| 0.012142248451709747, |
| -0.9998984932899475, |
| -0.0028147718403488398 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 19, |
| "c2w": [ |
| [ |
| 0.9999855756759644, |
| -0.0019082247745245695, |
| 0.005022270604968071, |
| -0.005909943953156471 |
| ], |
| [ |
| -0.0018610587576404214, |
| -0.9999542832374573, |
| -0.009379345923662186, |
| 0.0011583585292100906 |
| ], |
| [ |
| 0.0050399391911923885, |
| 0.009369864128530025, |
| -0.9999433755874634, |
| -0.002487495541572571 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 20, |
| "c2w": [ |
| [ |
| 0.9999926686286926, |
| -0.0020880165975540876, |
| 0.003205250483006239, |
| -0.006567750126123428 |
| ], |
| [ |
| -0.0020600559655576944, |
| -0.9999600052833557, |
| -0.008702057413756847, |
| 0.0011551249772310257 |
| ], |
| [ |
| 0.0032232922967523336, |
| 0.00869539100676775, |
| -0.9999570250511169, |
| -0.002323158085346222 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 21, |
| "c2w": [ |
| [ |
| 0.9999913573265076, |
| -0.0007101238588802516, |
| 0.004094185773283243, |
| -0.007382391020655632 |
| ], |
| [ |
| -0.0006701987003907561, |
| -0.9999523162841797, |
| -0.009744818322360516, |
| 0.0011911614565178752 |
| ], |
| [ |
| 0.004100910387933254, |
| 0.009741990827023983, |
| -0.9999441504478455, |
| -0.002214676234871149 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 22, |
| "c2w": [ |
| [ |
| 0.9999778866767883, |
| -0.0004751085944008082, |
| 0.006631903350353241, |
| -0.007548116147518158 |
| ], |
| [ |
| -0.0004037854669149965, |
| -0.9999421238899231, |
| -0.010751746594905853, |
| 0.0011095254449173808 |
| ], |
| [ |
| 0.006636627949774265, |
| 0.010748831555247307, |
| -0.9999201893806458, |
| -0.001862251665443182 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 23, |
| "c2w": [ |
| [ |
| 0.9999797344207764, |
| -0.0019708164036273956, |
| 0.00605154549703002, |
| -0.00789724476635456 |
| ], |
| [ |
| -0.001911696745082736, |
| -0.9999505281448364, |
| -0.009759621694684029, |
| 0.0011503546265885234 |
| ], |
| [ |
| 0.006070480681955814, |
| 0.009747855365276337, |
| -0.9999340772628784, |
| -0.0015408857725560665 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 24, |
| "c2w": [ |
| [ |
| 0.9999877214431763, |
| -0.0035072732716798782, |
| 0.003498364007100463, |
| -0.008264578878879547 |
| ], |
| [ |
| -0.0034875748679041862, |
| -0.9999781250953674, |
| -0.005621048156172037, |
| 0.0009951312094926834 |
| ], |
| [ |
| 0.0035180021077394485, |
| 0.0056087784469127655, |
| -0.9999780654907227, |
| -0.0010541779920458794 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 25, |
| "c2w": [ |
| [ |
| 0.9999788999557495, |
| -0.00560405571013689, |
| 0.003285451326519251, |
| -0.008603785187005997 |
| ], |
| [ |
| -0.005603039171546698, |
| -0.9999842643737793, |
| -0.000318642909405753, |
| 0.0009697451605461538 |
| ], |
| [ |
| 0.0032871852163225412, |
| 0.0003002276935148984, |
| -0.9999945759773254, |
| -0.00019469992548692971 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 26, |
| "c2w": [ |
| [ |
| 0.999984085559845, |
| -0.005254789255559444, |
| 0.0020536647643893957, |
| -0.009082365781068802 |
| ], |
| [ |
| -0.0052591548301279545, |
| -0.9999839067459106, |
| 0.002126149134710431, |
| 0.001240575686097145 |
| ], |
| [ |
| 0.002042459324002266, |
| -0.002136915922164917, |
| -0.9999956488609314, |
| 0.0006617088802158833 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 27, |
| "c2w": [ |
| [ |
| 0.9999924302101135, |
| -0.002789490856230259, |
| 0.0027054056990891695, |
| -0.009125877171754837 |
| ], |
| [ |
| -0.002799652749672532, |
| -0.9999890327453613, |
| 0.0037597084883600473, |
| 0.001579703763127327 |
| ], |
| [ |
| 0.002694888273254037, |
| -0.0037672542966902256, |
| -0.9999892711639404, |
| 0.0019455957226455212 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 28, |
| "c2w": [ |
| [ |
| 0.9999598860740662, |
| 0.0005512810312211514, |
| 0.00893675722181797, |
| -0.0094173364341259 |
| ], |
| [ |
| 0.00046116483281366527, |
| -0.999949038028717, |
| 0.010082697495818138, |
| 0.0016589275328442454 |
| ], |
| [ |
| 0.008941859938204288, |
| -0.010078172199428082, |
| -0.9999092221260071, |
| 0.004056904464960098 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 29, |
| "c2w": [ |
| [ |
| 0.9999418258666992, |
| -0.0023748332168906927, |
| 0.010522224940359592, |
| -0.009227635338902473 |
| ], |
| [ |
| -0.0025763707235455513, |
| -0.9998127222061157, |
| 0.019181545823812485, |
| 0.0014579128473997116 |
| ], |
| [ |
| 0.010474701412022114, |
| -0.019207539036870003, |
| -0.999760627746582, |
| 0.006285340059548616 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 30, |
| "c2w": [ |
| [ |
| 0.9999685287475586, |
| -0.005929648410528898, |
| 0.005266072228550911, |
| -0.008531671017408371 |
| ], |
| [ |
| -0.006076633930206299, |
| -0.9995796084403992, |
| 0.028348853811621666, |
| 0.0019148288993164897 |
| ], |
| [ |
| 0.0050957598723471165, |
| -0.028379961848258972, |
| -0.9995841979980469, |
| 0.008163309656083584 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 31, |
| "c2w": [ |
| [ |
| 0.9999473690986633, |
| -0.0028637831564992666, |
| 0.009850512258708477, |
| -0.007648659870028496 |
| ], |
| [ |
| -0.003091821214184165, |
| -0.9997257590293884, |
| 0.023213082924485207, |
| 0.003169149160385132 |
| ], |
| [ |
| 0.00978133361786604, |
| -0.023242317140102386, |
| -0.9996820092201233, |
| 0.00941513292491436 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 32, |
| "c2w": [ |
| [ |
| 0.9996057748794556, |
| -0.0016363192116841674, |
| 0.028028002008795738, |
| -0.006532654166221619 |
| ], |
| [ |
| -0.002134010661393404, |
| -0.9998404383659363, |
| 0.017736241221427917, |
| 0.004313148558139801 |
| ], |
| [ |
| 0.027994507923722267, |
| -0.01778906024992466, |
| -0.9994497895240784, |
| 0.010711011476814747 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 33, |
| "c2w": [ |
| [ |
| 0.9995478391647339, |
| -0.0009742029360495508, |
| 0.03005259484052658, |
| -0.005171561613678932 |
| ], |
| [ |
| -0.0012315720086917281, |
| -0.9999627470970154, |
| 0.008546635508537292, |
| 0.0059576984494924545 |
| ], |
| [ |
| 0.03004314750432968, |
| -0.008579782210290432, |
| -0.9995117783546448, |
| 0.01009330153465271 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 34, |
| "c2w": [ |
| [ |
| 0.9996873736381531, |
| 0.001520911231637001, |
| 0.0249564778059721, |
| -0.004300989676266909 |
| ], |
| [ |
| 0.0014920884277671576, |
| -0.9999982118606567, |
| 0.0011735025327652693, |
| 0.008108209818601608 |
| ], |
| [ |
| 0.02495821751654148, |
| -0.0011358984047546983, |
| -0.9996878504753113, |
| 0.009254480712115765 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 35, |
| "c2w": [ |
| [ |
| 0.999376654624939, |
| 0.0024270187132060528, |
| 0.03522013872861862, |
| -0.003851337591186166 |
| ], |
| [ |
| 0.0023301278706640005, |
| -0.9999933838844299, |
| 0.002791791455820203, |
| 0.010054592043161392 |
| ], |
| [ |
| 0.03522668033838272, |
| -0.002707983832806349, |
| -0.9993757009506226, |
| 0.009529130533337593 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 36, |
| "c2w": [ |
| [ |
| 0.9992102384567261, |
| 0.001454246579669416, |
| 0.03970932215452194, |
| -0.0029480010271072388 |
| ], |
| [ |
| 0.0014573184307664633, |
| -0.999998927116394, |
| -4.84127776871901e-05, |
| 0.012006718665361404 |
| ], |
| [ |
| 0.03970921039581299, |
| 0.00010624366404954344, |
| -0.9992112517356873, |
| 0.008557271212339401 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 37, |
| "c2w": [ |
| [ |
| 0.9994470477104187, |
| -0.0019287721952423453, |
| 0.0331936776638031, |
| -0.001870758831501007 |
| ], |
| [ |
| -0.0017673533875495195, |
| -0.999986469745636, |
| -0.004891590215265751, |
| 0.0138083565980196 |
| ], |
| [ |
| 0.03320266306400299, |
| 0.004830220248550177, |
| -0.9994369745254517, |
| 0.006971083581447601 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 38, |
| "c2w": [ |
| [ |
| 0.9994401335716248, |
| -0.006623679306358099, |
| 0.03279612585902214, |
| -0.0013593119801953435 |
| ], |
| [ |
| -0.006681872997432947, |
| -0.9999762773513794, |
| 0.0016651286277920008, |
| 0.01469724252820015 |
| ], |
| [ |
| 0.032784320414066315, |
| -0.0018833358772099018, |
| -0.9994606971740723, |
| 0.0069235763512551785 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 39, |
| "c2w": [ |
| [ |
| 0.9993924498558044, |
| -0.011784368194639683, |
| 0.03279954195022583, |
| -0.0014071412151679397 |
| ], |
| [ |
| -0.012017765082418919, |
| -0.9999037981033325, |
| 0.006927824579179287, |
| 0.014762651175260544 |
| ], |
| [ |
| 0.03271474689245224, |
| -0.0073177930898964405, |
| -0.9994379281997681, |
| 0.0075598834082484245 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 40, |
| "c2w": [ |
| [ |
| 0.9993914365768433, |
| -0.015924980863928795, |
| 0.031035346910357475, |
| -0.0016971122240647674 |
| ], |
| [ |
| -0.016250237822532654, |
| -0.9998153448104858, |
| 0.010256283916532993, |
| 0.014496080577373505 |
| ], |
| [ |
| 0.030866283923387527, |
| -0.010754373855888844, |
| -0.9994656443595886, |
| 0.008063887245953083 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 41, |
| "c2w": [ |
| [ |
| 0.9992935061454773, |
| -0.020528597757220268, |
| 0.03148126229643822, |
| -0.0018251728033646941 |
| ], |
| [ |
| -0.02098844386637211, |
| -0.9996767640113831, |
| 0.014346739277243614, |
| 0.014041613787412643 |
| ], |
| [ |
| 0.031176568940281868, |
| -0.014997346326708794, |
| -0.9994013905525208, |
| 0.008634944446384907 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 42, |
| "c2w": [ |
| [ |
| 0.9992305636405945, |
| -0.023588594049215317, |
| 0.03133547306060791, |
| -0.0016255307709798217 |
| ], |
| [ |
| -0.02405540645122528, |
| -0.9996039271354675, |
| 0.014604703523218632, |
| 0.013596504926681519 |
| ], |
| [ |
| 0.030978556722402573, |
| -0.015347253531217575, |
| -0.9994022250175476, |
| 0.009114356711506844 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 43, |
| "c2w": [ |
| [ |
| 0.9992373585700989, |
| -0.024855313822627068, |
| 0.030115343630313873, |
| -0.0016490615671500564 |
| ], |
| [ |
| -0.025333242490887642, |
| -0.9995574355125427, |
| 0.01559365913271904, |
| 0.013401705771684647 |
| ], |
| [ |
| 0.02971442975103855, |
| -0.01634468510746956, |
| -0.9994248151779175, |
| 0.009595719166100025 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 44, |
| "c2w": [ |
| [ |
| 0.9991831183433533, |
| -0.026897264644503593, |
| 0.030160436406731606, |
| -0.0017916972283273935 |
| ], |
| [ |
| -0.02748960256576538, |
| -0.9994338154792786, |
| 0.01939992606639862, |
| 0.013239173218607903 |
| ], |
| [ |
| 0.029621554538607597, |
| -0.020213177427649498, |
| -0.9993568062782288, |
| 0.009870577603578568 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 45, |
| "c2w": [ |
| [ |
| 0.9992383122444153, |
| -0.025856556370854378, |
| 0.029227646067738533, |
| -0.0021627454552799463 |
| ], |
| [ |
| -0.026372872292995453, |
| -0.9995003938674927, |
| 0.01742001250386238, |
| 0.013222098350524902 |
| ], |
| [ |
| 0.02876262180507183, |
| -0.018177561461925507, |
| -0.9994210004806519, |
| 0.00952854659408331 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 46, |
| "c2w": [ |
| [ |
| 0.9992064833641052, |
| -0.023021431639790535, |
| 0.032502587884664536, |
| -0.002652253955602646 |
| ], |
| [ |
| -0.023209672421216965, |
| -0.9997158646583557, |
| 0.005426157731562853, |
| 0.0134737528860569 |
| ], |
| [ |
| 0.032368436455726624, |
| -0.006176226306706667, |
| -0.9994569420814514, |
| 0.008120222017168999 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 47, |
| "c2w": [ |
| [ |
| 0.9990555047988892, |
| -0.02507290616631508, |
| 0.03548836335539818, |
| -0.0029169470071792603 |
| ], |
| [ |
| -0.024970149621367455, |
| -0.999682605266571, |
| -0.0033358351793140173, |
| 0.013425134122371674 |
| ], |
| [ |
| 0.035560738295316696, |
| 0.002446534810587764, |
| -0.9993644952774048, |
| 0.006546967197209597 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 48, |
| "c2w": [ |
| [ |
| 0.9991733431816101, |
| -0.027145788073539734, |
| 0.030261700972914696, |
| -0.003508536145091057 |
| ], |
| [ |
| -0.02702014520764351, |
| -0.999624490737915, |
| -0.00455321604385972, |
| 0.01322084292769432 |
| ], |
| [ |
| 0.030373938381671906, |
| 0.0037317764945328236, |
| -0.999531626701355, |
| 0.005422494374215603 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 49, |
| "c2w": [ |
| [ |
| 0.9991331696510315, |
| -0.027857672423124313, |
| 0.030933354049921036, |
| -0.004559502005577087 |
| ], |
| [ |
| -0.027591971680521965, |
| -0.9995788931846619, |
| -0.008983451873064041, |
| 0.013003047555685043 |
| ], |
| [ |
| 0.031170586124062538, |
| 0.008122152648866177, |
| -0.9994810819625854, |
| 0.004263349808752537 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 50, |
| "c2w": [ |
| [ |
| 0.9990066289901733, |
| -0.02699354663491249, |
| 0.03545591980218887, |
| -0.00614004023373127 |
| ], |
| [ |
| -0.026568390429019928, |
| -0.9995700120925903, |
| -0.012408106587827206, |
| 0.012845408171415329 |
| ], |
| [ |
| 0.03577561303973198, |
| 0.011453773826360703, |
| -0.9992942214012146, |
| 0.003294240217655897 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 51, |
| "c2w": [ |
| [ |
| 0.9990213513374329, |
| -0.02636418305337429, |
| 0.03551400452852249, |
| -0.008150150999426842 |
| ], |
| [ |
| -0.025837156921625137, |
| -0.9995503425598145, |
| -0.015218106098473072, |
| 0.013133961707353592 |
| ], |
| [ |
| 0.03589924797415733, |
| 0.014285632409155369, |
| -0.9992533326148987, |
| 0.002230385784059763 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 52, |
| "c2w": [ |
| [ |
| 0.9990527629852295, |
| -0.028052283450961113, |
| 0.03326601907610893, |
| -0.01021166704595089 |
| ], |
| [ |
| -0.02744348719716072, |
| -0.9994499683380127, |
| -0.018618475645780563, |
| 0.013391148298978806 |
| ], |
| [ |
| 0.033770013600587845, |
| 0.017687903717160225, |
| -0.9992731213569641, |
| 0.0012123696506023407 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 53, |
| "c2w": [ |
| [ |
| 0.99891597032547, |
| -0.0310280229896307, |
| 0.03470047935843468, |
| -0.012468688189983368 |
| ], |
| [ |
| -0.030271640047430992, |
| -0.999297022819519, |
| -0.02211453951895237, |
| 0.013468150049448013 |
| ], |
| [ |
| 0.035362258553504944, |
| 0.02104012668132782, |
| -0.9991530776023865, |
| 0.0003947681107092649 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 54, |
| "c2w": [ |
| [ |
| 0.998753011226654, |
| -0.0370323583483696, |
| 0.0334809310734272, |
| -0.014634606428444386 |
| ], |
| [ |
| -0.03622064366936684, |
| -0.9990426301956177, |
| -0.02453417330980301, |
| 0.013383600860834122 |
| ], |
| [ |
| 0.03435743227601051, |
| 0.023290878161787987, |
| -0.9991381764411926, |
| -0.0005471365293487906 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 55, |
| "c2w": [ |
| [ |
| 0.9987611770629883, |
| -0.041985224932432175, |
| 0.026708073914051056, |
| -0.01678387261927128 |
| ], |
| [ |
| -0.04144889488816261, |
| -0.9989337921142578, |
| -0.0203277375549078, |
| 0.013294566422700882 |
| ], |
| [ |
| 0.027533061802387238, |
| 0.01919553428888321, |
| -0.9994365572929382, |
| -0.0012585227377712727 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 56, |
| "c2w": [ |
| [ |
| 0.9986922740936279, |
| -0.04132288694381714, |
| 0.030101733282208443, |
| -0.01945912092924118 |
| ], |
| [ |
| -0.04080585762858391, |
| -0.9990121722221375, |
| -0.017592787742614746, |
| 0.013489250093698502 |
| ], |
| [ |
| 0.030798982828855515, |
| 0.016341453418135643, |
| -0.999392032623291, |
| -0.0016367803327739239 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 57, |
| "c2w": [ |
| [ |
| 0.9980171322822571, |
| -0.04321227967739105, |
| 0.04576629400253296, |
| -0.022171420976519585 |
| ], |
| [ |
| -0.042012616991996765, |
| -0.9987559914588928, |
| -0.026858488097786903, |
| 0.013854673132300377 |
| ], |
| [ |
| 0.04686997830867767, |
| 0.024882469326257706, |
| -0.9985910654067993, |
| -0.002379428595304489 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 58, |
| "c2w": [ |
| [ |
| 0.9978539943695068, |
| -0.048497218638658524, |
| 0.043993789702653885, |
| -0.0245219673961401 |
| ], |
| [ |
| -0.04698784276843071, |
| -0.9982919692993164, |
| -0.034718018025159836, |
| 0.014246348291635513 |
| ], |
| [ |
| 0.04560237377882004, |
| 0.032576341181993484, |
| -0.9984283447265625, |
| -0.004091809969395399 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 59, |
| "c2w": [ |
| [ |
| 0.9984983801841736, |
| -0.04766201227903366, |
| 0.027006886899471283, |
| -0.02749779261648655 |
| ], |
| [ |
| -0.04693605378270149, |
| -0.9985354542732239, |
| -0.026905639097094536, |
| 0.015322895720601082 |
| ], |
| [ |
| 0.02824971079826355, |
| 0.02559763938188553, |
| -0.9992731213569641, |
| -0.005032549612224102 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 60, |
| "c2w": [ |
| [ |
| 0.9982833862304688, |
| -0.05076802149415016, |
| 0.02920512855052948, |
| -0.03067704476416111 |
| ], |
| [ |
| -0.04988759383559227, |
| -0.9983004331588745, |
| -0.03012424148619175, |
| 0.016646241769194603 |
| ], |
| [ |
| 0.03068483993411064, |
| 0.02861555479466915, |
| -0.9991194009780884, |
| -0.005478556267917156 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 61, |
| "c2w": [ |
| [ |
| 0.9983742237091064, |
| -0.048442237079143524, |
| 0.03003792278468609, |
| -0.03379976004362106 |
| ], |
| [ |
| -0.04734041541814804, |
| -0.9982165694236755, |
| -0.036367204040288925, |
| 0.01775694265961647 |
| ], |
| [ |
| 0.03174606338143349, |
| 0.03488606959581375, |
| -0.9988869428634644, |
| -0.005676367785781622 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 62, |
| "c2w": [ |
| [ |
| 0.9990055561065674, |
| -0.03310627117753029, |
| 0.02986454777419567, |
| -0.03836905583739281 |
| ], |
| [ |
| -0.03207821026444435, |
| -0.9988976716995239, |
| -0.034270334988832474, |
| 0.01952100172638893 |
| ], |
| [ |
| 0.03096619062125683, |
| 0.03327825292944908, |
| -0.9989662766456604, |
| -0.005160209257155657 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 63, |
| "c2w": [ |
| [ |
| 0.9981715679168701, |
| -0.02413778007030487, |
| 0.055415086448192596, |
| -0.04315703362226486 |
| ], |
| [ |
| -0.022135943174362183, |
| -0.9990899562835693, |
| -0.03645838797092438, |
| 0.02097172848880291 |
| ], |
| [ |
| 0.056244682520627975, |
| 0.03516506031155586, |
| -0.9977975487709045, |
| -0.0034148450940847397 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 64, |
| "c2w": [ |
| [ |
| 0.9977617859840393, |
| -0.01629592292010784, |
| 0.06485232710838318, |
| -0.04782092571258545 |
| ], |
| [ |
| -0.014522888697683811, |
| -0.9995102882385254, |
| -0.027717743068933487, |
| 0.02148205228149891 |
| ], |
| [ |
| 0.065272256731987, |
| 0.026713861152529716, |
| -0.9975098371505737, |
| -0.0018037036061286926 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 65, |
| "c2w": [ |
| [ |
| 0.9986009001731873, |
| -0.00799534935504198, |
| 0.052271485328674316, |
| -0.052242740988731384 |
| ], |
| [ |
| -0.007356481626629829, |
| -0.9998959898948669, |
| -0.012403111904859543, |
| 0.02234482392668724 |
| ], |
| [ |
| 0.05236521735787392, |
| 0.012001224793493748, |
| -0.9985558986663818, |
| -0.0003466698108240962 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 66, |
| "c2w": [ |
| [ |
| 0.9984681010246277, |
| -0.0019176834030076861, |
| 0.05529765412211418, |
| -0.056079696863889694 |
| ], |
| [ |
| -0.001609732280485332, |
| -0.9999829530715942, |
| -0.00561297545209527, |
| 0.022913165390491486 |
| ], |
| [ |
| 0.05530747398734093, |
| 0.00551536213606596, |
| -0.9984541535377502, |
| 0.0006853208178654313 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 67, |
| "c2w": [ |
| [ |
| 0.9985058307647705, |
| 0.008448160253465176, |
| 0.053988635540008545, |
| -0.06052178889513016 |
| ], |
| [ |
| 0.008841698057949543, |
| -0.999936044216156, |
| -0.007054580841213465, |
| 0.02393297478556633 |
| ], |
| [ |
| 0.05392558500170708, |
| 0.007521390914916992, |
| -0.9985166192054749, |
| 0.0006410666392184794 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 68, |
| "c2w": [ |
| [ |
| 0.9987528324127197, |
| 0.02706984616816044, |
| 0.04195193201303482, |
| -0.06585485488176346 |
| ], |
| [ |
| 0.02732381410896778, |
| -0.9996115565299988, |
| -0.005492144264280796, |
| 0.025425132364034653 |
| ], |
| [ |
| 0.04178696498274803, |
| 0.006631581578403711, |
| -0.9991045594215393, |
| 5.027376755606383e-05 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 69, |
| "c2w": [ |
| [ |
| 0.9982528686523438, |
| 0.04648389294743538, |
| 0.036475274711847305, |
| -0.07060255110263824 |
| ], |
| [ |
| 0.046519581228494644, |
| -0.9989173412322998, |
| -0.00012987662921659648, |
| 0.026278650388121605 |
| ], |
| [ |
| 0.0364297479391098, |
| 0.0018264643149450421, |
| -0.9993345737457275, |
| -0.00037321075797080994 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 70, |
| "c2w": [ |
| [ |
| 0.9969072937965393, |
| 0.0763682872056961, |
| 0.01853870041668415, |
| -0.07665906846523285 |
| ], |
| [ |
| 0.07629098743200302, |
| -0.9970738291740417, |
| 0.004842724651098251, |
| 0.027730556204915047 |
| ], |
| [ |
| 0.018854284659028053, |
| -0.00341341202147305, |
| -0.9998164176940918, |
| -0.0017151283100247383 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 71, |
| "c2w": [ |
| [ |
| 0.9937784075737, |
| 0.11130942404270172, |
| 0.003834993578493595, |
| -0.08335372060537338 |
| ], |
| [ |
| 0.11128278821706772, |
| -0.9937670230865479, |
| 0.006571622099727392, |
| 0.0291576087474823 |
| ], |
| [ |
| 0.004542573820799589, |
| -0.0061039673164486885, |
| -0.9999710321426392, |
| -0.0035020518116652966 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 72, |
| "c2w": [ |
| [ |
| 0.9901630878448486, |
| 0.1396062970161438, |
| 0.009336684830486774, |
| -0.08949515968561172 |
| ], |
| [ |
| 0.13960306346416473, |
| -0.9902070164680481, |
| 0.0010012087877839804, |
| 0.030299998819828033 |
| ], |
| [ |
| 0.009385026060044765, |
| 0.00031206983840093017, |
| -0.9999558925628662, |
| -0.005461989436298609 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 73, |
| "c2w": [ |
| [ |
| 0.985762894153595, |
| 0.16787968575954437, |
| 0.009378534741699696, |
| -0.09464950859546661 |
| ], |
| [ |
| 0.1679385006427765, |
| -0.9857799410820007, |
| -0.005877705290913582, |
| 0.03147624433040619 |
| ], |
| [ |
| 0.008258424699306488, |
| 0.0073690409772098064, |
| -0.9999387264251709, |
| -0.007125735282897949 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 74, |
| "c2w": [ |
| [ |
| 0.9819074869155884, |
| 0.18901211023330688, |
| 0.011494874022901058, |
| -0.09939523786306381 |
| ], |
| [ |
| 0.18913528323173523, |
| -0.9818918704986572, |
| -0.01077808067202568, |
| 0.03219956159591675 |
| ], |
| [ |
| 0.009249536320567131, |
| 0.012757164426147938, |
| -0.9998758435249329, |
| -0.009288443252444267 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 75, |
| "c2w": [ |
| [ |
| 0.9783482551574707, |
| 0.206863135099411, |
| 0.0065062991343438625, |
| -0.1036268100142479 |
| ], |
| [ |
| 0.2069380283355713, |
| -0.978246808052063, |
| -0.014486371539533138, |
| 0.03269476071000099 |
| ], |
| [ |
| 0.0033680701162666082, |
| 0.015519117005169392, |
| -0.9998738765716553, |
| -0.011950215324759483 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 76, |
| "c2w": [ |
| [ |
| 0.971717357635498, |
| 0.23386281728744507, |
| -0.03276582434773445, |
| -0.10710182785987854 |
| ], |
| [ |
| 0.23409894108772278, |
| -0.9722064137458801, |
| 0.0035116225481033325, |
| 0.03333067521452904 |
| ], |
| [ |
| -0.03103390894830227, |
| -0.01108274981379509, |
| -0.9994568824768066, |
| -0.013189520686864853 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 77, |
| "c2w": [ |
| [ |
| 0.967680037021637, |
| 0.24746334552764893, |
| -0.04855098947882652, |
| -0.11017513275146484 |
| ], |
| [ |
| 0.24826651811599731, |
| -0.9686272740364075, |
| 0.01118017639964819, |
| 0.03382724151015282 |
| ], |
| [ |
| -0.04426112771034241, |
| -0.02287242002785206, |
| -0.9987581372261047, |
| -0.014497198164463043 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 78, |
| "c2w": [ |
| [ |
| 0.9643998742103577, |
| 0.26255762577056885, |
| -0.03156515583395958, |
| -0.11307641863822937 |
| ], |
| [ |
| 0.26282599568367004, |
| -0.9648322463035583, |
| 0.004602725151926279, |
| 0.03453608974814415 |
| ], |
| [ |
| -0.029246602207422256, |
| -0.01273501105606556, |
| -0.9994910955429077, |
| -0.01610616035759449 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 79, |
| "c2w": [ |
| [ |
| 0.9598482251167297, |
| 0.27939507365226746, |
| -0.025095602497458458, |
| -0.11674308776855469 |
| ], |
| [ |
| 0.27944114804267883, |
| -0.9601612687110901, |
| -0.00172255071811378, |
| 0.03549087792634964 |
| ], |
| [ |
| -0.024577097967267036, |
| -0.005359356757253408, |
| -0.9996835589408875, |
| -0.01795932836830616 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 80, |
| "c2w": [ |
| [ |
| 0.9563721418380737, |
| 0.2908107042312622, |
| -0.027955161407589912, |
| -0.12050682306289673 |
| ], |
| [ |
| 0.29075419902801514, |
| -0.9567779898643494, |
| -0.006154689472168684, |
| 0.03650552034378052 |
| ], |
| [ |
| -0.028536733239889145, |
| -0.002241907175630331, |
| -0.9995902180671692, |
| -0.020063506439328194 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 81, |
| "c2w": [ |
| [ |
| 0.9515363574028015, |
| 0.3070340156555176, |
| -0.017569206655025482, |
| -0.12508457899093628 |
| ], |
| [ |
| 0.30696767568588257, |
| -0.9516982436180115, |
| -0.006421894300729036, |
| 0.037452224642038345 |
| ], |
| [ |
| -0.018692323938012123, |
| 0.0007174871279858053, |
| -0.9998250007629395, |
| -0.021573811769485474 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 82, |
| "c2w": [ |
| [ |
| 0.9443238377571106, |
| 0.3289647698402405, |
| -0.00589219992980361, |
| -0.12920795381069183 |
| ], |
| [ |
| 0.32891765236854553, |
| -0.9443269968032837, |
| -0.007725796662271023, |
| 0.0384662039577961 |
| ], |
| [ |
| -0.008105678483843803, |
| 0.005357604939490557, |
| -0.9999527931213379, |
| -0.02241421490907669 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 83, |
| "c2w": [ |
| [ |
| 0.9376981258392334, |
| 0.34743237495422363, |
| -0.003597173374146223, |
| -0.1338430792093277 |
| ], |
| [ |
| 0.3473567068576813, |
| -0.9376345872879028, |
| -0.013589931651949883, |
| 0.03943132236599922 |
| ], |
| [ |
| -0.008094416931271553, |
| 0.011493751779198647, |
| -0.9999011754989624, |
| -0.024164531379938126 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 84, |
| "c2w": [ |
| [ |
| 0.9321439862251282, |
| 0.3620852530002594, |
| -0.001368424971587956, |
| -0.13808245956897736 |
| ], |
| [ |
| 0.3620626628398895, |
| -0.9321171045303345, |
| -0.008268805220723152, |
| 0.03988940641283989 |
| ], |
| [ |
| -0.004269544500857592, |
| 0.007212261203676462, |
| -0.9999648928642273, |
| -0.025050044059753418 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 85, |
| "c2w": [ |
| [ |
| 0.9251222014427185, |
| 0.3796171247959137, |
| 0.006304602604359388, |
| -0.14274081587791443 |
| ], |
| [ |
| 0.37959983944892883, |
| -0.9251430034637451, |
| 0.003788883099332452, |
| 0.04028315842151642 |
| ], |
| [ |
| 0.007270983885973692, |
| -0.001111953635700047, |
| -0.999972939491272, |
| -0.024970468133687973 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 86, |
| "c2w": [ |
| [ |
| 0.9174544811248779, |
| 0.3975243866443634, |
| 0.01586463674902916, |
| -0.1473645567893982 |
| ], |
| [ |
| 0.3974439799785614, |
| -0.9175909757614136, |
| 0.008069632574915886, |
| 0.040859684348106384 |
| ], |
| [ |
| 0.017765123397111893, |
| -0.001098215696401894, |
| -0.999841570854187, |
| -0.02558688074350357 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 87, |
| "c2w": [ |
| [ |
| 0.9119963645935059, |
| 0.4098169803619385, |
| 0.01768363267183304, |
| -0.15061087906360626 |
| ], |
| [ |
| 0.40966320037841797, |
| -0.9121611714363098, |
| 0.011750379577279091, |
| 0.041673462837934494 |
| ], |
| [ |
| 0.020945828408002853, |
| -0.0034719703253358603, |
| -0.9997745752334595, |
| -0.02633896842598915 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 88, |
| "c2w": [ |
| [ |
| 0.9061535596847534, |
| 0.42273077368736267, |
| 0.013580923900008202, |
| -0.1537836790084839 |
| ], |
| [ |
| 0.4225091338157654, |
| -0.9062085151672363, |
| 0.016497666016221046, |
| 0.042287785559892654 |
| ], |
| [ |
| 0.01928121969103813, |
| -0.009211353026330471, |
| -0.9997716546058655, |
| -0.027216468006372452 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 89, |
| "c2w": [ |
| [ |
| 0.90042644739151, |
| 0.4349766969680786, |
| 0.005245500709861517, |
| -0.1567506194114685 |
| ], |
| [ |
| 0.43484869599342346, |
| -0.900357186794281, |
| 0.016234755516052246, |
| 0.04289283975958824 |
| ], |
| [ |
| 0.011784564703702927, |
| -0.012337204068899155, |
| -0.9998544454574585, |
| -0.028607066720724106 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 90, |
| "c2w": [ |
| [ |
| 0.893285870552063, |
| 0.4494827389717102, |
| -0.002372412011027336, |
| -0.15953436493873596 |
| ], |
| [ |
| 0.4494646191596985, |
| -0.8931700587272644, |
| 0.015125219710171223, |
| 0.043521855026483536 |
| ], |
| [ |
| 0.004679557867348194, |
| -0.01457746047526598, |
| -0.9998828172683716, |
| -0.03016091138124466 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 91, |
| "c2w": [ |
| [ |
| 0.8824986815452576, |
| 0.4702998399734497, |
| -0.0037579070776700974, |
| -0.16124092042446136 |
| ], |
| [ |
| 0.4702873229980469, |
| -0.882332444190979, |
| 0.017869733273983, |
| 0.04380485787987709 |
| ], |
| [ |
| 0.0050884089432656765, |
| -0.0175373125821352, |
| -0.9998332858085632, |
| -0.031081896275281906 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 92, |
| "c2w": [ |
| [ |
| 0.8732780814170837, |
| 0.48718228936195374, |
| -0.006228010170161724, |
| -0.1630130112171173 |
| ], |
| [ |
| 0.4872150123119354, |
| -0.8731251955032349, |
| 0.016550766304135323, |
| 0.04427105188369751 |
| ], |
| [ |
| 0.00262540765106678, |
| -0.017487801611423492, |
| -0.9998436570167542, |
| -0.03243633732199669 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 93, |
| "c2w": [ |
| [ |
| 0.8676385879516602, |
| 0.49700579047203064, |
| -0.013731040060520172, |
| -0.16459088027477264 |
| ], |
| [ |
| 0.49718186259269714, |
| -0.867487907409668, |
| 0.016580618917942047, |
| 0.04531535506248474 |
| ], |
| [ |
| -0.0036708482075482607, |
| -0.021212808787822723, |
| -0.9997682571411133, |
| -0.033977340906858444 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 94, |
| "c2w": [ |
| [ |
| 0.8586481213569641, |
| 0.5121672749519348, |
| -0.020201846957206726, |
| -0.16638831794261932 |
| ], |
| [ |
| 0.512525737285614, |
| -0.858405351638794, |
| 0.021391374990344048, |
| 0.04606444388628006 |
| ], |
| [ |
| -0.006385412998497486, |
| -0.028721630573272705, |
| -0.9995670318603516, |
| -0.03491932526230812 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 95, |
| "c2w": [ |
| [ |
| 0.8489880561828613, |
| 0.5279530882835388, |
| -0.0220184288918972, |
| -0.16838382184505463 |
| ], |
| [ |
| 0.5283575057983398, |
| -0.8487616777420044, |
| 0.021022969856858253, |
| 0.046895042061805725 |
| ], |
| [ |
| -0.007589256390929222, |
| -0.029481852427124977, |
| -0.9995365142822266, |
| -0.036175116896629333 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 96, |
| "c2w": [ |
| [ |
| 0.842231810092926, |
| 0.5386372208595276, |
| -0.02270650304853916, |
| -0.17006602883338928 |
| ], |
| [ |
| 0.5390602350234985, |
| -0.8420016169548035, |
| 0.0211509857326746, |
| 0.04785309359431267 |
| ], |
| [ |
| -0.007726204581558704, |
| -0.030054206028580666, |
| -0.9995183944702148, |
| -0.03752853721380234 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 97, |
| "c2w": [ |
| [ |
| 0.8311681747436523, |
| 0.5555415749549866, |
| -0.023088814690709114, |
| -0.1723160743713379 |
| ], |
| [ |
| 0.5559903979301453, |
| -0.8308418393135071, |
| 0.024009395390748978, |
| 0.049017827957868576 |
| ], |
| [ |
| -0.005844937637448311, |
| -0.03279300406575203, |
| -0.9994450807571411, |
| -0.038655493408441544 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 98, |
| "c2w": [ |
| [ |
| 0.8159704804420471, |
| 0.5777612924575806, |
| -0.01959788054227829, |
| -0.17576497793197632 |
| ], |
| [ |
| 0.5780934691429138, |
| -0.8155266046524048, |
| 0.02691282518208027, |
| 0.04961300268769264 |
| ], |
| [ |
| -0.00043340373667888343, |
| -0.03328947722911835, |
| -0.9994456768035889, |
| -0.03950877860188484 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 99, |
| "c2w": [ |
| [ |
| 0.8044542670249939, |
| 0.5935444831848145, |
| -0.023627929389476776, |
| -0.17876054346561432 |
| ], |
| [ |
| 0.5940102338790894, |
| -0.8039640188217163, |
| 0.02817288227379322, |
| 0.05067535862326622 |
| ], |
| [ |
| -0.002274146070703864, |
| -0.03669902682304382, |
| -0.9993237853050232, |
| -0.039913468062877655 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 100, |
| "c2w": [ |
| [ |
| 0.7934825420379639, |
| 0.6079682111740112, |
| -0.027569537982344627, |
| -0.1820421814918518 |
| ], |
| [ |
| 0.6085734963417053, |
| -0.7930051684379578, |
| 0.027947690337896347, |
| 0.05117771402001381 |
| ], |
| [ |
| -0.004871480632573366, |
| -0.03895409405231476, |
| -0.9992291331291199, |
| -0.04074351117014885 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 101, |
| "c2w": [ |
| [ |
| 0.7796033620834351, |
| 0.6259670853614807, |
| -0.019590672105550766, |
| -0.18608121573925018 |
| ], |
| [ |
| 0.6262571811676025, |
| -0.7789751887321472, |
| 0.031616583466529846, |
| 0.05106300488114357 |
| ], |
| [ |
| 0.004530293866991997, |
| -0.03691719472408295, |
| -0.9993080496788025, |
| -0.04134771600365639 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 102, |
| "c2w": [ |
| [ |
| 0.7699106931686401, |
| 0.6380801200866699, |
| -0.009557372890412807, |
| -0.18914073705673218 |
| ], |
| [ |
| 0.6379733085632324, |
| -0.7692551612854004, |
| 0.03516478091478348, |
| 0.05122377723455429 |
| ], |
| [ |
| 0.015085889026522636, |
| -0.033171091228723526, |
| -0.9993358254432678, |
| -0.04178692400455475 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 103, |
| "c2w": [ |
| [ |
| 0.7642058730125427, |
| 0.6447142958641052, |
| -0.01824534311890602, |
| -0.19175781309604645 |
| ], |
| [ |
| 0.6448909044265747, |
| -0.7633538842201233, |
| 0.03750433027744293, |
| 0.05166132375597954 |
| ], |
| [ |
| 0.010251923464238644, |
| -0.04042728245258331, |
| -0.9991298913955688, |
| -0.04189848154783249 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 104, |
| "c2w": [ |
| [ |
| 0.7555163502693176, |
| 0.654610812664032, |
| -0.02607204206287861, |
| -0.194687157869339 |
| ], |
| [ |
| 0.655078113079071, |
| -0.7543584108352661, |
| 0.0426148995757103, |
| 0.05195960775017738 |
| ], |
| [ |
| 0.008228510618209839, |
| -0.0492754802107811, |
| -0.9987513422966003, |
| -0.04153648018836975 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 105, |
| "c2w": [ |
| [ |
| 0.7481521964073181, |
| 0.6632660627365112, |
| -0.018611788749694824, |
| -0.1967001110315323 |
| ], |
| [ |
| 0.6632769703865051, |
| -0.7468055486679077, |
| 0.0484270416200161, |
| 0.05243311822414398 |
| ], |
| [ |
| 0.018220625817775726, |
| -0.048575565218925476, |
| -0.9986532926559448, |
| -0.041255488991737366 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 106, |
| "c2w": [ |
| [ |
| 0.744484007358551, |
| 0.6674124598503113, |
| -0.017441710457205772, |
| -0.19843822717666626 |
| ], |
| [ |
| 0.6672922968864441, |
| -0.7429985404014587, |
| 0.05171249434351921, |
| 0.05303787812590599 |
| ], |
| [ |
| 0.02155439741909504, |
| -0.05013784393668175, |
| -0.9985097050666809, |
| -0.04126992076635361 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 107, |
| "c2w": [ |
| [ |
| 0.7417423129081726, |
| 0.6704239845275879, |
| -0.018708547577261925, |
| -0.19988813996315002 |
| ], |
| [ |
| 0.6702788472175598, |
| -0.7400341033935547, |
| 0.05545942485332489, |
| 0.05347157642245293 |
| ], |
| [ |
| 0.023336363956332207, |
| -0.0536765456199646, |
| -0.9982856512069702, |
| -0.0414339043200016 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 108, |
| "c2w": [ |
| [ |
| 0.7402510643005371, |
| 0.6721595525741577, |
| -0.015163728967308998, |
| -0.20127195119857788 |
| ], |
| [ |
| 0.6717726588249207, |
| -0.7385299801826477, |
| 0.05740175023674965, |
| 0.05363691970705986 |
| ], |
| [ |
| 0.027384264394640923, |
| -0.05267828702926636, |
| -0.9982360005378723, |
| -0.04285018891096115 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 109, |
| "c2w": [ |
| [ |
| 0.7382027506828308, |
| 0.6744753122329712, |
| -0.011823082342743874, |
| -0.20244362950325012 |
| ], |
| [ |
| 0.6739206314086914, |
| -0.7365950345993042, |
| 0.05708526074886322, |
| 0.053654175251722336 |
| ], |
| [ |
| 0.029793772846460342, |
| -0.05010831356048584, |
| -0.9982993006706238, |
| -0.04391900449991226 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 110, |
| "c2w": [ |
| [ |
| 0.7352571487426758, |
| 0.6776902675628662, |
| -0.011526389047503471, |
| -0.20352911949157715 |
| ], |
| [ |
| 0.6769213676452637, |
| -0.7333507537841797, |
| 0.06304073333740234, |
| 0.05329357087612152 |
| ], |
| [ |
| 0.03426920622587204, |
| -0.05415360629558563, |
| -0.9979444146156311, |
| -0.043870992958545685 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 111, |
| "c2w": [ |
| [ |
| 0.7318888306617737, |
| 0.6813864707946777, |
| -0.007152596488595009, |
| -0.2043321281671524 |
| ], |
| [ |
| 0.6801036596298218, |
| -0.7297773361206055, |
| 0.06988605111837387, |
| 0.05296839773654938 |
| ], |
| [ |
| 0.042399607598781586, |
| -0.0560133270919323, |
| -0.9975293278694153, |
| -0.043388012796640396 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 112, |
| "c2w": [ |
| [ |
| 0.7331488132476807, |
| 0.6800556182861328, |
| -0.0041456944309175014, |
| -0.20454943180084229 |
| ], |
| [ |
| 0.678528904914856, |
| -0.7310658097267151, |
| 0.0717029944062233, |
| 0.052745405584573746 |
| ], |
| [ |
| 0.04573124647140503, |
| -0.05538193881511688, |
| -0.9974173903465271, |
| -0.0435904897749424 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 113, |
| "c2w": [ |
| [ |
| 0.7338868975639343, |
| 0.6792072057723999, |
| -0.009361118078231812, |
| -0.20472851395606995 |
| ], |
| [ |
| 0.6779934763908386, |
| -0.7315912842750549, |
| 0.07140781730413437, |
| 0.05235068127512932 |
| ], |
| [ |
| 0.041652191430330276, |
| -0.05875203758478165, |
| -0.9974032640457153, |
| -0.0440327413380146 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 114, |
| "c2w": [ |
| [ |
| 0.7302788496017456, |
| 0.6830794215202332, |
| -0.00976348202675581, |
| -0.20557723939418793 |
| ], |
| [ |
| 0.681755781173706, |
| -0.7278025150299072, |
| 0.07424645870923996, |
| 0.051911864429712296 |
| ], |
| [ |
| 0.0436103418469429, |
| -0.06087692826986313, |
| -0.9971921443939209, |
| -0.04366930201649666 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 115, |
| "c2w": [ |
| [ |
| 0.7285872101783752, |
| 0.6849215626716614, |
| -0.0065681845881044865, |
| -0.20623049139976501 |
| ], |
| [ |
| 0.6834014654159546, |
| -0.7262582778930664, |
| 0.07423850148916245, |
| 0.051477525383234024 |
| ], |
| [ |
| 0.04607735201716423, |
| -0.05857793241739273, |
| -0.997218906879425, |
| -0.04400172457098961 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 116, |
| "c2w": [ |
| [ |
| 0.7302688956260681, |
| 0.6831275224685669, |
| -0.006644971203058958, |
| -0.20628677308559418 |
| ], |
| [ |
| 0.6816902160644531, |
| -0.7280257344245911, |
| 0.07264294475317001, |
| 0.051279354840517044 |
| ], |
| [ |
| 0.04478668421506882, |
| -0.05757869407534599, |
| -0.9973358511924744, |
| -0.04472142085433006 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 117, |
| "c2w": [ |
| [ |
| 0.7300913333892822, |
| 0.6833089590072632, |
| -0.007452444173395634, |
| -0.20620884001255035 |
| ], |
| [ |
| 0.6818923950195312, |
| -0.7277793288230896, |
| 0.07321231812238693, |
| 0.051101408898830414 |
| ], |
| [ |
| 0.0446028970181942, |
| -0.0585334450006485, |
| -0.9972885251045227, |
| -0.045053958892822266 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 118, |
| "c2w": [ |
| [ |
| 0.7293455004692078, |
| 0.6841413378715515, |
| -0.002404347760602832, |
| -0.20649325847625732 |
| ], |
| [ |
| 0.6823302507400513, |
| -0.7271498441696167, |
| 0.0753563717007637, |
| 0.0508921816945076 |
| ], |
| [ |
| 0.04980608820915222, |
| -0.0566013865172863, |
| -0.9971537590026855, |
| -0.04538128152489662 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 119, |
| "c2w": [ |
| [ |
| 0.7313922047615051, |
| 0.681951642036438, |
| -0.002720169024541974, |
| -0.20643946528434753 |
| ], |
| [ |
| 0.6802796721458435, |
| -0.7293077707290649, |
| 0.07300537079572678, |
| 0.05096624419093132 |
| ], |
| [ |
| 0.04780229553580284, |
| -0.05524603649973869, |
| -0.9973278641700745, |
| -0.046139318495988846 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 120, |
| "c2w": [ |
| [ |
| 0.7337244749069214, |
| 0.6794257760047913, |
| -0.005389401689171791, |
| -0.20569461584091187 |
| ], |
| [ |
| 0.6780558824539185, |
| -0.7316916584968567, |
| 0.06976745277643204, |
| 0.05146889388561249 |
| ], |
| [ |
| 0.043458420783281326, |
| -0.05484439805150032, |
| -0.9975486993789673, |
| -0.04655518755316734 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 121, |
| "c2w": [ |
| [ |
| 0.7361271977424622, |
| 0.6768212914466858, |
| -0.005447327625006437, |
| -0.20503361523151398 |
| ], |
| [ |
| 0.6755810379981995, |
| -0.7342393398284912, |
| 0.06695450097322464, |
| 0.0517304353415966 |
| ], |
| [ |
| 0.04131659120321274, |
| -0.0529671385884285, |
| -0.997741162776947, |
| -0.04729421064257622 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 122, |
| "c2w": [ |
| [ |
| 0.7404375076293945, |
| 0.672089159488678, |
| -0.006960014346987009, |
| -0.2039625644683838 |
| ], |
| [ |
| 0.6711940765380859, |
| -0.7388272881507874, |
| 0.06027256324887276, |
| 0.052033450454473495 |
| ], |
| [ |
| 0.03536628559231758, |
| -0.049299586564302444, |
| -0.9981576800346375, |
| -0.04867946356534958 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 123, |
| "c2w": [ |
| [ |
| 0.7470492720603943, |
| 0.6647078990936279, |
| -0.008984669111669064, |
| -0.20161306858062744 |
| ], |
| [ |
| 0.6640728116035461, |
| -0.7455809712409973, |
| 0.055823903530836105, |
| 0.053019892424345016 |
| ], |
| [ |
| 0.030407791957259178, |
| -0.047669682651758194, |
| -0.9984002113342285, |
| -0.049039456993341446 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 124, |
| "c2w": [ |
| [ |
| 0.7543697357177734, |
| 0.6562145352363586, |
| -0.017572486773133278, |
| -0.19912341237068176 |
| ], |
| [ |
| 0.6561336517333984, |
| -0.7529056072235107, |
| 0.051203563809394836, |
| 0.05375537648797035 |
| ], |
| [ |
| 0.02037009969353676, |
| -0.05015632137656212, |
| -0.9985336065292358, |
| -0.04979997128248215 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 125, |
| "c2w": [ |
| [ |
| 0.7612165212631226, |
| 0.648054301738739, |
| -0.02397998608648777, |
| -0.19660153985023499 |
| ], |
| [ |
| 0.6483851671218872, |
| -0.7598745822906494, |
| 0.04676796868443489, |
| 0.05422857403755188 |
| ], |
| [ |
| 0.01208640169352293, |
| -0.05114881694316864, |
| -0.9986178874969482, |
| -0.05074205994606018 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 126, |
| "c2w": [ |
| [ |
| 0.7671988606452942, |
| 0.6407496333122253, |
| -0.029084233567118645, |
| -0.19381795823574066 |
| ], |
| [ |
| 0.641335129737854, |
| -0.7656310796737671, |
| 0.04998299852013588, |
| 0.05462699756026268 |
| ], |
| [ |
| 0.009758791886270046, |
| -0.05699963867664337, |
| -0.9983264803886414, |
| -0.05038321390748024 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 127, |
| "c2w": [ |
| [ |
| 0.7748212814331055, |
| 0.6308553218841553, |
| -0.04090968146920204, |
| -0.19050493836402893 |
| ], |
| [ |
| 0.632180392742157, |
| -0.7732031345367432, |
| 0.05004916712641716, |
| 0.05510841682553291 |
| ], |
| [ |
| -5.77114406041801e-05, |
| -0.06464146077632904, |
| -0.9979085326194763, |
| -0.050568271428346634 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 128, |
| "c2w": [ |
| [ |
| 0.7834263443946838, |
| 0.6182352304458618, |
| -0.06346970796585083, |
| -0.18658871948719025 |
| ], |
| [ |
| 0.6211214065551758, |
| -0.7823659777641296, |
| 0.04595338553190231, |
| 0.05567982420325279 |
| ], |
| [ |
| -0.0212465338408947, |
| -0.07542348653078079, |
| -0.9969252347946167, |
| -0.051386598497629166 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 129, |
| "c2w": [ |
| [ |
| 0.7904953360557556, |
| 0.606027364730835, |
| -0.08858851343393326, |
| -0.18246327340602875 |
| ], |
| [ |
| 0.6107721328735352, |
| -0.7907731533050537, |
| 0.0404384583234787, |
| 0.05632155016064644 |
| ], |
| [ |
| -0.045546602457761765, |
| -0.08607380837202072, |
| -0.9952471256256104, |
| -0.051390450447797775 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 130, |
| "c2w": [ |
| [ |
| 0.7969173789024353, |
| 0.5940436720848083, |
| -0.10970314592123032, |
| -0.1780630499124527 |
| ], |
| [ |
| 0.6003792881965637, |
| -0.7989478707313538, |
| 0.035028912127017975, |
| 0.05656347796320915 |
| ], |
| [ |
| -0.06683839112520218, |
| -0.09377864748239517, |
| -0.9933469891548157, |
| -0.05199126899242401 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 131, |
| "c2w": [ |
| [ |
| 0.8037214279174805, |
| 0.583459734916687, |
| -0.11664729565382004, |
| -0.17340770363807678 |
| ], |
| [ |
| 0.5903047323226929, |
| -0.80649334192276, |
| 0.03329865261912346, |
| 0.05647728964686394 |
| ], |
| [ |
| -0.07464684545993805, |
| -0.0956202894449234, |
| -0.9926150441169739, |
| -0.052722640335559845 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 132, |
| "c2w": [ |
| [ |
| 0.8103411793708801, |
| 0.5744383335113525, |
| -0.11561916768550873, |
| -0.16876910626888275 |
| ], |
| [ |
| 0.5811560153961182, |
| -0.8131093978881836, |
| 0.033328860998153687, |
| 0.05634043365716934 |
| ], |
| [ |
| -0.0748656615614891, |
| -0.09420052170753479, |
| -0.9927343130111694, |
| -0.0523807667195797 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 133, |
| "c2w": [ |
| [ |
| 0.8169475793838501, |
| 0.5646690130233765, |
| -0.11724147945642471, |
| -0.1636529564857483 |
| ], |
| [ |
| 0.5716094970703125, |
| -0.819793701171875, |
| 0.03465428203344345, |
| 0.05638199672102928 |
| ], |
| [ |
| -0.07654562592506409, |
| -0.09532707184553146, |
| -0.9924986362457275, |
| -0.05207543075084686 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 134, |
| "c2w": [ |
| [ |
| 0.8251128196716309, |
| 0.5501234531402588, |
| -0.12865856289863586, |
| -0.1576305329799652 |
| ], |
| [ |
| 0.5584952235221863, |
| -0.8286010026931763, |
| 0.0387747697532177, |
| 0.056688737124204636 |
| ], |
| [ |
| -0.08527569472789764, |
| -0.10384874790906906, |
| -0.9909306168556213, |
| -0.051832783967256546 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 135, |
| "c2w": [ |
| [ |
| 0.8327575922012329, |
| 0.535053551197052, |
| -0.14224103093147278, |
| -0.1510821431875229 |
| ], |
| [ |
| 0.5454392433166504, |
| -0.8369370698928833, |
| 0.04508211091160774, |
| 0.05703173205256462 |
| ], |
| [ |
| -0.09492544829845428, |
| -0.11512631177902222, |
| -0.9888048768043518, |
| -0.05152042210102081 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 136, |
| "c2w": [ |
| [ |
| 0.8388100862503052, |
| 0.523919939994812, |
| -0.1480051726102829, |
| -0.14382411539554596 |
| ], |
| [ |
| 0.5353175401687622, |
| -0.8432316780090332, |
| 0.048943448811769485, |
| 0.05779208615422249 |
| ], |
| [ |
| -0.09916020184755325, |
| -0.12028402835130692, |
| -0.9877747893333435, |
| -0.05174693465232849 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 137, |
| "c2w": [ |
| [ |
| 0.8437710404396057, |
| 0.5149076581001282, |
| -0.15139512717723846, |
| -0.1361294984817505 |
| ], |
| [ |
| 0.5268978476524353, |
| -0.8483901619911194, |
| 0.05111519247293472, |
| 0.058688078075647354 |
| ], |
| [ |
| -0.10212253034114838, |
| -0.12289928644895554, |
| -0.9871508479118347, |
| -0.052128348499536514 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 138, |
| "c2w": [ |
| [ |
| 0.8484721183776855, |
| 0.5058075189590454, |
| -0.1557362973690033, |
| -0.1285141259431839 |
| ], |
| [ |
| 0.5184513330459595, |
| -0.8534882068634033, |
| 0.05259385704994202, |
| 0.058932069689035416 |
| ], |
| [ |
| -0.10631672292947769, |
| -0.12536612153053284, |
| -0.9863975048065186, |
| -0.05196255072951317 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 139, |
| "c2w": [ |
| [ |
| 0.8532170057296753, |
| 0.4971923530101776, |
| -0.15754538774490356, |
| -0.12109030783176422 |
| ], |
| [ |
| 0.5100468993186951, |
| -0.858519434928894, |
| 0.05288241058588028, |
| 0.05924078822135925 |
| ], |
| [ |
| -0.10896304249763489, |
| -0.1254757046699524, |
| -0.9860947728157043, |
| -0.0512697696685791 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 140, |
| "c2w": [ |
| [ |
| 0.8578894138336182, |
| 0.4881495535373688, |
| -0.1604236364364624, |
| -0.11339154839515686 |
| ], |
| [ |
| 0.5010915398597717, |
| -0.8638938069343567, |
| 0.05093855410814285, |
| 0.05976086109876633 |
| ], |
| [ |
| -0.11372336000204086, |
| -0.12408657371997833, |
| -0.9857329726219177, |
| -0.0504734143614769 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 141, |
| "c2w": [ |
| [ |
| 0.8653078079223633, |
| 0.4746229648590088, |
| -0.16116899251937866, |
| -0.10516374558210373 |
| ], |
| [ |
| 0.48806342482566833, |
| -0.8710593581199646, |
| 0.055223606526851654, |
| 0.0603901706635952 |
| ], |
| [ |
| -0.11417736858129501, |
| -0.12644611299037933, |
| -0.9853805899620056, |
| -0.049246761947870255 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 142, |
| "c2w": [ |
| [ |
| 0.8733522295951843, |
| 0.457202285528183, |
| -0.16799409687519073, |
| -0.0969143956899643 |
| ], |
| [ |
| 0.4724186360836029, |
| -0.8790832757949829, |
| 0.06350813060998917, |
| 0.06104687601327896 |
| ], |
| [ |
| -0.11864472925662994, |
| -0.13482849299907684, |
| -0.9837401509284973, |
| -0.046933528035879135 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 143, |
| "c2w": [ |
| [ |
| 0.8801225423812866, |
| 0.43892449140548706, |
| -0.18091315031051636, |
| -0.08873341977596283 |
| ], |
| [ |
| 0.45637935400009155, |
| -0.8872032165527344, |
| 0.06773710250854492, |
| 0.06164051592350006 |
| ], |
| [ |
| -0.13077525794506073, |
| -0.14218197762966156, |
| -0.9811636805534363, |
| -0.04563065245747566 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 144, |
| "c2w": [ |
| [ |
| 0.886198103427887, |
| 0.4251146614551544, |
| -0.18420232832431793, |
| -0.0809725746512413 |
| ], |
| [ |
| 0.4431852698326111, |
| -0.8937270045280457, |
| 0.06956208497285843, |
| 0.06194888427853584 |
| ], |
| [ |
| -0.13505473732948303, |
| -0.14328154921531677, |
| -0.9804236888885498, |
| -0.04432748258113861 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 145, |
| "c2w": [ |
| [ |
| 0.8919470310211182, |
| 0.41708964109420776, |
| -0.1745472103357315, |
| -0.07454708218574524 |
| ], |
| [ |
| 0.4344584047794342, |
| -0.897528886795044, |
| 0.07541725039482117, |
| 0.061715755611658096 |
| ], |
| [ |
| -0.1252054125070572, |
| -0.14310169219970703, |
| -0.981756329536438, |
| -0.04194675385951996 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 146, |
| "c2w": [ |
| [ |
| 0.8955127000808716, |
| 0.40945398807525635, |
| -0.17436885833740234, |
| -0.06779169291257858 |
| ], |
| [ |
| 0.42755505442619324, |
| -0.9002847075462341, |
| 0.08175673335790634, |
| 0.06122223660349846 |
| ], |
| [ |
| -0.12350598722696304, |
| -0.14776647090911865, |
| -0.9812804460525513, |
| -0.03953985497355461 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 147, |
| "c2w": [ |
| [ |
| 0.8999994397163391, |
| 0.40081754326820374, |
| -0.1713077276945114, |
| -0.060768015682697296 |
| ], |
| [ |
| 0.4187338650226593, |
| -0.9041844606399536, |
| 0.08433501422405243, |
| 0.06080389395356178 |
| ], |
| [ |
| -0.1210908442735672, |
| -0.14763380587100983, |
| -0.981601357460022, |
| -0.03774575889110565 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 148, |
| "c2w": [ |
| [ |
| 0.9048887491226196, |
| 0.39243340492248535, |
| -0.16484041512012482, |
| -0.05380074679851532 |
| ], |
| [ |
| 0.4092012345790863, |
| -0.9086536169052124, |
| 0.08308375626802444, |
| 0.06047647073864937 |
| ], |
| [ |
| -0.11717800050973892, |
| -0.14263446629047394, |
| -0.9828146696090698, |
| -0.03607034310698509 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 149, |
| "c2w": [ |
| [ |
| 0.9080301523208618, |
| 0.3841583728790283, |
| -0.16704359650611877, |
| -0.04686424881219864 |
| ], |
| [ |
| 0.40102463960647583, |
| -0.9124285578727722, |
| 0.0815679207444191, |
| 0.06022541970014572 |
| ], |
| [ |
| -0.12108035385608673, |
| -0.14105473458766937, |
| -0.9825696349143982, |
| -0.03539976477622986 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 150, |
| "c2w": [ |
| [ |
| 0.9116178750991821, |
| 0.372752845287323, |
| -0.17322850227355957, |
| -0.03984564170241356 |
| ], |
| [ |
| 0.39031165838241577, |
| -0.9171584248542786, |
| 0.08048141002655029, |
| 0.06003999337553978 |
| ], |
| [ |
| -0.12887829542160034, |
| -0.14098139107227325, |
| -0.981587827205658, |
| -0.03519221022725105 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 151, |
| "c2w": [ |
| [ |
| 0.9156739711761475, |
| 0.36286941170692444, |
| -0.17282044887542725, |
| -0.03340241685509682 |
| ], |
| [ |
| 0.3801213204860687, |
| -0.9215508699417114, |
| 0.07906811684370041, |
| 0.06019219383597374 |
| ], |
| [ |
| -0.1305714249610901, |
| -0.13809336721897125, |
| -0.9817745685577393, |
| -0.03538045287132263 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 152, |
| "c2w": [ |
| [ |
| 0.9201893210411072, |
| 0.3547891080379486, |
| -0.16545794904232025, |
| -0.027069680392742157 |
| ], |
| [ |
| 0.3708213269710541, |
| -0.9254290461540222, |
| 0.0779273509979248, |
| 0.05990162864327431 |
| ], |
| [ |
| -0.1254718154668808, |
| -0.13306324183940887, |
| -0.9831332564353943, |
| -0.035377319902181625 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 153, |
| "c2w": [ |
| [ |
| 0.924669623374939, |
| 0.34687474370002747, |
| -0.157047837972641, |
| -0.02089286409318447 |
| ], |
| [ |
| 0.361261785030365, |
| -0.9295247197151184, |
| 0.07398482412099838, |
| 0.05943574383854866 |
| ], |
| [ |
| -0.12031637132167816, |
| -0.12514691054821014, |
| -0.9848158359527588, |
| -0.035678375512361526 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 154, |
| "c2w": [ |
| [ |
| 0.9283312559127808, |
| 0.3388293385505676, |
| -0.1529567688703537, |
| -0.014875874854624271 |
| ], |
| [ |
| 0.35228395462036133, |
| -0.9332068562507629, |
| 0.07085895538330078, |
| 0.05894651263952255 |
| ], |
| [ |
| -0.11873120814561844, |
| -0.11966479569673538, |
| -0.9856892228126526, |
| -0.03549735248088837 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 155, |
| "c2w": [ |
| [ |
| 0.9330641627311707, |
| 0.32804080843925476, |
| -0.14758211374282837, |
| -0.008587213233113289 |
| ], |
| [ |
| 0.3405510485172272, |
| -0.9377074241638184, |
| 0.06877309083938599, |
| 0.05811144784092903 |
| ], |
| [ |
| -0.11582846194505692, |
| -0.11442895233631134, |
| -0.9866558313369751, |
| -0.03549603745341301 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 156, |
| "c2w": [ |
| [ |
| 0.9388970136642456, |
| 0.3129045069217682, |
| -0.1433984488248825, |
| -0.0009653811575844884 |
| ], |
| [ |
| 0.3248737156391144, |
| -0.9432458877563477, |
| 0.06887844204902649, |
| 0.057101327925920486 |
| ], |
| [ |
| -0.11370762437582016, |
| -0.11125615239143372, |
| -0.9872652292251587, |
| -0.0348060242831707 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 157, |
| "c2w": [ |
| [ |
| 0.9439557194709778, |
| 0.29701879620552063, |
| -0.14397010207176208, |
| 0.00615583173930645 |
| ], |
| [ |
| 0.3096359968185425, |
| -0.9479300379753113, |
| 0.07452674955129623, |
| 0.05594220384955406 |
| ], |
| [ |
| -0.1143377348780632, |
| -0.11492827534675598, |
| -0.9867717027664185, |
| -0.034011196345090866 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 158, |
| "c2w": [ |
| [ |
| 0.9484857320785522, |
| 0.28267112374305725, |
| -0.1430796980857849, |
| 0.012605587020516396 |
| ], |
| [ |
| 0.29558897018432617, |
| -0.9520822167396545, |
| 0.07852797955274582, |
| 0.05487998202443123 |
| ], |
| [ |
| -0.1140260398387909, |
| -0.11677544564008713, |
| -0.9865908622741699, |
| -0.033590130507946014 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 159, |
| "c2w": [ |
| [ |
| 0.9530745148658752, |
| 0.2707781493663788, |
| -0.13538148999214172, |
| 0.019113674759864807 |
| ], |
| [ |
| 0.28265467286109924, |
| -0.9560773968696594, |
| 0.07760386168956757, |
| 0.05414727330207825 |
| ], |
| [ |
| -0.10842175036668777, |
| -0.11222847551107407, |
| -0.9877496957778931, |
| -0.03360094875097275 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 160, |
| "c2w": [ |
| [ |
| 0.9567059874534607, |
| 0.26142048835754395, |
| -0.12795674800872803, |
| 0.024894246831536293 |
| ], |
| [ |
| 0.27226126194000244, |
| -0.9592245221138, |
| 0.07590887695550919, |
| 0.05361921712756157 |
| ], |
| [ |
| -0.1028951108455658, |
| -0.1074601411819458, |
| -0.9888705015182495, |
| -0.033807121217250824 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 161, |
| "c2w": [ |
| [ |
| 0.9593726396560669, |
| 0.25340744853019714, |
| -0.12405145913362503, |
| 0.03010387159883976 |
| ], |
| [ |
| 0.2638091444969177, |
| -0.9615816473960876, |
| 0.07593090832233429, |
| 0.05316408351063728 |
| ], |
| [ |
| -0.1000441387295723, |
| -0.10557194799184799, |
| -0.989366352558136, |
| -0.034056514501571655 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 162, |
| "c2w": [ |
| [ |
| 0.9613897800445557, |
| 0.2444515973329544, |
| -0.12638472020626068, |
| 0.03518553823232651 |
| ], |
| [ |
| 0.25483211874961853, |
| -0.9641833901405334, |
| 0.0735597163438797, |
| 0.05290575698018074 |
| ], |
| [ |
| -0.10387624800205231, |
| -0.10292644798755646, |
| -0.9892501831054688, |
| -0.03369072824716568 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 163, |
| "c2w": [ |
| [ |
| 0.9638775587081909, |
| 0.23323982954025269, |
| -0.12860487401485443, |
| 0.04028167203068733 |
| ], |
| [ |
| 0.24339504539966583, |
| -0.9674206376075745, |
| 0.06968635320663452, |
| 0.052496861666440964 |
| ], |
| [ |
| -0.10816137492656708, |
| -0.09847089648246765, |
| -0.9892444610595703, |
| -0.034115470945835114 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 164, |
| "c2w": [ |
| [ |
| 0.966136634349823, |
| 0.2241598665714264, |
| -0.12779830396175385, |
| 0.04509636387228966 |
| ], |
| [ |
| 0.23421025276184082, |
| -0.9696795344352722, |
| 0.0697651207447052, |
| 0.0518612302839756 |
| ], |
| [ |
| -0.1082848533987999, |
| -0.09733431041240692, |
| -0.9893434047698975, |
| -0.03447943180799484 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 165, |
| "c2w": [ |
| [ |
| 0.9677978754043579, |
| 0.21524366736412048, |
| -0.1305275559425354, |
| 0.05096159502863884 |
| ], |
| [ |
| 0.22559604048728943, |
| -0.971676766872406, |
| 0.07036136835813522, |
| 0.05135766789317131 |
| ], |
| [ |
| -0.11168575286865234, |
| -0.09754208475351334, |
| -0.9889448285102844, |
| -0.0333881750702858 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 166, |
| "c2w": [ |
| [ |
| 0.9689536690711975, |
| 0.20543186366558075, |
| -0.13757365942001343, |
| 0.056331899017095566 |
| ], |
| [ |
| 0.21646210551261902, |
| -0.9737392067909241, |
| 0.0705418735742569, |
| 0.050699248909950256 |
| ], |
| [ |
| -0.1194693073630333, |
| -0.09813129156827927, |
| -0.9879763722419739, |
| -0.03318574279546738 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 167, |
| "c2w": [ |
| [ |
| 0.9710134863853455, |
| 0.19710269570350647, |
| -0.1352158933877945, |
| 0.061227716505527496 |
| ], |
| [ |
| 0.20812448859214783, |
| -0.9753917455673218, |
| 0.07276766002178192, |
| 0.0498151034116745 |
| ], |
| [ |
| -0.11754576116800308, |
| -0.09880011528730392, |
| -0.9881404638290405, |
| -0.032944656908512115 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 168, |
| "c2w": [ |
| [ |
| 0.9732145071029663, |
| 0.18882602453231812, |
| -0.13114209473133087, |
| 0.06682286411523819 |
| ], |
| [ |
| 0.1995554268360138, |
| -0.9770844578742981, |
| 0.07405149936676025, |
| 0.04896307364106178 |
| ], |
| [ |
| -0.11415404826402664, |
| -0.09823811054229736, |
| -0.9885939955711365, |
| -0.03179793059825897 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 169, |
| "c2w": [ |
| [ |
| 0.9744296669960022, |
| 0.17779050767421722, |
| -0.13739511370658875, |
| 0.07234219461679459 |
| ], |
| [ |
| 0.18921758234500885, |
| -0.9790631532669067, |
| 0.07504700124263763, |
| 0.04812341555953026 |
| ], |
| [ |
| -0.1211758404970169, |
| -0.09912559390068054, |
| -0.9876692295074463, |
| -0.031560491770505905 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 170, |
| "c2w": [ |
| [ |
| 0.9769614934921265, |
| 0.16901621222496033, |
| -0.1303064078092575, |
| 0.0774657130241394 |
| ], |
| [ |
| 0.1796085238456726, |
| -0.9809308052062988, |
| 0.07426654547452927, |
| 0.04718051478266716 |
| ], |
| [ |
| -0.11526932567358017, |
| -0.09595969319343567, |
| -0.9886884093284607, |
| -0.031419891864061356 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 171, |
| "c2w": [ |
| [ |
| 0.9806569814682007, |
| 0.16217324137687683, |
| -0.10959777235984802, |
| 0.08227720856666565 |
| ], |
| [ |
| 0.17028163373470306, |
| -0.9829673171043396, |
| 0.069133460521698, |
| 0.04642612114548683 |
| ], |
| [ |
| -0.09651943296194077, |
| -0.08645869791507721, |
| -0.991568922996521, |
| -0.031014055013656616 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 172, |
| "c2w": [ |
| [ |
| 0.9822703003883362, |
| 0.15377308428287506, |
| -0.10723312199115753, |
| 0.08731130510568619 |
| ], |
| [ |
| 0.16147449612617493, |
| -0.984584391117096, |
| 0.0672275647521019, |
| 0.045517075806856155 |
| ], |
| [ |
| -0.09524226933717728, |
| -0.08335105329751968, |
| -0.9919584393501282, |
| -0.03110349178314209 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 173, |
| "c2w": [ |
| [ |
| 0.9831700325012207, |
| 0.1468583643436432, |
| -0.10867058485746384, |
| 0.09239019453525543 |
| ], |
| [ |
| 0.1543724238872528, |
| -0.9859204888343811, |
| 0.06426461040973663, |
| 0.04471332207322121 |
| ], |
| [ |
| -0.0977027639746666, |
| -0.07995878159999847, |
| -0.9919983744621277, |
| -0.03162707760930061 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 174, |
| "c2w": [ |
| [ |
| 0.98486328125, |
| 0.14149172604084015, |
| -0.10012225806713104, |
| 0.09725531935691833 |
| ], |
| [ |
| 0.147626131772995, |
| -0.987414538860321, |
| 0.05673626810312271, |
| 0.044021617621183395 |
| ], |
| [ |
| -0.09083446860313416, |
| -0.0706581249833107, |
| -0.9933561682701111, |
| -0.03238494321703911 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 175, |
| "c2w": [ |
| [ |
| 0.9850423336029053, |
| 0.13221096992492676, |
| -0.11050738394260406, |
| 0.10252204537391663 |
| ], |
| [ |
| 0.13889464735984802, |
| -0.9887722730636597, |
| 0.055114563554525375, |
| 0.04322977364063263 |
| ], |
| [ |
| -0.10197988897562027, |
| -0.06963906437158585, |
| -0.9923459887504578, |
| -0.033427536487579346 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 176, |
| "c2w": [ |
| [ |
| 0.9849620461463928, |
| 0.11891791224479675, |
| -0.12533265352249146, |
| 0.10816438496112823 |
| ], |
| [ |
| 0.12715964019298553, |
| -0.9900705218315125, |
| 0.05992288887500763, |
| 0.042213331907987595 |
| ], |
| [ |
| -0.11696226894855499, |
| -0.07495902478694916, |
| -0.9903034567832947, |
| -0.03418654203414917 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 177, |
| "c2w": [ |
| [ |
| 0.9849821925163269, |
| 0.1060955822467804, |
| -0.13621248304843903, |
| 0.11373354494571686 |
| ], |
| [ |
| 0.11589670926332474, |
| -0.9910565614700317, |
| 0.06614276766777039, |
| 0.04102080687880516 |
| ], |
| [ |
| -0.12797681987285614, |
| -0.0809360221028328, |
| -0.9884691834449768, |
| -0.03470037505030632 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 178, |
| "c2w": [ |
| [ |
| 0.9844045639038086, |
| 0.09409715235233307, |
| -0.1486383080482483, |
| 0.11964404582977295 |
| ], |
| [ |
| 0.10525019466876984, |
| -0.9920472502708435, |
| 0.06902628391981125, |
| 0.03928926959633827 |
| ], |
| [ |
| -0.14096103608608246, |
| -0.08359399437904358, |
| -0.986479640007019, |
| -0.03575543686747551 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 179, |
| "c2w": [ |
| [ |
| 0.9829865097999573, |
| 0.08101844787597656, |
| -0.16484394669532776, |
| 0.1252337545156479 |
| ], |
| [ |
| 0.09418325126171112, |
| -0.9928255677223206, |
| 0.07366770505905151, |
| 0.0381835512816906 |
| ], |
| [ |
| -0.1576928347349167, |
| -0.08793990314006805, |
| -0.9835647344589233, |
| -0.036850281059741974 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 180, |
| "c2w": [ |
| [ |
| 0.9815638661384583, |
| 0.06716367602348328, |
| -0.17894533276557922, |
| 0.13090376555919647 |
| ], |
| [ |
| 0.08261331915855408, |
| -0.9933392405509949, |
| 0.08032582700252533, |
| 0.03691018745303154 |
| ], |
| [ |
| -0.172358438372612, |
| -0.09362819790840149, |
| -0.9805744886398315, |
| -0.03773472458124161 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 181, |
| "c2w": [ |
| [ |
| 0.9808624982833862, |
| 0.05526735261082649, |
| -0.18669307231903076, |
| 0.13632231950759888 |
| ], |
| [ |
| 0.07190749794244766, |
| -0.9939045906066895, |
| 0.0835643783211708, |
| 0.03581602871417999 |
| ], |
| [ |
| -0.18093672394752502, |
| -0.09538979828357697, |
| -0.9788578748703003, |
| -0.038876116275787354 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 182, |
| "c2w": [ |
| [ |
| 0.9805129170417786, |
| 0.0450158566236496, |
| -0.19122755527496338, |
| 0.14128193259239197 |
| ], |
| [ |
| 0.06244698911905289, |
| -0.9943252205848694, |
| 0.08612605184316635, |
| 0.03497657924890518 |
| ], |
| [ |
| -0.18626534938812256, |
| -0.0963892936706543, |
| -0.977759838104248, |
| -0.040013544261455536 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 183, |
| "c2w": [ |
| [ |
| 0.9806125164031982, |
| 0.039714861661195755, |
| -0.19189004600048065, |
| 0.14542782306671143 |
| ], |
| [ |
| 0.05714035406708717, |
| -0.9946426153182983, |
| 0.08614545315504074, |
| 0.034650929272174835 |
| ], |
| [ |
| -0.18744076788425446, |
| -0.09543997794389725, |
| -0.9776283502578735, |
| -0.0410747304558754 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 184, |
| "c2w": [ |
| [ |
| 0.9795986413955688, |
| 0.03675781935453415, |
| -0.19757376611232758, |
| 0.14900000393390656 |
| ], |
| [ |
| 0.054301321506500244, |
| -0.9949747323989868, |
| 0.08412249386310577, |
| 0.03460545465350151 |
| ], |
| [ |
| -0.19348876178264618, |
| -0.0931347981095314, |
| -0.9766719341278076, |
| -0.04269832372665405 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 185, |
| "c2w": [ |
| [ |
| 0.9783000946044922, |
| 0.02877732366323471, |
| -0.2051846981048584, |
| 0.15265043079853058 |
| ], |
| [ |
| 0.04709095135331154, |
| -0.9952728748321533, |
| 0.08493709564208984, |
| 0.034508492797613144 |
| ], |
| [ |
| -0.20177049934864044, |
| -0.09275630861520767, |
| -0.9750307202339172, |
| -0.04449404031038284 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 186, |
| "c2w": [ |
| [ |
| 0.977922260761261, |
| 0.02001037262380123, |
| -0.2080088108778, |
| 0.1560741513967514 |
| ], |
| [ |
| 0.03781604766845703, |
| -0.9959163069725037, |
| 0.0819796770811081, |
| 0.034430500119924545 |
| ], |
| [ |
| -0.2055189162492752, |
| -0.08803582191467285, |
| -0.9746854305267334, |
| -0.046384286135435104 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 187, |
| "c2w": [ |
| [ |
| 0.9775767922401428, |
| 0.0135206812992692, |
| -0.2101447731256485, |
| 0.1590336114168167 |
| ], |
| [ |
| 0.03157876431941986, |
| -0.9960644841194153, |
| 0.08281528204679489, |
| 0.03490802273154259 |
| ], |
| [ |
| -0.20819802582263947, |
| -0.0875944048166275, |
| -0.9741564393043518, |
| -0.04812541976571083 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 188, |
| "c2w": [ |
| [ |
| 0.9768645167350769, |
| 0.00589898694306612, |
| -0.21377776563167572, |
| 0.1617787629365921 |
| ], |
| [ |
| 0.026974191889166832, |
| -0.9950348138809204, |
| 0.09580244868993759, |
| 0.03506689518690109 |
| ], |
| [ |
| -0.2121511846780777, |
| -0.09935249388217926, |
| -0.9721733331680298, |
| -0.048797644674777985 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 189, |
| "c2w": [ |
| [ |
| 0.9745101928710938, |
| -0.002195719862356782, |
| -0.22433249652385712, |
| 0.16484475135803223 |
| ], |
| [ |
| 0.021493228152394295, |
| -0.994438648223877, |
| 0.10310088098049164, |
| 0.03559574857354164 |
| ], |
| [ |
| -0.22331129014492035, |
| -0.10529448837041855, |
| -0.9690434336662292, |
| -0.05061618611216545 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 190, |
| "c2w": [ |
| [ |
| 0.9720675945281982, |
| -0.006928516551852226, |
| -0.23459874093532562, |
| 0.16757328808307648 |
| ], |
| [ |
| 0.01756138540804386, |
| -0.9946149587631226, |
| 0.10214062035083771, |
| 0.03604480251669884 |
| ], |
| [ |
| -0.23404309153556824, |
| -0.10340746492147446, |
| -0.9667112827301025, |
| -0.052779581397771835 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 191, |
| "c2w": [ |
| [ |
| 0.9699406623840332, |
| -0.011103998869657516, |
| -0.24308818578720093, |
| 0.17022305727005005 |
| ], |
| [ |
| 0.01370290294289589, |
| -0.9948809146881104, |
| 0.10012070089578629, |
| 0.03632272779941559 |
| ], |
| [ |
| -0.2429555356502533, |
| -0.10044214874505997, |
| -0.964823305606842, |
| -0.05499907210469246 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 192, |
| "c2w": [ |
| [ |
| 0.9655968546867371, |
| -0.016513708978891373, |
| -0.25951874256134033, |
| 0.17319922149181366 |
| ], |
| [ |
| 0.009513591416180134, |
| -0.995070219039917, |
| 0.09871577471494675, |
| 0.03621278330683708 |
| ], |
| [ |
| -0.2598695456981659, |
| -0.09778859466314316, |
| -0.9606795310974121, |
| -0.05739382654428482 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 193, |
| "c2w": [ |
| [ |
| 0.9601407647132874, |
| -0.02457055263221264, |
| -0.2784349024295807, |
| 0.17626790702342987 |
| ], |
| [ |
| 0.003533856477588415, |
| -0.9949823021888733, |
| 0.0999884158372879, |
| 0.03598150610923767 |
| ], |
| [ |
| -0.27949458360671997, |
| -0.09698690474033356, |
| -0.9552362561225891, |
| -0.06009446829557419 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 194, |
| "c2w": [ |
| [ |
| 0.9569436311721802, |
| -0.0331222265958786, |
| -0.288377970457077, |
| 0.17942599952220917 |
| ], |
| [ |
| -0.0043464284390211105, |
| -0.9949921369552612, |
| 0.09985876828432083, |
| 0.0355861596763134 |
| ], |
| [ |
| -0.2902413606643677, |
| -0.09430579841136932, |
| -0.9522953033447266, |
| -0.06264126300811768 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 195, |
| "c2w": [ |
| [ |
| 0.9520394206047058, |
| -0.042641717940568924, |
| -0.3029894530773163, |
| 0.18306799232959747 |
| ], |
| [ |
| -0.011866377666592598, |
| -0.9946419596672058, |
| 0.10269659012556076, |
| 0.03465692326426506 |
| ], |
| [ |
| -0.3057451844215393, |
| -0.09417581558227539, |
| -0.9474443793296814, |
| -0.06439869850873947 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 196, |
| "c2w": [ |
| [ |
| 0.9444074034690857, |
| -0.058633800595998764, |
| -0.3235069513320923, |
| 0.1871715635061264 |
| ], |
| [ |
| -0.024015624076128006, |
| -0.9936432242393494, |
| 0.10998386889696121, |
| 0.03380504995584488 |
| ], |
| [ |
| -0.3278992474079132, |
| -0.096100352704525, |
| -0.9398121237754822, |
| -0.0669315904378891 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 197, |
| "c2w": [ |
| [ |
| 0.9365360140800476, |
| -0.07604261487722397, |
| -0.3422248363494873, |
| 0.19156068563461304 |
| ], |
| [ |
| -0.03678029775619507, |
| -0.9921169877052307, |
| 0.11979580670595169, |
| 0.032953523099422455 |
| ], |
| [ |
| -0.348636656999588, |
| -0.09960595518350601, |
| -0.9319501519203186, |
| -0.06962048262357712 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 198, |
| "c2w": [ |
| [ |
| 0.9301458597183228, |
| -0.08913831412792206, |
| -0.3562065064907074, |
| 0.19533832371234894 |
| ], |
| [ |
| -0.04647504538297653, |
| -0.990864634513855, |
| 0.12659911811351776, |
| 0.03158091381192207 |
| ], |
| [ |
| -0.3642372786998749, |
| -0.10120093822479248, |
| -0.925791323184967, |
| -0.07170392572879791 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 199, |
| "c2w": [ |
| [ |
| 0.9276282787322998, |
| -0.09833762049674988, |
| -0.36032694578170776, |
| 0.19949394464492798 |
| ], |
| [ |
| -0.0568634569644928, |
| -0.9906550645828247, |
| 0.12397217005491257, |
| 0.03070910833775997 |
| ], |
| [ |
| -0.3691508173942566, |
| -0.09451065957546234, |
| -0.9245514869689941, |
| -0.07436883449554443 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 200, |
| "c2w": [ |
| [ |
| 0.9135178923606873, |
| -0.19295737147331238, |
| -0.3581235408782959, |
| 0.20122645795345306 |
| ], |
| [ |
| -0.15603643655776978, |
| -0.979215145111084, |
| 0.12957733869552612, |
| 0.019194575026631355 |
| ], |
| [ |
| -0.37568289041519165, |
| -0.06249089911580086, |
| -0.9246389865875244, |
| -0.0576787069439888 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 201, |
| "c2w": [ |
| [ |
| 0.918186366558075, |
| -0.1899314969778061, |
| -0.3476490378379822, |
| 0.19800911843776703 |
| ], |
| [ |
| -0.15479102730751038, |
| -0.9798173904418945, |
| 0.1264815479516983, |
| 0.019832346588373184 |
| ], |
| [ |
| -0.36465540528297424, |
| -0.06232067570090294, |
| -0.9290546774864197, |
| -0.05501421168446541 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 202, |
| "c2w": [ |
| [ |
| 0.9221225380897522, |
| -0.18860456347465515, |
| -0.3378141522407532, |
| 0.19470609724521637 |
| ], |
| [ |
| -0.15452970564365387, |
| -0.9800065755844116, |
| 0.12533044815063477, |
| 0.020273271948099136 |
| ], |
| [ |
| -0.35469797253608704, |
| -0.06336770951747894, |
| -0.9328311085700989, |
| -0.05263550207018852 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 203, |
| "c2w": [ |
| [ |
| 0.9292693734169006, |
| -0.1831977814435959, |
| -0.3207755982875824, |
| 0.1910441815853119 |
| ], |
| [ |
| -0.1528831422328949, |
| -0.9812344312667847, |
| 0.11749757826328278, |
| 0.02082863450050354 |
| ], |
| [ |
| -0.33628135919570923, |
| -0.060145724564790726, |
| -0.9398390054702759, |
| -0.05053286626935005 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 204, |
| "c2w": [ |
| [ |
| 0.93415766954422, |
| -0.17845436930656433, |
| -0.30903640389442444, |
| 0.18696974217891693 |
| ], |
| [ |
| -0.15006032586097717, |
| -0.9821362495422363, |
| 0.11353519558906555, |
| 0.021708376705646515 |
| ], |
| [ |
| -0.3237766921520233, |
| -0.05968567356467247, |
| -0.9442490339279175, |
| -0.04733920469880104 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 205, |
| "c2w": [ |
| [ |
| 0.9349341988563538, |
| -0.17792922258377075, |
| -0.30698415637016296, |
| 0.18319126963615417 |
| ], |
| [ |
| -0.14833173155784607, |
| -0.981945812702179, |
| 0.11738865822553635, |
| 0.022235983982682228 |
| ], |
| [ |
| -0.32232868671417236, |
| -0.06421517580747604, |
| -0.9444472789764404, |
| -0.04502895101904869 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 206, |
| "c2w": [ |
| [ |
| 0.9364405274391174, |
| -0.17718245089054108, |
| -0.30279624462127686, |
| 0.17961111664772034 |
| ], |
| [ |
| -0.14664892852306366, |
| -0.9817661643028259, |
| 0.12095177918672562, |
| 0.02250714600086212 |
| ], |
| [ |
| -0.31870561838150024, |
| -0.06885940581560135, |
| -0.9453492164611816, |
| -0.04290919005870819 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 207, |
| "c2w": [ |
| [ |
| 0.939842164516449, |
| -0.17531833052635193, |
| -0.29318967461586, |
| 0.17590145766735077 |
| ], |
| [ |
| -0.14480046927928925, |
| -0.9817966818809509, |
| 0.1229148730635643, |
| 0.022713175043463707 |
| ], |
| [ |
| -0.30940189957618713, |
| -0.07306656986474991, |
| -0.9481201171875, |
| -0.04097965732216835 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 208, |
| "c2w": [ |
| [ |
| 0.9425300359725952, |
| -0.174275204539299, |
| -0.2850707471370697, |
| 0.17224159836769104 |
| ], |
| [ |
| -0.14395399391651154, |
| -0.9817554950714111, |
| 0.12423121184110641, |
| 0.022819677367806435 |
| ], |
| [ |
| -0.3015201687812805, |
| -0.07605457305908203, |
| -0.9504216313362122, |
| -0.03960828110575676 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 209, |
| "c2w": [ |
| [ |
| 0.9447734355926514, |
| -0.17375756800174713, |
| -0.2778695225715637, |
| 0.1685284823179245 |
| ], |
| [ |
| -0.1443389356136322, |
| -0.9818292856216431, |
| 0.12319695204496384, |
| 0.022868819534778595 |
| ], |
| [ |
| -0.29422682523727417, |
| -0.07628581672906876, |
| -0.9526862502098083, |
| -0.038599930703639984 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 210, |
| "c2w": [ |
| [ |
| 0.9478264451026917, |
| -0.17173317074775696, |
| -0.2685753405094147, |
| 0.1646529734134674 |
| ], |
| [ |
| -0.14347843825817108, |
| -0.9821471571922302, |
| 0.12165892124176025, |
| 0.022852221503853798 |
| ], |
| [ |
| -0.2846733629703522, |
| -0.07677678018808365, |
| -0.9555450677871704, |
| -0.0372576005756855 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 211, |
| "c2w": [ |
| [ |
| 0.9507482051849365, |
| -0.17026720941066742, |
| -0.25901147723197937, |
| 0.16069498658180237 |
| ], |
| [ |
| -0.1430521309375763, |
| -0.9823324680328369, |
| 0.12066048383712769, |
| 0.02273157238960266 |
| ], |
| [ |
| -0.27497991919517517, |
| -0.07766558974981308, |
| -0.9583079218864441, |
| -0.035890545696020126 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 212, |
| "c2w": [ |
| [ |
| 0.9520365595817566, |
| -0.17102457582950592, |
| -0.25372615456581116, |
| 0.15681961178779602 |
| ], |
| [ |
| -0.14394249022006989, |
| -0.9820553064346313, |
| 0.12185210734605789, |
| 0.022579338401556015 |
| ], |
| [ |
| -0.27001282572746277, |
| -0.079485684633255, |
| -0.9595702886581421, |
| -0.03460175544023514 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 213, |
| "c2w": [ |
| [ |
| 0.9536018371582031, |
| -0.1702197790145874, |
| -0.24833208322525024, |
| 0.15350355207920074 |
| ], |
| [ |
| -0.14363887906074524, |
| -0.9821279644966125, |
| 0.121624656021595, |
| 0.02243528515100479 |
| ], |
| [ |
| -0.2645967900753021, |
| -0.0803113579750061, |
| -0.96100914478302, |
| -0.03362596035003662 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 214, |
| "c2w": [ |
| [ |
| 0.9567383527755737, |
| -0.1674194186925888, |
| -0.23795479536056519, |
| 0.14954109489917755 |
| ], |
| [ |
| -0.14227747917175293, |
| -0.982612133026123, |
| 0.11929169297218323, |
| 0.02250385656952858 |
| ], |
| [ |
| -0.2537890076637268, |
| -0.08027532696723938, |
| -0.9639227390289307, |
| -0.03228466585278511 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 215, |
| "c2w": [ |
| [ |
| 0.9590559601783752, |
| -0.1653107851743698, |
| -0.22996531426906586, |
| 0.14523881673812866 |
| ], |
| [ |
| -0.14071932435035706, |
| -0.9827962517738342, |
| 0.11962290108203888, |
| 0.022662054747343063 |
| ], |
| [ |
| -0.2457839995622635, |
| -0.08236449211835861, |
| -0.9658190011978149, |
| -0.030703093856573105 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 216, |
| "c2w": [ |
| [ |
| 0.9604470729827881, |
| -0.163455531001091, |
| -0.22544117271900177, |
| 0.1413007229566574 |
| ], |
| [ |
| -0.13897085189819336, |
| -0.9829244613647461, |
| 0.12060923129320145, |
| 0.02269427292048931 |
| ], |
| [ |
| -0.2413059026002884, |
| -0.08450902998447418, |
| -0.9667624831199646, |
| -0.029357679188251495 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 217, |
| "c2w": [ |
| [ |
| 0.9620392322540283, |
| -0.1623683124780655, |
| -0.2193559855222702, |
| 0.13711965084075928 |
| ], |
| [ |
| -0.1384318321943283, |
| -0.983013391494751, |
| 0.12050449103116989, |
| 0.022853128612041473 |
| ], |
| [ |
| -0.23519597947597504, |
| -0.08556420356035233, |
| -0.968174397945404, |
| -0.028014641255140305 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 218, |
| "c2w": [ |
| [ |
| 0.9638240933418274, |
| -0.16141167283058167, |
| -0.21210695803165436, |
| 0.1323658972978592 |
| ], |
| [ |
| -0.1379362940788269, |
| -0.9829903244972229, |
| 0.12125857174396515, |
| 0.02379603683948517 |
| ], |
| [ |
| -0.22807163000106812, |
| -0.08761468529701233, |
| -0.9696942567825317, |
| -0.02532864362001419 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 219, |
| "c2w": [ |
| [ |
| 0.966240406036377, |
| -0.15904223918914795, |
| -0.20269441604614258, |
| 0.12773829698562622 |
| ], |
| [ |
| -0.13622386753559113, |
| -0.9831336140632629, |
| 0.12202990800142288, |
| 0.024310505017638206 |
| ], |
| [ |
| -0.2186836153268814, |
| -0.09029841423034668, |
| -0.9716088175773621, |
| -0.023253491148352623 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 220, |
| "c2w": [ |
| [ |
| 0.9681119322776794, |
| -0.15876001119613647, |
| -0.19378986954689026, |
| 0.12325277924537659 |
| ], |
| [ |
| -0.13603977859020233, |
| -0.9827253818511963, |
| 0.12547490000724792, |
| 0.02449587732553482 |
| ], |
| [ |
| -0.21036262810230255, |
| -0.09511062502861023, |
| -0.9729858636856079, |
| -0.021537721157073975 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 221, |
| "c2w": [ |
| [ |
| 0.9689445495605469, |
| -0.15913845598697662, |
| -0.18926535546779633, |
| 0.1181468814611435 |
| ], |
| [ |
| -0.13588714599609375, |
| -0.982140839099884, |
| 0.13013091683387756, |
| 0.024918003007769585 |
| ], |
| [ |
| -0.2065940648317337, |
| -0.10037090629339218, |
| -0.9732649326324463, |
| -0.019731123000383377 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 222, |
| "c2w": [ |
| [ |
| 0.9710483551025391, |
| -0.15629974007606506, |
| -0.18065308034420013, |
| 0.11310271918773651 |
| ], |
| [ |
| -0.13423281908035278, |
| -0.9825718998908997, |
| 0.12858447432518005, |
| 0.025170251727104187 |
| ], |
| [ |
| -0.19760237634181976, |
| -0.10061217099428177, |
| -0.9751054048538208, |
| -0.01840514875948429 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 223, |
| "c2w": [ |
| [ |
| 0.9749722480773926, |
| -0.15181833505630493, |
| -0.16242004930973053, |
| 0.10800370573997498 |
| ], |
| [ |
| -0.13264892995357513, |
| -0.9834967851638794, |
| 0.12303785979747772, |
| 0.025264635682106018 |
| ], |
| [ |
| -0.17841899394989014, |
| -0.09841365367174149, |
| -0.9790206551551819, |
| -0.0169663242995739 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 224, |
| "c2w": [ |
| [ |
| 0.9780261516571045, |
| -0.1478491723537445, |
| -0.1469881385564804, |
| 0.10368134081363678 |
| ], |
| [ |
| -0.13070383667945862, |
| -0.9841080904006958, |
| 0.12019884586334229, |
| 0.025618374347686768 |
| ], |
| [ |
| -0.1624235212802887, |
| -0.09834569692611694, |
| -0.9818078875541687, |
| -0.015160208567976952 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 225, |
| "c2w": [ |
| [ |
| 0.9789554476737976, |
| -0.14678962528705597, |
| -0.14177095890045166, |
| 0.09890979528427124 |
| ], |
| [ |
| -0.12950728833675385, |
| -0.9837557673454285, |
| 0.12430798262357712, |
| 0.025603357702493668 |
| ], |
| [ |
| -0.15771512687206268, |
| -0.10333160310983658, |
| -0.9820634126663208, |
| -0.013798784464597702 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 226, |
| "c2w": [ |
| [ |
| 0.980298638343811, |
| -0.14495894312858582, |
| -0.1341695487499237, |
| 0.09375984966754913 |
| ], |
| [ |
| -0.12809494137763977, |
| -0.9836218357086182, |
| 0.12680584192276, |
| 0.025521811097860336 |
| ], |
| [ |
| -0.15035374462604523, |
| -0.10712115466594696, |
| -0.982811689376831, |
| -0.012684105895459652 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 227, |
| "c2w": [ |
| [ |
| 0.982605516910553, |
| -0.13950161635875702, |
| -0.12257949262857437, |
| 0.08821453899145126 |
| ], |
| [ |
| -0.1244376003742218, |
| -0.9845747351646423, |
| 0.12299522012472153, |
| 0.025617599487304688 |
| ], |
| [ |
| -0.1378467082977295, |
| -0.10560227930545807, |
| -0.9848078489303589, |
| -0.01194179430603981 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 228, |
| "c2w": [ |
| [ |
| 0.9838218688964844, |
| -0.13367240130901337, |
| -0.1192736104130745, |
| 0.08371562510728836 |
| ], |
| [ |
| -0.11921139061450958, |
| -0.9854546189308167, |
| 0.12111073732376099, |
| 0.02608233317732811 |
| ], |
| [ |
| -0.13372789323329926, |
| -0.10493262112140656, |
| -0.985447108745575, |
| -0.011738304980099201 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 229, |
| "c2w": [ |
| [ |
| 0.9847332835197449, |
| -0.12973642349243164, |
| -0.11605513095855713, |
| 0.07872740179300308 |
| ], |
| [ |
| -0.1156194880604744, |
| -0.9858871698379517, |
| 0.12107279896736145, |
| 0.026320554316043854 |
| ], |
| [ |
| -0.13012482225894928, |
| -0.10580617934465408, |
| -0.9858359694480896, |
| -0.011574311181902885 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 230, |
| "c2w": [ |
| [ |
| 0.9870678186416626, |
| -0.12256252020597458, |
| -0.10332241654396057, |
| 0.07403946667909622 |
| ], |
| [ |
| -0.11063342541456223, |
| -0.9872772097587585, |
| 0.11421028524637222, |
| 0.026798203587532043 |
| ], |
| [ |
| -0.11600577086210251, |
| -0.1013023853302002, |
| -0.9880690574645996, |
| -0.01162119209766388 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 231, |
| "c2w": [ |
| [ |
| 0.9889781475067139, |
| -0.1148206889629364, |
| -0.09347942471504211, |
| 0.06862886250019073 |
| ], |
| [ |
| -0.1046348512172699, |
| -0.988693118095398, |
| 0.10741236060857773, |
| 0.027227528393268585 |
| ], |
| [ |
| -0.10475562512874603, |
| -0.09644727408885956, |
| -0.9898101687431335, |
| -0.011669328436255455 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 232, |
| "c2w": [ |
| [ |
| 0.9899727702140808, |
| -0.10988254845142365, |
| -0.08876786381006241, |
| 0.06321800500154495 |
| ], |
| [ |
| -0.10044611990451813, |
| -0.9894320964813232, |
| 0.10456928610801697, |
| 0.027512796223163605 |
| ], |
| [ |
| -0.09932011365890503, |
| -0.09460435807704926, |
| -0.9905480742454529, |
| -0.011768919415771961 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 233, |
| "c2w": [ |
| [ |
| 0.9911544919013977, |
| -0.10624395310878754, |
| -0.0795300230383873, |
| 0.057060811668634415 |
| ], |
| [ |
| -0.09794354438781738, |
| -0.9899657368659973, |
| 0.10185711085796356, |
| 0.02776235342025757 |
| ], |
| [ |
| -0.08955370634794235, |
| -0.09316667914390564, |
| -0.9916148781776428, |
| -0.011161288246512413 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 234, |
| "c2w": [ |
| [ |
| 0.9924483299255371, |
| -0.10059576481580734, |
| -0.07019128650426865, |
| 0.05150306224822998 |
| ], |
| [ |
| -0.09340681880712509, |
| -0.9906823039054871, |
| 0.09911485016345978, |
| 0.027963552623987198 |
| ], |
| [ |
| -0.07950779795646667, |
| -0.09181002527475357, |
| -0.9925973415374756, |
| -0.010881680063903332 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 235, |
| "c2w": [ |
| [ |
| 0.9936700463294983, |
| -0.0949036180973053, |
| -0.06010988727211952, |
| 0.0462687648832798 |
| ], |
| [ |
| -0.08893106132745743, |
| -0.9914718866348267, |
| 0.09526128321886063, |
| 0.02812569960951805 |
| ], |
| [ |
| -0.0686379075050354, |
| -0.08931264281272888, |
| -0.9936357736587524, |
| -0.010851636528968811 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 236, |
| "c2w": [ |
| [ |
| 0.9946140646934509, |
| -0.09093974530696869, |
| -0.04972705617547035, |
| 0.04237749055027962 |
| ], |
| [ |
| -0.08607534319162369, |
| -0.9919862747192383, |
| 0.09248946607112885, |
| 0.028190530836582184 |
| ], |
| [ |
| -0.05773952603340149, |
| -0.08771105110645294, |
| -0.9944711923599243, |
| -0.010646093636751175 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 237, |
| "c2w": [ |
| [ |
| 0.9953978061676025, |
| -0.08635041117668152, |
| -0.041554439812898636, |
| 0.03787321224808693 |
| ], |
| [ |
| -0.08234114944934845, |
| -0.9925257563591003, |
| 0.09006986767053604, |
| 0.028250647708773613 |
| ], |
| [ |
| -0.04902142286300659, |
| -0.0862337127327919, |
| -0.9950681328773499, |
| -0.010748142376542091 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 238, |
| "c2w": [ |
| [ |
| 0.9961721897125244, |
| -0.08017945289611816, |
| -0.03481728211045265, |
| 0.033057499676942825 |
| ], |
| [ |
| -0.07689937204122543, |
| -0.9932296276092529, |
| 0.08707144856452942, |
| 0.028358956798911095 |
| ], |
| [ |
| -0.041562896221876144, |
| -0.08406072854995728, |
| -0.9955934286117554, |
| -0.01114075817167759 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 239, |
| "c2w": [ |
| [ |
| 0.996802806854248, |
| -0.07448211312294006, |
| -0.02892429567873478, |
| 0.028249088674783707 |
| ], |
| [ |
| -0.07178258895874023, |
| -0.9937722682952881, |
| 0.08522845804691315, |
| 0.028430255129933357 |
| ], |
| [ |
| -0.03509216010570526, |
| -0.08287970721721649, |
| -0.9959415197372437, |
| -0.01163254864513874 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 240, |
| "c2w": [ |
| [ |
| 0.9973975419998169, |
| -0.0685293972492218, |
| -0.02240133099257946, |
| 0.023951208218932152 |
| ], |
| [ |
| -0.06648509949445724, |
| -0.9944196343421936, |
| 0.08191037178039551, |
| 0.02880977839231491 |
| ], |
| [ |
| -0.027889592573046684, |
| -0.08020785450935364, |
| -0.9963878989219666, |
| -0.011633964255452156 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 241, |
| "c2w": [ |
| [ |
| 0.9980538487434387, |
| -0.060590844601392746, |
| -0.014740264974534512, |
| 0.019075317308306694 |
| ], |
| [ |
| -0.05927063897252083, |
| -0.9952125549316406, |
| 0.07771091908216476, |
| 0.02912977710366249 |
| ], |
| [ |
| -0.019378267228603363, |
| -0.07668600976467133, |
| -0.9968669414520264, |
| -0.012177521362900734 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 242, |
| "c2w": [ |
| [ |
| 0.9986259937286377, |
| -0.05194324627518654, |
| -0.006933735217899084, |
| 0.014230592176318169 |
| ], |
| [ |
| -0.05129183828830719, |
| -0.995953381061554, |
| 0.07379741221666336, |
| 0.029891744256019592 |
| ], |
| [ |
| -0.010738953948020935, |
| -0.07334037125110626, |
| -0.9972491264343262, |
| -0.012528162449598312 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 243, |
| "c2w": [ |
| [ |
| 0.9991283416748047, |
| -0.04171062633395195, |
| 0.001658911001868546, |
| 0.009044511243700981 |
| ], |
| [ |
| -0.041726239025592804, |
| -0.9967776536941528, |
| 0.06850706040859222, |
| 0.030595410615205765 |
| ], |
| [ |
| -0.0012039070716127753, |
| -0.0685165673494339, |
| -0.9976492524147034, |
| -0.013182383961975574 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 244, |
| "c2w": [ |
| [ |
| 0.9995143413543701, |
| -0.03062492609024048, |
| 0.005760399159044027, |
| 0.0038354340940713882 |
| ], |
| [ |
| -0.030951950699090958, |
| -0.9970938563346863, |
| 0.06961192935705185, |
| 0.03126706928014755 |
| ], |
| [ |
| 0.0036117981653660536, |
| -0.069756418466568, |
| -0.997557520866394, |
| -0.013617228716611862 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 245, |
| "c2w": [ |
| [ |
| 0.9997141361236572, |
| -0.023849312216043472, |
| 0.001706561422906816, |
| -0.0008645245106890798 |
| ], |
| [ |
| -0.023909663781523705, |
| -0.9966210722923279, |
| 0.07857950031757355, |
| 0.03250580653548241 |
| ], |
| [ |
| -0.00017327189561910927, |
| -0.07859783619642258, |
| -0.9969063997268677, |
| -0.012739025056362152 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 246, |
| "c2w": [ |
| [ |
| 0.9998396635055542, |
| -0.017575515434145927, |
| 0.0034211997408419847, |
| -0.00534871406853199 |
| ], |
| [ |
| -0.017796209082007408, |
| -0.9965031147003174, |
| 0.08163817971944809, |
| 0.03328464552760124 |
| ], |
| [ |
| 0.0019744031596928835, |
| -0.08168597519397736, |
| -0.9966561794281006, |
| -0.012679573148488998 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 247, |
| "c2w": [ |
| [ |
| 0.9998675584793091, |
| -0.0125666419044137, |
| 0.010343252681195736, |
| -0.009545041248202324 |
| ], |
| [ |
| -0.013346238061785698, |
| -0.9967758655548096, |
| 0.07911881804466248, |
| 0.03393341973423958 |
| ], |
| [ |
| 0.00931564625352621, |
| -0.07924637943506241, |
| -0.9968115091323853, |
| -0.013104481622576714 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 248, |
| "c2w": [ |
| [ |
| 0.999840259552002, |
| -0.008573665283620358, |
| 0.015684423968195915, |
| -0.013521451503038406 |
| ], |
| [ |
| -0.009787503629922867, |
| -0.9968243837356567, |
| 0.07902751117944717, |
| 0.03444359451532364 |
| ], |
| [ |
| 0.014957060106098652, |
| -0.0791683942079544, |
| -0.9967490434646606, |
| -0.01354031078517437 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 249, |
| "c2w": [ |
| [ |
| 0.9998209476470947, |
| -0.005709486082196236, |
| 0.018041331321001053, |
| -0.01729700341820717 |
| ], |
| [ |
| -0.00718042254447937, |
| -0.9965611696243286, |
| 0.08254849165678024, |
| 0.03559056296944618 |
| ], |
| [ |
| 0.01750798150897026, |
| -0.08266325294971466, |
| -0.9964237213134766, |
| -0.01230526715517044 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 250, |
| "c2w": [ |
| [ |
| 0.9996652007102966, |
| -0.004464228171855211, |
| 0.025486009195446968, |
| -0.021007278934121132 |
| ], |
| [ |
| -0.006677091121673584, |
| -0.9961497783660889, |
| 0.08741327375173569, |
| 0.03590628132224083 |
| ], |
| [ |
| 0.0249976497143507, |
| -0.08755417913198471, |
| -0.9958460927009583, |
| -0.011929728090763092 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 251, |
| "c2w": [ |
| [ |
| 0.9990067481994629, |
| -0.0025709900073707104, |
| 0.04448484629392624, |
| -0.02480165660381317 |
| ], |
| [ |
| -0.006353232078254223, |
| -0.9963528513908386, |
| 0.08509208261966705, |
| 0.036241669207811356 |
| ], |
| [ |
| 0.04410383105278015, |
| -0.08529018610715866, |
| -0.9953795671463013, |
| -0.011677427217364311 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 252, |
| "c2w": [ |
| [ |
| 0.9978293180465698, |
| -0.0014854682376608253, |
| 0.06583612412214279, |
| -0.028545958921313286 |
| ], |
| [ |
| -0.006840749178081751, |
| -0.9966750144958496, |
| 0.08119207620620728, |
| 0.03673148900270462 |
| ], |
| [ |
| 0.06549660861492157, |
| -0.0814662054181099, |
| -0.9945217370986938, |
| -0.011127565987408161 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 253, |
| "c2w": [ |
| [ |
| 0.9968226552009583, |
| 0.0007921324577182531, |
| 0.07964932918548584, |
| -0.03235071152448654 |
| ], |
| [ |
| -0.005864085629582405, |
| -0.9965072274208069, |
| 0.08330037444829941, |
| 0.037203412503004074 |
| ], |
| [ |
| 0.07943711429834366, |
| -0.08350276947021484, |
| -0.9933363199234009, |
| -0.010805511847138405 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 254, |
| "c2w": [ |
| [ |
| 0.9957349896430969, |
| 0.0029623345471918583, |
| 0.09221205115318298, |
| -0.03633140027523041 |
| ], |
| [ |
| -0.0050756121054291725, |
| -0.9962118268013, |
| 0.0868116170167923, |
| 0.037913333624601364 |
| ], |
| [ |
| 0.09211990237236023, |
| -0.08690939843654633, |
| -0.9919479489326477, |
| -0.010543866083025932 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 255, |
| "c2w": [ |
| [ |
| 0.9940014481544495, |
| 0.010254986584186554, |
| 0.10888515412807465, |
| -0.04072537645697594 |
| ], |
| [ |
| 0.0007257998804561794, |
| -0.9961907863616943, |
| 0.08719717711210251, |
| 0.03886687383055687 |
| ], |
| [ |
| 0.1093645915389061, |
| -0.0865950882434845, |
| -0.9902225136756897, |
| -0.010620629414916039 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 256, |
| "c2w": [ |
| [ |
| 0.9919446110725403, |
| 0.022021794691681862, |
| 0.12474334239959717, |
| -0.04550236463546753 |
| ], |
| [ |
| 0.01140526495873928, |
| -0.9962994456291199, |
| 0.08519019186496735, |
| 0.040077392011880875 |
| ], |
| [ |
| 0.1261577606201172, |
| -0.08308122307062149, |
| -0.9885250329971313, |
| -0.011193053796887398 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 257, |
| "c2w": [ |
| [ |
| 0.9906240701675415, |
| 0.03587830439209938, |
| 0.13182072341442108, |
| -0.05046060308814049 |
| ], |
| [ |
| 0.024416029453277588, |
| -0.995859682559967, |
| 0.08756324648857117, |
| 0.04131966456770897 |
| ], |
| [ |
| 0.13441656529903412, |
| -0.0835237205028534, |
| -0.9873985648155212, |
| -0.01198604516685009 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 258, |
| "c2w": [ |
| [ |
| 0.9884012937545776, |
| 0.05107341334223747, |
| 0.143018901348114, |
| -0.05538870394229889 |
| ], |
| [ |
| 0.03737127035856247, |
| -0.9945917129516602, |
| 0.09690593928098679, |
| 0.0425000935792923 |
| ], |
| [ |
| 0.1471947282552719, |
| -0.0904371589422226, |
| -0.9849643707275391, |
| -0.012022800743579865 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 259, |
| "c2w": [ |
| [ |
| 0.9850608110427856, |
| 0.06774254143238068, |
| 0.15832284092903137, |
| -0.06084302440285683 |
| ], |
| [ |
| 0.0514054037630558, |
| -0.9931320548057556, |
| 0.10510072112083435, |
| 0.04347839206457138 |
| ], |
| [ |
| 0.16435527801513672, |
| -0.09539195150136948, |
| -0.9817778468132019, |
| -0.011705921031534672 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 260, |
| "c2w": [ |
| [ |
| 0.982535719871521, |
| 0.08280670642852783, |
| 0.1666329950094223, |
| -0.06619119644165039 |
| ], |
| [ |
| 0.06494396179914474, |
| -0.9918145537376404, |
| 0.10993702709674835, |
| 0.04452246055006981 |
| ], |
| [ |
| 0.17437255382537842, |
| -0.09719525277614594, |
| -0.9798710346221924, |
| -0.011862379498779774 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 261, |
| "c2w": [ |
| [ |
| 0.9804312586784363, |
| 0.09725607931613922, |
| 0.17116020619869232, |
| -0.07094739377498627 |
| ], |
| [ |
| 0.07872459292411804, |
| -0.9905933141708374, |
| 0.11192542314529419, |
| 0.04564625024795532 |
| ], |
| [ |
| 0.18043559789657593, |
| -0.096260666847229, |
| -0.9788650870323181, |
| -0.012443394400179386 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 262, |
| "c2w": [ |
| [ |
| 0.9784996509552002, |
| 0.1094430685043335, |
| 0.17481592297554016, |
| -0.07554766535758972 |
| ], |
| [ |
| 0.08989044278860092, |
| -0.9891596436500549, |
| 0.11611583828926086, |
| 0.04650776460766792 |
| ], |
| [ |
| 0.18562893569469452, |
| -0.09790503233671188, |
| -0.9777302742004395, |
| -0.013172568753361702 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 263, |
| "c2w": [ |
| [ |
| 0.9770945906639099, |
| 0.12286045402288437, |
| 0.17375677824020386, |
| -0.08016511797904968 |
| ], |
| [ |
| 0.10204582661390305, |
| -0.9870133996009827, |
| 0.12406127154827118, |
| 0.047212645411491394 |
| ], |
| [ |
| 0.18674248456954956, |
| -0.10348844528198242, |
| -0.9769428968429565, |
| -0.01389213465154171 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 264, |
| "c2w": [ |
| [ |
| 0.9750120639801025, |
| 0.13353177905082703, |
| 0.17754080891609192, |
| -0.08394905924797058 |
| ], |
| [ |
| 0.11212890595197678, |
| -0.9857244491577148, |
| 0.12559644877910614, |
| 0.04793057218194008 |
| ], |
| [ |
| 0.19177742302417755, |
| -0.10255059599876404, |
| -0.976065993309021, |
| -0.01519097201526165 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 265, |
| "c2w": [ |
| [ |
| 0.9703635573387146, |
| 0.1505313515663147, |
| 0.18903671205043793, |
| -0.08866680413484573 |
| ], |
| [ |
| 0.1273426115512848, |
| -0.9833818078041077, |
| 0.12939895689487457, |
| 0.04886080324649811 |
| ], |
| [ |
| 0.2053738534450531, |
| -0.10149159282445908, |
| -0.9734069108963013, |
| -0.016059963032603264 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 266, |
| "c2w": [ |
| [ |
| 0.9630537033081055, |
| 0.17422036826610565, |
| 0.20536509156227112, |
| -0.09410807490348816 |
| ], |
| [ |
| 0.1478348970413208, |
| -0.9793937802314758, |
| 0.13759595155715942, |
| 0.0496947318315506 |
| ], |
| [ |
| 0.22510530054569244, |
| -0.10215216875076294, |
| -0.968964695930481, |
| -0.016512516885995865 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 267, |
| "c2w": [ |
| [ |
| 0.9576570391654968, |
| 0.19235703349113464, |
| 0.21422365307807922, |
| -0.09863169491291046 |
| ], |
| [ |
| 0.1645263284444809, |
| -0.9762297868728638, |
| 0.1410902440547943, |
| 0.05066179111599922 |
| ], |
| [ |
| 0.2362712174654007, |
| -0.09987062960863113, |
| -0.9665411114692688, |
| -0.0177322831004858 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 268, |
| "c2w": [ |
| [ |
| 0.9549993872642517, |
| 0.20543189346790314, |
| 0.21394844353199005, |
| -0.10280675441026688 |
| ], |
| [ |
| 0.1778879314661026, |
| -0.9738849401473999, |
| 0.14108151197433472, |
| 0.0515945665538311 |
| ], |
| [ |
| 0.23734381794929504, |
| -0.09667391330003738, |
| -0.9666033387184143, |
| -0.01955133117735386 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 269, |
| "c2w": [ |
| [ |
| 0.9528207182884216, |
| 0.21473391354084015, |
| 0.2145274430513382, |
| -0.10719418525695801 |
| ], |
| [ |
| 0.18748801946640015, |
| -0.9721822142601013, |
| 0.14039236307144165, |
| 0.05269204452633858 |
| ], |
| [ |
| 0.2387067675590515, |
| -0.09354742616415024, |
| -0.9665753841400146, |
| -0.021604664623737335 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 270, |
| "c2w": [ |
| [ |
| 0.951039731502533, |
| 0.22256587445735931, |
| 0.21444784104824066, |
| -0.11111675947904587 |
| ], |
| [ |
| 0.19585728645324707, |
| -0.9707455039024353, |
| 0.1388997584581375, |
| 0.053374793380498886 |
| ], |
| [ |
| 0.23908860981464386, |
| -0.09009800851345062, |
| -0.9668086767196655, |
| -0.02352222241461277 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 271, |
| "c2w": [ |
| [ |
| 0.9482717514038086, |
| 0.23395368456840515, |
| 0.21458406746387482, |
| -0.11523138731718063 |
| ], |
| [ |
| 0.20714803040027618, |
| -0.9682119488716125, |
| 0.14019736647605896, |
| 0.053877782076597214 |
| ], |
| [ |
| 0.2405625581741333, |
| -0.08849453926086426, |
| -0.9665911197662354, |
| -0.025101523846387863 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 272, |
| "c2w": [ |
| [ |
| 0.9433849453926086, |
| 0.2472401112318039, |
| 0.22112706303596497, |
| -0.11933992058038712 |
| ], |
| [ |
| 0.21933495998382568, |
| -0.9650691747665405, |
| 0.1432955414056778, |
| 0.05457845702767372 |
| ], |
| [ |
| 0.24883131682872772, |
| -0.08668195456266403, |
| -0.9646601676940918, |
| -0.0262613445520401 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 273, |
| "c2w": [ |
| [ |
| 0.9381481409072876, |
| 0.2600961923599243, |
| 0.22853446006774902, |
| -0.12362436950206757 |
| ], |
| [ |
| 0.23168861865997314, |
| -0.962092936038971, |
| 0.14386652410030365, |
| 0.055209558457136154 |
| ], |
| [ |
| 0.2572905421257019, |
| -0.08201927691698074, |
| -0.9628470540046692, |
| -0.027708441019058228 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 274, |
| "c2w": [ |
| [ |
| 0.9323373436927795, |
| 0.2745187282562256, |
| 0.2353435605764389, |
| -0.12814567983150482 |
| ], |
| [ |
| 0.24568778276443481, |
| -0.9584854245185852, |
| 0.1447174996137619, |
| 0.05570366978645325 |
| ], |
| [ |
| 0.26530104875564575, |
| -0.07710448652505875, |
| -0.9610776305198669, |
| -0.029184743762016296 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 275, |
| "c2w": [ |
| [ |
| 0.9276173114776611, |
| 0.2868579626083374, |
| 0.23924602568149567, |
| -0.13257235288619995 |
| ], |
| [ |
| 0.2565741539001465, |
| -0.954810380935669, |
| 0.15002276003360748, |
| 0.05593085661530495 |
| ], |
| [ |
| 0.2714698016643524, |
| -0.0777793675661087, |
| -0.9592989683151245, |
| -0.03021041676402092 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 276, |
| "c2w": [ |
| [ |
| 0.9242339134216309, |
| 0.2970614433288574, |
| 0.23988774418830872, |
| -0.1371988207101822 |
| ], |
| [ |
| 0.2665122151374817, |
| -0.951797366142273, |
| 0.15183207392692566, |
| 0.05730356276035309 |
| ], |
| [ |
| 0.27342796325683594, |
| -0.07639534026384354, |
| -0.9588539600372314, |
| -0.03067256323993206 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 277, |
| "c2w": [ |
| [ |
| 0.9202598333358765, |
| 0.3078693747520447, |
| 0.24153321981430054, |
| -0.14143013954162598 |
| ], |
| [ |
| 0.27740004658699036, |
| -0.9486166834831238, |
| 0.15223534405231476, |
| 0.057779259979724884 |
| ], |
| [ |
| 0.2759910523891449, |
| -0.07309474796056747, |
| -0.9583768248558044, |
| -0.032171621918678284 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 278, |
| "c2w": [ |
| [ |
| 0.9150243997573853, |
| 0.3216722905635834, |
| 0.24342817068099976, |
| -0.145722895860672 |
| ], |
| [ |
| 0.2900848388671875, |
| -0.9440253376960754, |
| 0.1570570170879364, |
| 0.058291956782341 |
| ], |
| [ |
| 0.2803232669830322, |
| -0.07309618592262268, |
| -0.9571185111999512, |
| -0.032704394310712814 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 279, |
| "c2w": [ |
| [ |
| 0.9095767140388489, |
| 0.33328041434288025, |
| 0.24818208813667297, |
| -0.14976005256175995 |
| ], |
| [ |
| 0.3020189702510834, |
| -0.9404467940330505, |
| 0.15602678060531616, |
| 0.058557987213134766 |
| ], |
| [ |
| 0.28540271520614624, |
| -0.06696262955665588, |
| -0.9560655355453491, |
| -0.03416337072849274 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 280, |
| "c2w": [ |
| [ |
| 0.9073668718338013, |
| 0.34144994616508484, |
| 0.24514757096767426, |
| -0.1530892550945282 |
| ], |
| [ |
| 0.31138014793395996, |
| -0.9377801418304443, |
| 0.15365828573703766, |
| 0.058659110218286514 |
| ], |
| [ |
| 0.28236111998558044, |
| -0.06309034675359726, |
| -0.957231342792511, |
| -0.035924721509218216 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 281, |
| "c2w": [ |
| [ |
| 0.9048981666564941, |
| 0.35128113627433777, |
| 0.24033501744270325, |
| -0.1557624489068985 |
| ], |
| [ |
| 0.32077860832214355, |
| -0.9339895844459534, |
| 0.1573675572872162, |
| 0.05862945690751076 |
| ], |
| [ |
| 0.27975064516067505, |
| -0.06530728191137314, |
| -0.9578489065170288, |
| -0.03724344074726105 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 282, |
| "c2w": [ |
| [ |
| 0.9003169536590576, |
| 0.3612103760242462, |
| 0.2428094744682312, |
| -0.1584484726190567 |
| ], |
| [ |
| 0.33043551445007324, |
| -0.9303703308105469, |
| 0.15881888568401337, |
| 0.05855099856853485 |
| ], |
| [ |
| 0.2832697629928589, |
| -0.06275446712970734, |
| -0.9569849371910095, |
| -0.038073740899562836 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 283, |
| "c2w": [ |
| [ |
| 0.8958533406257629, |
| 0.37114080786705017, |
| 0.24433840811252594, |
| -0.16087424755096436 |
| ], |
| [ |
| 0.3397587239742279, |
| -0.9265184998512268, |
| 0.16163988411426544, |
| 0.05835331603884697 |
| ], |
| [ |
| 0.2863752245903015, |
| -0.06178952381014824, |
| -0.9561230540275574, |
| -0.038502857089042664 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 284, |
| "c2w": [ |
| [ |
| 0.8924703598022461, |
| 0.381168007850647, |
| 0.2412624955177307, |
| -0.16312004625797272 |
| ], |
| [ |
| 0.34804919362068176, |
| -0.9220675826072693, |
| 0.16927237808704376, |
| 0.057955678552389145 |
| ], |
| [ |
| 0.2869815528392792, |
| -0.06709935516119003, |
| -0.9555832147598267, |
| -0.03844062611460686 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 285, |
| "c2w": [ |
| [ |
| 0.8896345496177673, |
| 0.3889830410480499, |
| 0.23925423622131348, |
| -0.16418209671974182 |
| ], |
| [ |
| 0.3551519513130188, |
| -0.9186627864837646, |
| 0.1729908436536789, |
| 0.0581481046974659 |
| ], |
| [ |
| 0.2870844602584839, |
| -0.06892701983451843, |
| -0.9554222226142883, |
| -0.038299258798360825 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 286, |
| "c2w": [ |
| [ |
| 0.8904383778572083, |
| 0.3918682634830475, |
| 0.23142774403095245, |
| -0.1654195636510849 |
| ], |
| [ |
| 0.3588920533657074, |
| -0.9173200130462646, |
| 0.17239642143249512, |
| 0.05809246003627777 |
| ], |
| [ |
| 0.27984997630119324, |
| -0.0704508051276207, |
| -0.9574553370475769, |
| -0.0389329195022583 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 287, |
| "c2w": [ |
| [ |
| 0.8912554383277893, |
| 0.3944368362426758, |
| 0.2237931489944458, |
| -0.16665546596050262 |
| ], |
| [ |
| 0.36188796162605286, |
| -0.9159875512123108, |
| 0.17321628332138062, |
| 0.05818956717848778 |
| ], |
| [ |
| 0.27331462502479553, |
| -0.07339190691709518, |
| -0.9591208100318909, |
| -0.0394778698682785 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 288, |
| "c2w": [ |
| [ |
| 0.8890085816383362, |
| 0.4007697105407715, |
| 0.22146639227867126, |
| -0.16874301433563232 |
| ], |
| [ |
| 0.3675265908241272, |
| -0.9130308032035828, |
| 0.1769152581691742, |
| 0.058078933507204056 |
| ], |
| [ |
| 0.2731079161167145, |
| -0.07588440179824829, |
| -0.9589857459068298, |
| -0.039715733379125595 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 289, |
| "c2w": [ |
| [ |
| 0.8841046094894409, |
| 0.4115827977657318, |
| 0.2212660014629364, |
| -0.17166918516159058 |
| ], |
| [ |
| 0.3771041929721832, |
| -0.9080507755279541, |
| 0.1823078840970993, |
| 0.057876769453287125 |
| ], |
| [ |
| 0.27595555782318115, |
| -0.07773890346288681, |
| -0.9580215215682983, |
| -0.03975307568907738 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 290, |
| "c2w": [ |
| [ |
| 0.8777130842208862, |
| 0.42223986983299255, |
| 0.22656849026679993, |
| -0.17468398809432983 |
| ], |
| [ |
| 0.38693857192993164, |
| -0.9034241437911987, |
| 0.18467099964618683, |
| 0.05773458629846573 |
| ], |
| [ |
| 0.28266289830207825, |
| -0.07442005723714828, |
| -0.9563280344009399, |
| -0.04045930132269859 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 291, |
| "c2w": [ |
| [ |
| 0.8707078695297241, |
| 0.43353936076164246, |
| 0.2321883738040924, |
| -0.17771117389202118 |
| ], |
| [ |
| 0.3967026174068451, |
| -0.8981858491897583, |
| 0.18944457173347473, |
| 0.05746844410896301 |
| ], |
| [ |
| 0.2906799912452698, |
| -0.07284114509820938, |
| -0.9540436863899231, |
| -0.040751975029706955 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 292, |
| "c2w": [ |
| [ |
| 0.8643972277641296, |
| 0.4445270001888275, |
| 0.23497483134269714, |
| -0.1804407387971878 |
| ], |
| [ |
| 0.4072936177253723, |
| -0.8930602073669434, |
| 0.1911945343017578, |
| 0.05732912942767143 |
| ], |
| [ |
| 0.2948378026485443, |
| -0.06956427544355392, |
| -0.9530118107795715, |
| -0.04126011207699776 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 293, |
| "c2w": [ |
| [ |
| 0.8600305318832397, |
| 0.4526137709617615, |
| 0.23555944859981537, |
| -0.1819717288017273 |
| ], |
| [ |
| 0.4166516959667206, |
| -0.8894506096839905, |
| 0.1878269910812378, |
| 0.05760158970952034 |
| ], |
| [ |
| 0.29453158378601074, |
| -0.06339069455862045, |
| -0.9535369873046875, |
| -0.04267039895057678 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 294, |
| "c2w": [ |
| [ |
| 0.8568443655967712, |
| 0.4589136838912964, |
| 0.2349807769060135, |
| -0.18317089974880219 |
| ], |
| [ |
| 0.423061341047287, |
| -0.8863198161125183, |
| 0.18829850852489471, |
| 0.0575719028711319 |
| ], |
| [ |
| 0.2946808934211731, |
| -0.06193123385310173, |
| -0.953586757183075, |
| -0.04345988854765892 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 295, |
| "c2w": [ |
| [ |
| 0.8566476702690125, |
| 0.4599962532520294, |
| 0.2335769236087799, |
| -0.18367713689804077 |
| ], |
| [ |
| 0.42341920733451843, |
| -0.8855544328689575, |
| 0.1910746693611145, |
| 0.05742471292614937 |
| ], |
| [ |
| 0.2947387099266052, |
| -0.06478272378444672, |
| -0.9533793926239014, |
| -0.04353269562125206 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 296, |
| "c2w": [ |
| [ |
| 0.8586215972900391, |
| 0.4579368233680725, |
| 0.23035375773906708, |
| -0.18349827826023102 |
| ], |
| [ |
| 0.42135700583457947, |
| -0.8864213228225708, |
| 0.1916128545999527, |
| 0.0574430488049984 |
| ], |
| [ |
| 0.29193705320358276, |
| -0.067461758852005, |
| -0.9540553689002991, |
| -0.04357406869530678 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 297, |
| "c2w": [ |
| [ |
| 0.8608370423316956, |
| 0.4547317922115326, |
| 0.22842638194561005, |
| -0.18283361196517944 |
| ], |
| [ |
| 0.41810426115989685, |
| -0.8878976106643677, |
| 0.19190271198749542, |
| 0.05750050023198128 |
| ], |
| [ |
| 0.29008349776268005, |
| -0.06969090551137924, |
| -0.9544604420661926, |
| -0.042864859104156494 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 298, |
| "c2w": [ |
| [ |
| 0.8608227968215942, |
| 0.4556647837162018, |
| 0.2266136258840561, |
| -0.18272387981414795 |
| ], |
| [ |
| 0.4177394211292267, |
| -0.8870130777359009, |
| 0.19672706723213196, |
| 0.05748274177312851 |
| ], |
| [ |
| 0.2906508445739746, |
| -0.07468170672655106, |
| -0.953910231590271, |
| -0.04236049950122833 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 299, |
| "c2w": [ |
| [ |
| 0.8592920899391174, |
| 0.4581564664840698, |
| 0.2273978292942047, |
| -0.18294081091880798 |
| ], |
| [ |
| 0.4193474054336548, |
| -0.8855990767478943, |
| 0.199654683470726, |
| 0.057470209896564484 |
| ], |
| [ |
| 0.2928563952445984, |
| -0.07620300352573395, |
| -0.9531150460243225, |
| -0.04230061173439026 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 300, |
| "c2w": [ |
| [ |
| 0.8592991232872009, |
| 0.4579598009586334, |
| 0.22776710987091064, |
| -0.18282410502433777 |
| ], |
| [ |
| 0.4199484586715698, |
| -0.8859227895736694, |
| 0.1969367414712906, |
| 0.05761374160647392 |
| ], |
| [ |
| 0.29197320342063904, |
| -0.07357712090015411, |
| -0.9535921812057495, |
| -0.04251832142472267 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 301, |
| "c2w": [ |
| [ |
| 0.8610521554946899, |
| 0.45703864097595215, |
| 0.22294579446315765, |
| -0.18259598314762115 |
| ], |
| [ |
| 0.42106133699417114, |
| -0.8866168856620789, |
| 0.1913577914237976, |
| 0.05762732774019241 |
| ], |
| [ |
| 0.2851254343986511, |
| -0.07089519500732422, |
| -0.9558647274971008, |
| -0.04374294728040695 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 302, |
| "c2w": [ |
| [ |
| 0.8629671335220337, |
| 0.45550060272216797, |
| 0.21864786744117737, |
| -0.1823471337556839 |
| ], |
| [ |
| 0.42135101556777954, |
| -0.8875986337661743, |
| 0.18609662353992462, |
| 0.057460106909275055 |
| ], |
| [ |
| 0.2788386642932892, |
| -0.06846777349710464, |
| -0.9578941464424133, |
| -0.04495628923177719 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 303, |
| "c2w": [ |
| [ |
| 0.8642264604568481, |
| 0.45607662200927734, |
| 0.21238337457180023, |
| -0.18243975937366486 |
| ], |
| [ |
| 0.42124006152153015, |
| -0.8867825269699097, |
| 0.1901935636997223, |
| 0.05670514330267906 |
| ], |
| [ |
| 0.27508071064949036, |
| -0.07490593194961548, |
| -0.9584986567497253, |
| -0.0440976656973362 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 304, |
| "c2w": [ |
| [ |
| 0.8645736575126648, |
| 0.4585198760032654, |
| 0.20560142397880554, |
| -0.1825931817293167 |
| ], |
| [ |
| 0.42215579748153687, |
| -0.8846871852874756, |
| 0.19777029752731323, |
| 0.05615396052598953 |
| ], |
| [ |
| 0.2725745737552643, |
| -0.08419115096330643, |
| -0.9584440588951111, |
| -0.04315003380179405 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 305, |
| "c2w": [ |
| [ |
| 0.8649507164955139, |
| 0.45783790946006775, |
| 0.20553502440452576, |
| -0.18238992989063263 |
| ], |
| [ |
| 0.42022791504859924, |
| -0.8846261501312256, |
| 0.20210160315036774, |
| 0.05587339773774147 |
| ], |
| [ |
| 0.27435144782066345, |
| -0.08843638002872467, |
| -0.9575543403625488, |
| -0.041737768799066544 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 306, |
| "c2w": [ |
| [ |
| 0.8660615682601929, |
| 0.45567649602890015, |
| 0.2056606262922287, |
| -0.1818036586046219 |
| ], |
| [ |
| 0.4179404377937317, |
| -0.8856573104858398, |
| 0.20232880115509033, |
| 0.055993836373090744 |
| ], |
| [ |
| 0.27434131503105164, |
| -0.0892753079533577, |
| -0.9574793577194214, |
| -0.040986932814121246 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 307, |
| "c2w": [ |
| [ |
| 0.868242084980011, |
| 0.45277804136276245, |
| 0.2028491497039795, |
| -0.18092644214630127 |
| ], |
| [ |
| 0.4152047038078308, |
| -0.8869073987007141, |
| 0.20248547196388245, |
| 0.05626353994011879 |
| ], |
| [ |
| 0.27158936858177185, |
| -0.09158247709274292, |
| -0.9580458402633667, |
| -0.0405273400247097 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 308, |
| "c2w": [ |
| [ |
| 0.8710963726043701, |
| 0.4497794210910797, |
| 0.19720451533794403, |
| -0.179881751537323 |
| ], |
| [ |
| 0.4125051498413086, |
| -0.8880016207695007, |
| 0.20320595800876617, |
| 0.05647808685898781 |
| ], |
| [ |
| 0.2665157914161682, |
| -0.09566409140825272, |
| -0.9590712785720825, |
| -0.03995930030941963 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 309, |
| "c2w": [ |
| [ |
| 0.8738344311714172, |
| 0.4462166130542755, |
| 0.19314271211624146, |
| -0.17849060893058777 |
| ], |
| [ |
| 0.4085824489593506, |
| -0.8892160058021545, |
| 0.2058039754629135, |
| 0.05655067414045334 |
| ], |
| [ |
| 0.26357874274253845, |
| -0.10092388093471527, |
| -0.9593438506126404, |
| -0.037849873304367065 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 310, |
| "c2w": [ |
| [ |
| 0.8768126368522644, |
| 0.441444993019104, |
| 0.19059360027313232, |
| -0.17698712646961212 |
| ], |
| [ |
| 0.4032512307167053, |
| -0.8910024762153625, |
| 0.20857372879981995, |
| 0.056670572608709335 |
| ], |
| [ |
| 0.26189321279525757, |
| -0.10602297633886337, |
| -0.9592554569244385, |
| -0.03647216036915779 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 311, |
| "c2w": [ |
| [ |
| 0.879732072353363, |
| 0.435012549161911, |
| 0.19192594289779663, |
| -0.17528928816318512 |
| ], |
| [ |
| 0.39680105447769165, |
| -0.8940956592559814, |
| 0.2077062875032425, |
| 0.05698526278138161 |
| ], |
| [ |
| 0.26195499300956726, |
| -0.10656946897506714, |
| -0.9591780304908752, |
| -0.035509757697582245 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 312, |
| "c2w": [ |
| [ |
| 0.8833711743354797, |
| 0.4289921522140503, |
| 0.1887354850769043, |
| -0.1732732057571411 |
| ], |
| [ |
| 0.3897590637207031, |
| -0.8960674405097961, |
| 0.21248769760131836, |
| 0.056952718645334244 |
| ], |
| [ |
| 0.260275274515152, |
| -0.11414413899183273, |
| -0.9587637186050415, |
| -0.033489227294921875 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 313, |
| "c2w": [ |
| [ |
| 0.8877184987068176, |
| 0.4224480092525482, |
| 0.1830124855041504, |
| -0.1712939590215683 |
| ], |
| [ |
| 0.38192474842071533, |
| -0.8977153301239014, |
| 0.21963751316070557, |
| 0.05696606636047363 |
| ], |
| [ |
| 0.2570785582065582, |
| -0.12507927417755127, |
| -0.9582618474960327, |
| -0.031733036041259766 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 314, |
| "c2w": [ |
| [ |
| 0.8918512463569641, |
| 0.4144354462623596, |
| 0.18123090267181396, |
| -0.16910392045974731 |
| ], |
| [ |
| 0.37383776903152466, |
| -0.9009051322937012, |
| 0.22048857808113098, |
| 0.05730270966887474 |
| ], |
| [ |
| 0.25465014576911926, |
| -0.12889204919338226, |
| -0.9584050178527832, |
| -0.03079577535390854 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 315, |
| "c2w": [ |
| [ |
| 0.8962164521217346, |
| 0.4056054353713989, |
| 0.17966730892658234, |
| -0.16641084849834442 |
| ], |
| [ |
| 0.36529549956321716, |
| -0.9045493006706238, |
| 0.21988581120967865, |
| 0.05750144645571709 |
| ], |
| [ |
| 0.2517048120498657, |
| -0.1314336210489273, |
| -0.9588378071784973, |
| -0.029859088361263275 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 316, |
| "c2w": [ |
| [ |
| 0.9000747799873352, |
| 0.3976413607597351, |
| 0.17817601561546326, |
| -0.16382743418216705 |
| ], |
| [ |
| 0.35826459527015686, |
| -0.9080954790115356, |
| 0.21681582927703857, |
| 0.05782368406653404 |
| ], |
| [ |
| 0.24801577627658844, |
| -0.13131630420684814, |
| -0.9598146677017212, |
| -0.029814276844263077 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 317, |
| "c2w": [ |
| [ |
| 0.9030221700668335, |
| 0.3889019191265106, |
| 0.18250006437301636, |
| -0.16126124560832977 |
| ], |
| [ |
| 0.35029467940330505, |
| -0.9125073552131653, |
| 0.21124373376369476, |
| 0.05810479447245598 |
| ], |
| [ |
| 0.24868574738502502, |
| -0.12682896852493286, |
| -0.9602446556091309, |
| -0.02991326153278351 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 318, |
| "c2w": [ |
| [ |
| 0.9049126505851746, |
| 0.38122695684432983, |
| 0.1892065405845642, |
| -0.1589895784854889 |
| ], |
| [ |
| 0.3419203460216522, |
| -0.9159237146377563, |
| 0.21017658710479736, |
| 0.05804035812616348 |
| ], |
| [ |
| 0.2534237504005432, |
| -0.12549787759780884, |
| -0.9591802358627319, |
| -0.029381219297647476 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 319, |
| "c2w": [ |
| [ |
| 0.9059804677963257, |
| 0.37789079546928406, |
| 0.19078239798545837, |
| -0.15698951482772827 |
| ], |
| [ |
| 0.3374280333518982, |
| -0.9168015718460083, |
| 0.21358181536197662, |
| 0.05780043825507164 |
| ], |
| [ |
| 0.25562021136283875, |
| -0.12912562489509583, |
| -0.95811527967453, |
| -0.028689611703157425 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 320, |
| "c2w": [ |
| [ |
| 0.9074459671974182, |
| 0.37501636147499084, |
| 0.18948499858379364, |
| -0.15490351617336273 |
| ], |
| [ |
| 0.3346448838710785, |
| -0.9177746176719666, |
| 0.21378149092197418, |
| 0.057711392641067505 |
| ], |
| [ |
| 0.2540760934352875, |
| -0.1305849701166153, |
| -0.9583281874656677, |
| -0.028462201356887817 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 321, |
| "c2w": [ |
| [ |
| 0.9098178744316101, |
| 0.36809930205345154, |
| 0.19166193902492523, |
| -0.15256744623184204 |
| ], |
| [ |
| 0.32890334725379944, |
| -0.9211928844451904, |
| 0.20790930092334747, |
| 0.057987116277217865 |
| ], |
| [ |
| 0.25308889150619507, |
| -0.12612134218215942, |
| -0.959186851978302, |
| -0.02876114659011364 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 322, |
| "c2w": [ |
| [ |
| 0.9145175814628601, |
| 0.35713526606559753, |
| 0.190031498670578, |
| -0.14935293793678284 |
| ], |
| [ |
| 0.31972458958625793, |
| -0.9258661866188049, |
| 0.20136520266532898, |
| 0.05799488723278046 |
| ], |
| [ |
| 0.24785836040973663, |
| -0.12339427322149277, |
| -0.9609058499336243, |
| -0.029498057439923286 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 323, |
| "c2w": [ |
| [ |
| 0.9213213324546814, |
| 0.34461867809295654, |
| 0.1800137758255005, |
| -0.14571045339107513 |
| ], |
| [ |
| 0.3089132606983185, |
| -0.9299731254577637, |
| 0.19930538535118103, |
| 0.05772728845477104 |
| ], |
| [ |
| 0.23609232902526855, |
| -0.1280156672000885, |
| -0.9632613658905029, |
| -0.029918119311332703 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 324, |
| "c2w": [ |
| [ |
| 0.9297901391983032, |
| 0.32789480686187744, |
| 0.16725817322731018, |
| -0.1406395137310028 |
| ], |
| [ |
| 0.29444316029548645, |
| -0.9352253675460815, |
| 0.19661332666873932, |
| 0.05741468816995621 |
| ], |
| [ |
| 0.22089256346225739, |
| -0.13356110453605652, |
| -0.9661096930503845, |
| -0.029451394453644753 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 325, |
| "c2w": [ |
| [ |
| 0.9387080669403076, |
| 0.30888059735298157, |
| 0.15303583443164825, |
| -0.1360502392053604 |
| ], |
| [ |
| 0.27737703919410706, |
| -0.9404137134552002, |
| 0.1966826617717743, |
| 0.05694160982966423 |
| ], |
| [ |
| 0.20466844737529755, |
| -0.1421789675951004, |
| -0.9684503078460693, |
| -0.029213160276412964 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 326, |
| "c2w": [ |
| [ |
| 0.944743275642395, |
| 0.2940887212753296, |
| 0.14481694996356964, |
| -0.1319441795349121 |
| ], |
| [ |
| 0.263623982667923, |
| -0.9441729784011841, |
| 0.19758480787277222, |
| 0.05643147602677345 |
| ], |
| [ |
| 0.1948397159576416, |
| -0.14848969876766205, |
| -0.969529926776886, |
| -0.028828658163547516 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 327, |
| "c2w": [ |
| [ |
| 0.948032796382904, |
| 0.28261926770210266, |
| 0.1461511254310608, |
| -0.12838910520076752 |
| ], |
| [ |
| 0.2516394257545471, |
| -0.947106659412384, |
| 0.19916480779647827, |
| 0.05565233156085014 |
| ], |
| [ |
| 0.19470851123332977, |
| -0.1520373821258545, |
| -0.9690062999725342, |
| -0.02727504074573517 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 328, |
| "c2w": [ |
| [ |
| 0.9509744048118591, |
| 0.27456581592559814, |
| 0.14234225451946259, |
| -0.12519367039203644 |
| ], |
| [ |
| 0.24352820217609406, |
| -0.9485002160072327, |
| 0.2025865912437439, |
| 0.05508008971810341 |
| ], |
| [ |
| 0.19063502550125122, |
| -0.15799030661582947, |
| -0.9688639640808105, |
| -0.026394139975309372 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 329, |
| "c2w": [ |
| [ |
| 0.9538913369178772, |
| 0.2665127217769623, |
| 0.13806606829166412, |
| -0.12158623337745667 |
| ], |
| [ |
| 0.23647314310073853, |
| -0.9505862593650818, |
| 0.20116205513477325, |
| 0.05487888306379318 |
| ], |
| [ |
| 0.18485596776008606, |
| -0.1592378318309784, |
| -0.9697791337966919, |
| -0.025620650500059128 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 330, |
| "c2w": [ |
| [ |
| 0.9569336771965027, |
| 0.2581198811531067, |
| 0.13286106288433075, |
| -0.11837340891361237 |
| ], |
| [ |
| 0.2294921725988388, |
| -0.9528889060020447, |
| 0.19833330810070038, |
| 0.054831523448228836 |
| ], |
| [ |
| 0.17779560387134552, |
| -0.1593012511730194, |
| -0.9710879921913147, |
| -0.025653716176748276 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 331, |
| "c2w": [ |
| [ |
| 0.959732174873352, |
| 0.2507026791572571, |
| 0.12673711776733398, |
| -0.11559616029262543 |
| ], |
| [ |
| 0.22367265820503235, |
| -0.9549227952957153, |
| 0.19517439603805542, |
| 0.054857466369867325 |
| ], |
| [ |
| 0.16995491087436676, |
| -0.1589675098657608, |
| -0.9725454449653625, |
| -0.02616681531071663 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 332, |
| "c2w": [ |
| [ |
| 0.9620985388755798, |
| 0.2437894493341446, |
| 0.12220117449760437, |
| -0.11256319284439087 |
| ], |
| [ |
| 0.2183188498020172, |
| -0.9570937752723694, |
| 0.19054752588272095, |
| 0.05491987243294716 |
| ], |
| [ |
| 0.1634114682674408, |
| -0.15664668381214142, |
| -0.9740423560142517, |
| -0.026194993406534195 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 333, |
| "c2w": [ |
| [ |
| 0.96412193775177, |
| 0.2383560687303543, |
| 0.1168559268116951, |
| -0.11005786061286926 |
| ], |
| [ |
| 0.21428023278713226, |
| -0.9586226344108582, |
| 0.1874210387468338, |
| 0.05503392592072487 |
| ], |
| [ |
| 0.15669368207454681, |
| -0.1556568145751953, |
| -0.9753040671348572, |
| -0.02641608938574791 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 334, |
| "c2w": [ |
| [ |
| 0.9657559394836426, |
| 0.2332114428281784, |
| 0.11370094865560532, |
| -0.10782833397388458 |
| ], |
| [ |
| 0.21018417179584503, |
| -0.9601668119430542, |
| 0.18412582576274872, |
| 0.0552072674036026 |
| ], |
| [ |
| 0.15211212635040283, |
| -0.15392246842384338, |
| -0.9763041138648987, |
| -0.026681844145059586 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 335, |
| "c2w": [ |
| [ |
| 0.9670966863632202, |
| 0.22852197289466858, |
| 0.11181119829416275, |
| -0.10474327951669693 |
| ], |
| [ |
| 0.20575307309627533, |
| -0.9610422849655151, |
| 0.18456266820430756, |
| 0.05524139106273651 |
| ], |
| [ |
| 0.14963191747665405, |
| -0.15548443794250488, |
| -0.976439893245697, |
| -0.026080438867211342 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 336, |
| "c2w": [ |
| [ |
| 0.9684507250785828, |
| 0.2241039127111435, |
| 0.10899832099676132, |
| -0.10206492245197296 |
| ], |
| [ |
| 0.20161962509155273, |
| -0.9616726040840149, |
| 0.18583695590496063, |
| 0.05532940849661827 |
| ], |
| [ |
| 0.14646749198436737, |
| -0.1579977422952652, |
| -0.9765162467956543, |
| -0.025593098253011703 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 337, |
| "c2w": [ |
| [ |
| 0.9703317880630493, |
| 0.21846473217010498, |
| 0.10358274728059769, |
| -0.09944520890712738 |
| ], |
| [ |
| 0.19706666469573975, |
| -0.9628430604934692, |
| 0.1846562772989273, |
| 0.05557619035243988 |
| ], |
| [ |
| 0.14007481932640076, |
| -0.15876515209674835, |
| -0.9773293733596802, |
| -0.025693945586681366 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 338, |
| "c2w": [ |
| [ |
| 0.9725347757339478, |
| 0.21147403120994568, |
| 0.09723630547523499, |
| -0.0965820699930191 |
| ], |
| [ |
| 0.19141437113285065, |
| -0.9643361568450928, |
| 0.18280133605003357, |
| 0.05581708997488022 |
| ], |
| [ |
| 0.1324262171983719, |
| -0.15916822850704193, |
| -0.978329598903656, |
| -0.02604842185974121 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 339, |
| "c2w": [ |
| [ |
| 0.974766731262207, |
| 0.20417667925357819, |
| 0.0902312695980072, |
| -0.09272758662700653 |
| ], |
| [ |
| 0.1855185329914093, |
| -0.9657829403877258, |
| 0.18123503029346466, |
| 0.05574845150113106 |
| ], |
| [ |
| 0.12414779514074326, |
| -0.15992231667041779, |
| -0.9792916774749756, |
| -0.025933027267456055 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 340, |
| "c2w": [ |
| [ |
| 0.9765439033508301, |
| 0.19726090133190155, |
| 0.08631414920091629, |
| -0.08947741985321045 |
| ], |
| [ |
| 0.17940957844257355, |
| -0.9670968651771545, |
| 0.1803768426179886, |
| 0.05577163025736809 |
| ], |
| [ |
| 0.11905544251203537, |
| -0.16066031157970428, |
| -0.9798030853271484, |
| -0.025993574410676956 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 341, |
| "c2w": [ |
| [ |
| 0.9777035117149353, |
| 0.19219692051410675, |
| 0.08459410816431046, |
| -0.08588781207799911 |
| ], |
| [ |
| 0.17476685345172882, |
| -0.968089759349823, |
| 0.17960713803768158, |
| 0.055910754948854446 |
| ], |
| [ |
| 0.1164146289229393, |
| -0.16081829369068146, |
| -0.9800944328308105, |
| -0.025102809071540833 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 342, |
| "c2w": [ |
| [ |
| 0.9790675640106201, |
| 0.18671590089797974, |
| 0.0810178741812706, |
| -0.08235539495944977 |
| ], |
| [ |
| 0.1700243502855301, |
| -0.9690961241722107, |
| 0.1787300556898117, |
| 0.0560210756957531 |
| ], |
| [ |
| 0.11188585311174393, |
| -0.16121380031108856, |
| -0.9805567860603333, |
| -0.024753443896770477 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 343, |
| "c2w": [ |
| [ |
| 0.9803123474121094, |
| 0.18233714997768402, |
| 0.07576826214790344, |
| -0.07893675565719604 |
| ], |
| [ |
| 0.16648226976394653, |
| -0.969596803188324, |
| 0.17934802174568176, |
| 0.05601806566119194 |
| ], |
| [ |
| 0.10616646707057953, |
| -0.16320301592350006, |
| -0.980863630771637, |
| -0.024597428739070892 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 344, |
| "c2w": [ |
| [ |
| 0.9811325669288635, |
| 0.17783012986183167, |
| 0.07586361467838287, |
| -0.07541967183351517 |
| ], |
| [ |
| 0.16213268041610718, |
| -0.970545768737793, |
| 0.17819632589817047, |
| 0.05591819807887077 |
| ], |
| [ |
| 0.10531778633594513, |
| -0.16253425180912018, |
| -0.9810661673545837, |
| -0.024526048451662064 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 345, |
| "c2w": [ |
| [ |
| 0.9822573661804199, |
| 0.17241914570331573, |
| 0.07377085089683533, |
| -0.07135406881570816 |
| ], |
| [ |
| 0.15715543925762177, |
| -0.971418023109436, |
| 0.17790208756923676, |
| 0.05640671029686928 |
| ], |
| [ |
| 0.10233605653047562, |
| -0.16315214335918427, |
| -0.9812791347503662, |
| -0.022913990542292595 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 346, |
| "c2w": [ |
| [ |
| 0.9836240410804749, |
| 0.1663152277469635, |
| 0.06944780051708221, |
| -0.06727638840675354 |
| ], |
| [ |
| 0.15176859498023987, |
| -0.9721534252166748, |
| 0.17856107652187347, |
| 0.056381870061159134 |
| ], |
| [ |
| 0.09721134603023529, |
| -0.1650969684123993, |
| -0.9814748764038086, |
| -0.022680222988128662 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 347, |
| "c2w": [ |
| [ |
| 0.9849777817726135, |
| 0.15953493118286133, |
| 0.06608642637729645, |
| -0.06306654214859009 |
| ], |
| [ |
| 0.14569813013076782, |
| -0.9732149839401245, |
| 0.17783315479755402, |
| 0.0562647245824337 |
| ], |
| [ |
| 0.09268689900636673, |
| -0.16553303599357605, |
| -0.9818390607833862, |
| -0.022746479138731956 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 348, |
| "c2w": [ |
| [ |
| 0.9856989979743958, |
| 0.15400923788547516, |
| 0.06840087473392487, |
| -0.05823072791099548 |
| ], |
| [ |
| 0.1399034708738327, |
| -0.9741625189781189, |
| 0.17729751765727997, |
| 0.05735103040933609 |
| ], |
| [ |
| 0.09393902122974396, |
| -0.16519245505332947, |
| -0.9817774295806885, |
| -0.02084888145327568 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 349, |
| "c2w": [ |
| [ |
| 0.9858852028846741, |
| 0.15017540752887726, |
| 0.0740119069814682, |
| -0.0541003942489624 |
| ], |
| [ |
| 0.13521401584148407, |
| -0.9748835563659668, |
| 0.17697222530841827, |
| 0.0574139840900898 |
| ], |
| [ |
| 0.09872987121343613, |
| -0.16446685791015625, |
| -0.9814291000366211, |
| -0.020183270797133446 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 350, |
| "c2w": [ |
| [ |
| 0.9864799976348877, |
| 0.1458546370267868, |
| 0.0747239738702774, |
| -0.04996783658862114 |
| ], |
| [ |
| 0.13084346055984497, |
| -0.975516140460968, |
| 0.1767718344926834, |
| 0.05752290040254593 |
| ], |
| [ |
| 0.09867743402719498, |
| -0.16460472345352173, |
| -0.9814112782478333, |
| -0.019847437739372253 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 351, |
| "c2w": [ |
| [ |
| 0.9872035980224609, |
| 0.1410241276025772, |
| 0.07443930208683014, |
| -0.04552695155143738 |
| ], |
| [ |
| 0.12614919245243073, |
| -0.9761980772018433, |
| 0.1764192432165146, |
| 0.05858129635453224 |
| ], |
| [ |
| 0.09754687547683716, |
| -0.16477125883102417, |
| -0.9814963340759277, |
| -0.018544454127550125 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 352, |
| "c2w": [ |
| [ |
| 0.9874743223190308, |
| 0.13664530217647552, |
| 0.07888294756412506, |
| -0.041373301297426224 |
| ], |
| [ |
| 0.12140372395515442, |
| -0.9773614406585693, |
| 0.17327938973903656, |
| 0.05912115052342415 |
| ], |
| [ |
| 0.10077495872974396, |
| -0.16153226792812347, |
| -0.9817085862159729, |
| -0.01828964799642563 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 353, |
| "c2w": [ |
| [ |
| 0.9876511693000793, |
| 0.13617287576198578, |
| 0.07747361063957214, |
| -0.0376666858792305 |
| ], |
| [ |
| 0.12156614661216736, |
| -0.9780365824699402, |
| 0.16931061446666718, |
| 0.06029864400625229 |
| ], |
| [ |
| 0.0988275408744812, |
| -0.15780165791511536, |
| -0.9825129508972168, |
| -0.017825376242399216 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 354, |
| "c2w": [ |
| [ |
| 0.987832248210907, |
| 0.13522103428840637, |
| 0.07682949304580688, |
| -0.034025903791189194 |
| ], |
| [ |
| 0.12073289602994919, |
| -0.9781515598297119, |
| 0.16924266517162323, |
| 0.06109165772795677 |
| ], |
| [ |
| 0.09803605824708939, |
| -0.15790751576423645, |
| -0.9825752377510071, |
| -0.017316069453954697 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 355, |
| "c2w": [ |
| [ |
| 0.988283634185791, |
| 0.13324148952960968, |
| 0.0744459256529808, |
| -0.030362974852323532 |
| ], |
| [ |
| 0.11904741078615189, |
| -0.978169858455658, |
| 0.17032761871814728, |
| 0.06160491332411766 |
| ], |
| [ |
| 0.09551546722650528, |
| -0.1594693958759308, |
| -0.9825712442398071, |
| -0.016852201893925667 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 356, |
| "c2w": [ |
| [ |
| 0.988723635673523, |
| 0.12959027290344238, |
| 0.07504606992006302, |
| -0.026662319898605347 |
| ], |
| [ |
| 0.1156061515212059, |
| -0.9790611863136292, |
| 0.1675540655851364, |
| 0.062072400003671646 |
| ], |
| [ |
| 0.09518807381391525, |
| -0.15698888897895813, |
| -0.9830024242401123, |
| -0.0164367463439703 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 357, |
| "c2w": [ |
| [ |
| 0.9893244504928589, |
| 0.1251293569803238, |
| 0.07469796389341354, |
| -0.024974916130304337 |
| ], |
| [ |
| 0.11105305701494217, |
| -0.979245126247406, |
| 0.1695469468832016, |
| 0.0625818744301796 |
| ], |
| [ |
| 0.09436291456222534, |
| -0.1594415009021759, |
| -0.9826871752738953, |
| -0.0162863377481699 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 358, |
| "c2w": [ |
| [ |
| 0.9903256893157959, |
| 0.1190040186047554, |
| 0.07136575132608414, |
| -0.021572351455688477 |
| ], |
| [ |
| 0.10524120181798935, |
| -0.9793417453765869, |
| 0.17266742885112762, |
| 0.06267247349023819 |
| ], |
| [ |
| 0.090439572930336, |
| -0.16348636150360107, |
| -0.9823914170265198, |
| -0.015481865033507347 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 359, |
| "c2w": [ |
| [ |
| 0.9914522171020508, |
| 0.11201676726341248, |
| 0.06689394265413284, |
| -0.017801081761717796 |
| ], |
| [ |
| 0.09902870655059814, |
| -0.9799026846885681, |
| 0.1731591671705246, |
| 0.0627630352973938 |
| ], |
| [ |
| 0.08494628220796585, |
| -0.16505461931228638, |
| -0.9826195240020752, |
| -0.014891121536493301 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 360, |
| "c2w": [ |
| [ |
| 0.9927719831466675, |
| 0.10415980964899063, |
| 0.05961976945400238, |
| -0.01387396827340126 |
| ], |
| [ |
| 0.09228591620922089, |
| -0.9801226258277893, |
| 0.17562156915664673, |
| 0.06286981701850891 |
| ], |
| [ |
| 0.07672739773988724, |
| -0.1688501089811325, |
| -0.9826507568359375, |
| -0.01559329591691494 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 361, |
| "c2w": [ |
| [ |
| 0.9937602281570435, |
| 0.09635331481695175, |
| 0.05618378147482872, |
| -0.010031264275312424 |
| ], |
| [ |
| 0.08495243638753891, |
| -0.9802640080451965, |
| 0.17850935459136963, |
| 0.06265318393707275 |
| ], |
| [ |
| 0.07227490842342377, |
| -0.17262256145477295, |
| -0.9823328256607056, |
| -0.015085067600011826 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 362, |
| "c2w": [ |
| [ |
| 0.9941951036453247, |
| 0.09043068438768387, |
| 0.058296170085668564, |
| -0.006401469931006432 |
| ], |
| [ |
| 0.07890822738409042, |
| -0.9811686873435974, |
| 0.17629946768283844, |
| 0.0625823363661766 |
| ], |
| [ |
| 0.07314125448465347, |
| -0.17067602276802063, |
| -0.9826087951660156, |
| -0.014718601480126381 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 363, |
| "c2w": [ |
| [ |
| 0.9947839379310608, |
| 0.08489297330379486, |
| 0.056551966816186905, |
| -0.0016036630840972066 |
| ], |
| [ |
| 0.07384099811315536, |
| -0.9818077087402344, |
| 0.1749318242073059, |
| 0.06134958192706108 |
| ], |
| [ |
| 0.07037363946437836, |
| -0.16984350979328156, |
| -0.9829550981521606, |
| -0.01586971804499626 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 364, |
| "c2w": [ |
| [ |
| 0.9954596757888794, |
| 0.07837580889463425, |
| 0.05401209741830826, |
| 0.002461673691868782 |
| ], |
| [ |
| 0.06783805787563324, |
| -0.9822264909744263, |
| 0.17501170933246613, |
| 0.061163123697042465 |
| ], |
| [ |
| 0.06676879525184631, |
| -0.1705530285835266, |
| -0.9830837249755859, |
| -0.016069721430540085 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 365, |
| "c2w": [ |
| [ |
| 0.9958153367042542, |
| 0.07403106987476349, |
| 0.05358337238430977, |
| 0.006376413628458977 |
| ], |
| [ |
| 0.0638497993350029, |
| -0.9830899238586426, |
| 0.17163145542144775, |
| 0.061331067234277725 |
| ], |
| [ |
| 0.06538333743810654, |
| -0.16749195754528046, |
| -0.9837029576301575, |
| -0.016251765191555023 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 366, |
| "c2w": [ |
| [ |
| 0.995991051197052, |
| 0.06990725547075272, |
| 0.05581047758460045, |
| 0.010383592918515205 |
| ], |
| [ |
| 0.0597519651055336, |
| -0.9842296242713928, |
| 0.16649863123893738, |
| 0.059436533600091934 |
| ], |
| [ |
| 0.06656979024410248, |
| -0.16249635815620422, |
| -0.9844609498977661, |
| -0.018624797463417053 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 367, |
| "c2w": [ |
| [ |
| 0.9962994456291199, |
| 0.06475143134593964, |
| 0.05652172490954399, |
| 0.014630505815148354 |
| ], |
| [ |
| 0.05455287918448448, |
| -0.9845614433288574, |
| 0.16632115840911865, |
| 0.059070002287626266 |
| ], |
| [ |
| 0.06641864776611328, |
| -0.16262224316596985, |
| -0.9844503998756409, |
| -0.018809180706739426 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 368, |
| "c2w": [ |
| [ |
| 0.9967379570007324, |
| 0.05742282420396805, |
| 0.05671002343297005, |
| 0.01927422732114792 |
| ], |
| [ |
| 0.047291241586208344, |
| -0.9849653840065002, |
| 0.16615261137485504, |
| 0.058848392218351364 |
| ], |
| [ |
| 0.06539836525917053, |
| -0.1629287302494049, |
| -0.9844680428504944, |
| -0.01868196204304695 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 369, |
| "c2w": [ |
| [ |
| 0.9973767399787903, |
| 0.04789680987596512, |
| 0.05427239090204239, |
| 0.024800218641757965 |
| ], |
| [ |
| 0.03835491091012955, |
| -0.9855600595474243, |
| 0.164925217628479, |
| 0.0571797639131546 |
| ], |
| [ |
| 0.06138809025287628, |
| -0.16241097450256348, |
| -0.9848117232322693, |
| -0.020304404199123383 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 370, |
| "c2w": [ |
| [ |
| 0.9980747103691101, |
| 0.036941688507795334, |
| 0.0498221181333065, |
| 0.030186695978045464 |
| ], |
| [ |
| 0.028192104771733284, |
| -0.985704779624939, |
| 0.16610637307167053, |
| 0.05651995167136192 |
| ], |
| [ |
| 0.055246151983737946, |
| -0.1643819659948349, |
| -0.9848484396934509, |
| -0.020587632432579994 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 371, |
| "c2w": [ |
| [ |
| 0.9986037611961365, |
| 0.02800622209906578, |
| 0.04479072615504265, |
| 0.0354744978249073 |
| ], |
| [ |
| 0.0202175360172987, |
| -0.9859616756439209, |
| 0.16574309766292572, |
| 0.056149568408727646 |
| ], |
| [ |
| 0.04880377650260925, |
| -0.16460612416267395, |
| -0.9851512908935547, |
| -0.020896662026643753 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 372, |
| "c2w": [ |
| [ |
| 0.998981773853302, |
| 0.021339990198612213, |
| 0.03974880278110504, |
| 0.04209251329302788 |
| ], |
| [ |
| 0.014536244794726372, |
| -0.9863204956054688, |
| 0.16419677436351776, |
| 0.054687388241291046 |
| ], |
| [ |
| 0.04270901903510094, |
| -0.16345179080963135, |
| -0.9856263995170593, |
| -0.022423259913921356 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 373, |
| "c2w": [ |
| [ |
| 0.9991263747215271, |
| 0.016155367717146873, |
| 0.038541849702596664, |
| 0.04728173092007637 |
| ], |
| [ |
| 0.00964822992682457, |
| -0.9865129590034485, |
| 0.16339845955371857, |
| 0.054234981536865234 |
| ], |
| [ |
| 0.04066179692745209, |
| -0.16288384795188904, |
| -0.9858070015907288, |
| -0.023026691749691963 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 374, |
| "c2w": [ |
| [ |
| 0.9991311430931091, |
| 0.012446356937289238, |
| 0.039775144308805466, |
| 0.05204370245337486 |
| ], |
| [ |
| 0.0058369808830320835, |
| -0.9867489337921143, |
| 0.16214951872825623, |
| 0.05388873070478439 |
| ], |
| [ |
| 0.04126625135540962, |
| -0.16177646815776825, |
| -0.9859642386436462, |
| -0.02357369475066662 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 375, |
| "c2w": [ |
| [ |
| 0.9992272853851318, |
| 0.010128372348845005, |
| 0.037976834923028946, |
| 0.05863519385457039 |
| ], |
| [ |
| 0.0038330797106027603, |
| -0.9867329597473145, |
| 0.16230633854866028, |
| 0.05229656398296356 |
| ], |
| [ |
| 0.03911689296364784, |
| -0.16203534603118896, |
| -0.9860093593597412, |
| -0.02453792840242386 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 376, |
| "c2w": [ |
| [ |
| 0.9992106556892395, |
| 0.008797486312687397, |
| 0.038737714290618896, |
| 0.06317810714244843 |
| ], |
| [ |
| 0.002469827886670828, |
| -0.9870403409004211, |
| 0.16045331954956055, |
| 0.05179331824183464 |
| ], |
| [ |
| 0.03964727371931076, |
| -0.16023099422454834, |
| -0.986283004283905, |
| -0.025115352123975754 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 377, |
| "c2w": [ |
| [ |
| 0.9991382956504822, |
| 0.007088408339768648, |
| 0.040895067155361176, |
| 0.06735549122095108 |
| ], |
| [ |
| 0.0005390446749515831, |
| -0.98744136095047, |
| 0.15798500180244446, |
| 0.051392748951911926 |
| ], |
| [ |
| 0.04150134325027466, |
| -0.15782682597637177, |
| -0.9865943193435669, |
| -0.025664394721388817 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 378, |
| "c2w": [ |
| [ |
| 0.9992841482162476, |
| 0.006302639842033386, |
| 0.03730236738920212, |
| 0.07169730961322784 |
| ], |
| [ |
| 0.00037927337689325213, |
| -0.9876441359519958, |
| 0.15671293437480927, |
| 0.050417255610227585 |
| ], |
| [ |
| 0.037829168140888214, |
| -0.15658660233020782, |
| -0.9869394898414612, |
| -0.026852477341890335 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 379, |
| "c2w": [ |
| [ |
| 0.999450147151947, |
| 0.004518469795584679, |
| 0.03284868970513344, |
| 0.07586535811424255 |
| ], |
| [ |
| -0.000551300763618201, |
| -0.9882702231407166, |
| 0.15271437168121338, |
| 0.049948789179325104 |
| ], |
| [ |
| 0.033153414726257324, |
| -0.15264850854873657, |
| -0.9877243041992188, |
| -0.027948159724473953 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 380, |
| "c2w": [ |
| [ |
| 0.9995731711387634, |
| 0.0010422528721392155, |
| 0.02919570915400982, |
| 0.08013391494750977 |
| ], |
| [ |
| -0.0033164629712700844, |
| -0.988854706287384, |
| 0.14884667098522186, |
| 0.049438223242759705 |
| ], |
| [ |
| 0.029025450348854065, |
| -0.14887996017932892, |
| -0.9884291887283325, |
| -0.02895529940724373 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 381, |
| "c2w": [ |
| [ |
| 0.9996899962425232, |
| -0.0038287919014692307, |
| 0.02460123971104622, |
| 0.08500154316425323 |
| ], |
| [ |
| -0.007442716043442488, |
| -0.9888788461685181, |
| 0.14853712916374207, |
| 0.04755350947380066 |
| ], |
| [ |
| 0.02375892736017704, |
| -0.14867419004440308, |
| -0.9886007905006409, |
| -0.028628023341298103 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 382, |
| "c2w": [ |
| [ |
| 0.9997919797897339, |
| -0.009510896168649197, |
| 0.018041623756289482, |
| 0.08961936086416245 |
| ], |
| [ |
| -0.012068983167409897, |
| -0.9889959096908569, |
| 0.14744986593723297, |
| 0.04654226079583168 |
| ], |
| [ |
| 0.016440710052847862, |
| -0.14763693511486053, |
| -0.9889049530029297, |
| -0.029362984001636505 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 383, |
| "c2w": [ |
| [ |
| 0.9998267292976379, |
| -0.01618826761841774, |
| 0.009191954508423805, |
| 0.09466443210840225 |
| ], |
| [ |
| -0.017354775220155716, |
| -0.9891886115074158, |
| 0.14561834931373596, |
| 0.045213036239147186 |
| ], |
| [ |
| 0.006735268048942089, |
| -0.14575263857841492, |
| -0.9892981648445129, |
| -0.029718248173594475 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 384, |
| "c2w": [ |
| [ |
| 0.9997044205665588, |
| -0.024135680869221687, |
| 0.0029230748768895864, |
| 0.0997658222913742 |
| ], |
| [ |
| -0.02430417202413082, |
| -0.9890722036361694, |
| 0.14541485905647278, |
| 0.04389045014977455 |
| ], |
| [ |
| -0.0006185545353218913, |
| -0.1454429179430008, |
| -0.9893664717674255, |
| -0.030246935784816742 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| }, |
| { |
| "frame_index": 385, |
| "c2w": [ |
| [ |
| 0.9994810223579407, |
| -0.031469766050577164, |
| -0.006878850515931845, |
| 0.1049126386642456 |
| ], |
| [ |
| -0.030149441212415695, |
| -0.989080548286438, |
| 0.14425916969776154, |
| 0.042732466012239456 |
| ], |
| [ |
| -0.011343538761138916, |
| -0.14397691190242767, |
| -0.989516019821167, |
| -0.031270164996385574 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 833.5077094184027, |
| "fy": 834.2801910768072, |
| "cx": 415.22311740451386, |
| "cy": 244.7666721573795 |
| } |
| } |
| ] |
| } |
|
|
