Hugging Face's logo

Datasets:
HugMinjun
/
geo4d_evals

Modalities:
Image
Formats:
imagefolder
Size:
10K - 100K
Libraries:
Datasets
Dataset card Data Studio Files
xet
 Community
1
geo4d_evals / dycheck_eval /source /pillow /transforms.json
HugMinjun's picture
HugMinjun
Add files using upload-large-folder tool
ee9ae0c verified
Raw History Blame Contribute Delete
244 kB
{
"format_version": "1.0",
"camera_model": "opencv_pinhole",
"pose_type": "c2w",
"coordinate_system": "opencv",
"image_hw": [
480,
832
],
"num_frames": 330,
"frames": [
{
"frame_index": 0,
"c2w": [
[
1.0,
4.179809387494515e-09,
7.186813921755686e-10,
7.692817216575776e-11
],
[
4.179809387494515e-09,
-1.0,
2.2567096635839334e-08,
1.0473219513862375e-11
],
[
7.186815031978711e-10,
-2.2567096635839334e-08,
-1.0,
2.931404424755257e-11
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 1,
"c2w": [
[
0.99983811378479,
0.0033444147557020187,
0.01768011972308159,
-0.001406368799507618
],
[
0.003131735371425748,
-0.9999225735664368,
0.012043328024446964,
0.00013840742758475244
],
[
0.017719028517603874,
-0.01198600884526968,
-0.9997711777687073,
0.001731484429910779
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 2,
"c2w": [
[
0.9992188811302185,
0.015094755217432976,
0.03652102127671242,
-0.002360873855650425
],
[
0.014098592102527618,
-0.9995256066322327,
0.027381908148527145,
4.0279002860188484e-05
],
[
0.03691701963543892,
-0.026845624670386314,
-0.9989576935768127,
0.0038192938081920147
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 3,
"c2w": [
[
0.9989197254180908,
0.017266258597373962,
0.043142933398485184,
0.0006249711150303483
],
[
0.015952616930007935,
-0.9994041323661804,
0.03060954064130783,
0.00381234148517251
],
[
0.04364573583006859,
-0.029888231307268143,
-0.9985998868942261,
0.0001792955445125699
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 4,
"c2w": [
[
0.998830258846283,
0.01660643331706524,
0.04541269317269325,
0.00319855147972703
],
[
0.015120435506105423,
-0.9993451833724976,
0.03287208452820778,
0.007143440656363964
],
[
0.045928843319416046,
-0.03214697539806366,
-0.9984273314476013,
-0.002898967359215021
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 5,
"c2w": [
[
0.998898446559906,
0.010453701950609684,
0.045745622366666794,
0.003295379690825939
],
[
0.0089290551841259,
-0.9994019269943237,
0.033407147973775864,
0.0079173119738698
],
[
0.0460674911737442,
-0.0329618826508522,
-0.9983943700790405,
-0.0028796549886465073
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 6,
"c2w": [
[
0.9988145232200623,
0.009115985594689846,
0.047816623002290726,
0.003584656398743391
],
[
0.0073221344500780106,
-0.9992676377296448,
0.03755713999271393,
0.008052476681768894
],
[
0.04812397435307503,
-0.03716249763965607,
-0.9981498122215271,
-0.0024914208333939314
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 7,
"c2w": [
[
0.9987026453018188,
0.00610363157466054,
0.05055484548211098,
0.0038162400014698505
],
[
0.003949152305722237,
-0.9990841150283813,
0.04260743409395218,
0.00830740574747324
],
[
0.05076860263943672,
-0.04235250875353813,
-0.997812032699585,
-0.002146714134141803
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 8,
"c2w": [
[
0.99882572889328,
0.0018682851223275065,
0.04841143637895584,
0.003983397036790848
],
[
-0.00022158924548421055,
-0.9990695118904114,
0.04312773793935776,
0.008608434349298477
],
[
0.04844696447253227,
-0.04308782145380974,
-0.9978959560394287,
-0.0024188566021621227
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 9,
"c2w": [
[
0.9986835718154907,
-0.00014988738985266536,
0.05129386857151985,
0.0038275718688964844
],
[
-0.002181710209697485,
-0.9992148876190186,
0.039557721465826035,
0.008207316510379314
],
[
0.05124766752123833,
-0.03961755335330963,
-0.9978998303413391,
-0.002778658177703619
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 10,
"c2w": [
[
0.9986480474472046,
-0.002728697145357728,
0.05191009119153023,
0.0036481553688645363
],
[
-0.004294842481613159,
-0.9995381832122803,
0.030082765966653824,
0.008021080866456032
],
[
0.05180403217673302,
-0.030265040695667267,
-0.9981985688209534,
-0.003586937440559268
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 11,
"c2w": [
[
0.9990502595901489,
-0.00431193970143795,
0.043359361588954926,
0.003372201696038246
],
[
-0.0050414856523275375,
-0.9998473525047302,
0.016730327159166336,
0.008423777297139168
],
[
0.043280601501464844,
-0.016933033242821693,
-0.9989194273948669,
-0.004944611340761185
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 12,
"c2w": [
[
0.9994775652885437,
-0.002788608893752098,
0.03219960257411003,
0.0030258146580308676
],
[
-0.0030383095145225525,
-0.9999656677246094,
0.007708447519689798,
0.008927655406296253
],
[
0.03217700123786926,
-0.007802252657711506,
-0.999451756477356,
-0.005467845592647791
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 13,
"c2w": [
[
0.9995889067649841,
-0.003418226260691881,
0.028465405106544495,
0.0027832994237542152
],
[
-0.0035071212332695723,
-0.9999891519546509,
0.003073567058891058,
0.009671088308095932
],
[
0.02845458872616291,
-0.0031721352133899927,
-0.9995900392532349,
-0.005882821045815945
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 14,
"c2w": [
[
0.9997634887695312,
-0.003117251442745328,
0.02152402326464653,
0.0024989740923047066
],
[
-0.0031847641803324223,
-0.9999901056289673,
0.0031030529644340277,
0.010601235553622246
],
[
0.02151413820683956,
-0.0031708679161965847,
-0.9997634887695312,
-0.006171567365527153
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 15,
"c2w": [
[
0.9998080134391785,
-0.0065476796589791775,
0.01846938394010067,
0.0025229996535927057
],
[
-0.006651452276855707,
-0.9999623894691467,
0.005562827922403812,
0.01105942390859127
],
[
0.018432265147566795,
-0.005684607662260532,
-0.999813973903656,
-0.0055999755859375
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 16,
"c2w": [
[
0.9996245503425598,
-0.008169892244040966,
0.026153624057769775,
0.002292278688400984
],
[
-0.008572342805564404,
-0.9998459815979004,
0.015312986448407173,
0.011757948435842991
],
[
0.02602449059486389,
-0.01553143560886383,
-0.9995406270027161,
-0.0044312854297459126
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 17,
"c2w": [
[
0.9995352029800415,
-0.009013183414936066,
0.02912328392267227,
0.0019253208301961422
],
[
-0.0098554827272892,
-0.999533474445343,
0.028908949345350266,
0.012596203945577145
],
[
0.028849134221673012,
-0.029182536527514458,
-0.999157726764679,
-0.003556303447112441
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 18,
"c2w": [
[
0.9994704127311707,
-0.006696526892483234,
0.0318438783288002,
0.0012720953673124313
],
[
-0.007711144629865885,
-0.9994630217552185,
0.03184693679213524,
0.01327827200293541
],
[
0.031613513827323914,
-0.03207562491297722,
-0.9989853501319885,
-0.003316570073366165
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 19,
"c2w": [
[
0.9993247985839844,
-0.004923677537590265,
0.03641056269407272,
0.0007465440430678427
],
[
-0.006051880307495594,
-0.9995028972625732,
0.0309405829757452,
0.013701347634196281
],
[
0.036240119487047195,
-0.03114004246890545,
-0.9988577961921692,
-0.0037957343738526106
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 20,
"c2w": [
[
0.999389111995697,
-0.007221725769340992,
0.0341944582760334,
0.0008873686310835183
],
[
-0.008380469866096973,
-0.9993912577629089,
0.03386573866009712,
0.012709654867649078
],
[
0.03392907232046127,
-0.03413161635398865,
-0.9988412261009216,
-0.004536333493888378
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 21,
"c2w": [
[
0.9995514750480652,
-0.010112488642334938,
0.028189172968268394,
0.0009707284043543041
],
[
-0.01101636327803135,
-0.9994240999221802,
0.03209591656923294,
0.01172609068453312
],
[
0.027848368510603905,
-0.03239206224679947,
-0.9990872144699097,
-0.0056855641305446625
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 22,
"c2w": [
[
0.9995059967041016,
-0.013315469957888126,
0.028468633070588112,
0.0007658521644771099
],
[
-0.01411164365708828,
-0.9995096921920776,
0.027951151132583618,
0.010751985013484955
],
[
0.02808249182999134,
-0.0283390823751688,
-0.9992038011550903,
-0.007102392613887787
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 23,
"c2w": [
[
0.999076247215271,
-0.0234492477029562,
0.03601125255227089,
0.0010116796474903822
],
[
-0.02456231601536274,
-0.9992242455482483,
0.03078397922217846,
0.009246413595974445
],
[
0.03526145592331886,
-0.03164006024599075,
-0.9988771080970764,
-0.007562350016087294
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 24,
"c2w": [
[
0.998508632183075,
-0.03641803190112114,
0.04067183658480644,
0.00105656695086509
],
[
-0.0378393717110157,
-0.9986797571182251,
0.034741226583719254,
0.008045310154557228
],
[
0.03935293108224869,
-0.03622841089963913,
-0.9985684156417847,
-0.008455073460936546
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 25,
"c2w": [
[
0.9980800151824951,
-0.0441216304898262,
0.043469127267599106,
0.00038039975333958864
],
[
-0.04544525220990181,
-0.9985178709030151,
0.029946794733405113,
0.007455404382199049
],
[
0.04208339750766754,
-0.03186476230621338,
-0.9986058473587036,
-0.010207749903202057
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 26,
"c2w": [
[
0.9981534481048584,
-0.044611480087041855,
0.04122548922896385,
-0.0006688282010145485
],
[
-0.045564793050289154,
-0.9987083673477173,
0.022481152787804604,
0.00795617513358593
],
[
0.04016932472586632,
-0.024318071082234383,
-0.9988968968391418,
-0.011954554356634617
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 27,
"c2w": [
[
0.9990060925483704,
-0.04070687294006348,
0.01816115714609623,
-0.0019342106534168124
],
[
-0.04102684557437897,
-0.9990028738975525,
0.017608176916837692,
0.008806725963950157
],
[
0.017426272854208946,
-0.018335770815610886,
-0.9996799826622009,
-0.013813406229019165
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 28,
"c2w": [
[
0.9991697669029236,
-0.04016391187906265,
-0.006833352614194155,
-0.002858741208910942
],
[
-0.0400637686252594,
-0.9990960955619812,
0.014209489338099957,
0.00919489935040474
],
[
-0.007397884037345648,
-0.01392392162233591,
-0.9998756647109985,
-0.01584245078265667
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 29,
"c2w": [
[
0.999100923538208,
-0.04167564958333969,
-0.0077801854349672794,
-0.0038528493605554104
],
[
-0.04158144071698189,
-0.9990642070770264,
0.011901921592652798,
0.009313857182860374
],
[
-0.008268925361335278,
-0.011567709036171436,
-0.9998989105224609,
-0.017309896647930145
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 30,
"c2w": [
[
0.9992072582244873,
-0.03975233808159828,
0.0021370931062847376,
-0.005215202458202839
],
[
-0.0397782027721405,
-0.9991124272346497,
0.013857555575668812,
0.009915701113641262
],
[
0.0015843260334804654,
-0.013931579887866974,
-0.9999017119407654,
-0.018569977954030037
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 31,
"c2w": [
[
0.9991797208786011,
-0.04043541103601456,
-0.00220246403478086,
-0.006290939636528492
],
[
-0.04039229452610016,
-0.9990395307540894,
0.016985321417450905,
0.010528713464736938
],
[
-0.0028871570248156786,
-0.016882427036762238,
-0.9998533129692078,
-0.019917570054531097
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 32,
"c2w": [
[
0.9989966750144958,
-0.04438730701804161,
-0.00594822084531188,
-0.006602277513593435
],
[
-0.04426956921815872,
-0.9988455772399902,
0.018646633252501488,
0.011267146095633507
],
[
-0.006769028026610613,
-0.018364598974585533,
-0.9998084306716919,
-0.02147015370428562
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 33,
"c2w": [
[
0.9992488026618958,
-0.038435112684965134,
-0.004956156015396118,
-0.007627501618117094
],
[
-0.03837388753890991,
-0.999192476272583,
0.011907429434359074,
0.011724120937287807
],
[
-0.005409817676991224,
-0.01170829776674509,
-0.9999167919158936,
-0.023188434541225433
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 34,
"c2w": [
[
0.9995588064193726,
-0.02964630350470543,
-0.00181288318708539,
-0.00927836261689663
],
[
-0.02963782660663128,
-0.9995504021644592,
0.004536458756774664,
0.012620070017874241
],
[
-0.0019465574296191335,
-0.004480727482587099,
-0.9999880790710449,
-0.02451394684612751
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 35,
"c2w": [
[
0.9997049570083618,
-0.024090275168418884,
0.0031111417338252068,
-0.011287828907370567
],
[
-0.024102792143821716,
-0.9997012615203857,
0.004050109069794416,
0.013089548796415329
],
[
0.003012644127011299,
-0.004123901017010212,
-0.9999869465827942,
-0.02533753216266632
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 36,
"c2w": [
[
0.999647319316864,
-0.02381203882396221,
0.01175692304968834,
-0.013676750473678112
],
[
-0.023854661732912064,
-0.9997093081474304,
0.0034985810052603483,
0.012475992552936077
],
[
0.011670196428894997,
-0.0037778045516461134,
-0.9999247789382935,
-0.024892626330256462
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 37,
"c2w": [
[
0.9993060827255249,
-0.03080459125339985,
0.02093731239438057,
-0.016182512044906616
],
[
-0.030903007835149765,
-0.9995127320289612,
0.004393270239233971,
0.012546858750283718
],
[
0.020791778340935707,
-0.005037248134613037,
-0.9997711181640625,
-0.02482452616095543
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 38,
"c2w": [
[
0.9984143376350403,
-0.034908492118120193,
0.04416080564260483,
-0.019491057842969894
],
[
-0.03523190692067146,
-0.9993575811386108,
0.006566313561052084,
0.012901232577860355
],
[
0.04390321671962738,
-0.008111771196126938,
-0.9990028738975525,
-0.024635622277855873
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 39,
"c2w": [
[
0.9970163702964783,
-0.03393665328621864,
0.06933041661977768,
-0.023487966507673264
],
[
-0.034887608140707016,
-0.9993124008178711,
0.012551468797028065,
0.01362209115177393
],
[
0.06885679066181183,
-0.014932791702449322,
-0.9975147843360901,
-0.024462968111038208
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 40,
"c2w": [
[
0.9964197874069214,
-0.028723370283842087,
0.0795147716999054,
-0.027894359081983566
],
[
-0.03092067688703537,
-0.9991693496704102,
0.02654176764190197,
0.014477246440947056
],
[
0.07868635654449463,
-0.028905391693115234,
-0.9964802861213684,
-0.0237230584025383
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 41,
"c2w": [
[
0.9963633418083191,
-0.021465791389346123,
0.08245798945426941,
-0.0325779914855957
],
[
-0.024866266176104546,
-0.998872697353363,
0.04043566435575485,
0.015016129240393639
],
[
0.08149705082178116,
-0.042339034378528595,
-0.9957739114761353,
-0.02303929813206196
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 42,
"c2w": [
[
0.996071457862854,
-0.025618523359298706,
0.08476641774177551,
-0.03642100840806961
],
[
-0.029295656830072403,
-0.9986701011657715,
0.0424237996339798,
0.01588696427643299
],
[
0.08356685191392899,
-0.04474042356014252,
-0.9954972863197327,
-0.021984903141856194
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 43,
"c2w": [
[
0.9951114654541016,
-0.05340037867426872,
0.08307603001594543,
-0.03891339525580406
],
[
-0.05569315329194069,
-0.9981215000152588,
0.02552875503897667,
0.017571957781910896
],
[
0.08155672997236252,
-0.03003072179853916,
-0.9962161779403687,
-0.02296558953821659
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 44,
"c2w": [
[
0.9936578273773193,
-0.06924387067556381,
0.08859714865684509,
-0.042476147413253784
],
[
-0.07013783603906631,
-0.9975126385688782,
0.007013379596173763,
0.019081220030784607
],
[
0.08789114654064178,
-0.013182911090552807,
-0.9960428476333618,
-0.02430478110909462
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 45,
"c2w": [
[
0.9948776960372925,
-0.05184873193502426,
0.08677574247121811,
-0.04768283665180206
],
[
-0.052181266248226166,
-0.9986364245414734,
0.0015666602412238717,
0.021303467452526093
],
[
0.0865761861205101,
-0.006086703389883041,
-0.9962266683578491,
-0.024131229147315025
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 46,
"c2w": [
[
0.9959478378295898,
-0.03472664952278137,
0.08295731991529465,
-0.05459119379520416
],
[
-0.035238441079854965,
-0.9993678331375122,
0.004712739959359169,
0.022381795570254326
],
[
0.08274121582508087,
-0.007616930175572634,
-0.9965419769287109,
-0.023777935653924942
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 47,
"c2w": [
[
0.995739221572876,
-0.020872285589575768,
0.08982037007808685,
-0.06207234784960747
],
[
-0.022131137549877167,
-0.9996700286865234,
0.013042080216109753,
0.023321690037846565
],
[
0.08951850980520248,
-0.014974338002502918,
-0.9958725571632385,
-0.022433456033468246
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 48,
"c2w": [
[
0.9946722984313965,
-0.004336639307439327,
0.10299640148878098,
-0.06957822293043137
],
[
-0.006902681197971106,
-0.9996742606163025,
0.024570554494857788,
0.024875249713659286
],
[
0.10285630077123642,
-0.0251506008207798,
-0.9943782091140747,
-0.020234687253832817
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 49,
"c2w": [
[
0.9942955374717712,
0.013337474316358566,
0.10582271218299866,
-0.0780368372797966
],
[
0.010125450789928436,
-0.9994732737541199,
0.030832309275865555,
0.026199745014309883
],
[
0.10617819428443909,
-0.02958492562174797,
-0.9939069151878357,
-0.019075049087405205
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 50,
"c2w": [
[
0.9940778613090515,
0.014934089034795761,
0.10763902962207794,
-0.08626768738031387
],
[
0.012084564194083214,
-0.9995602965354919,
0.027076834812760353,
0.02802976593375206
],
[
0.10799606889486313,
-0.025615712627768517,
-0.9938212633132935,
-0.018659286201000214
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 51,
"c2w": [
[
0.9937023520469666,
0.015089182183146477,
0.11103136092424393,
-0.09418363124132156
],
[
0.013166829012334347,
-0.9997507929801941,
0.018026551231741905,
0.030010826885700226
],
[
0.11127569526433945,
-0.016451094299554825,
-0.993653416633606,
-0.019039390608668327
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 52,
"c2w": [
[
0.9925954341888428,
0.02693256363272667,
0.11844386160373688,
-0.10301705449819565
],
[
0.025567645207047462,
-0.9995881915092468,
0.013028483837842941,
0.03165620565414429
],
[
0.11874597519636154,
-0.009903683327138424,
-0.9928752779960632,
-0.019755177199840546
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 53,
"c2w": [
[
0.9911985993385315,
0.03479151427745819,
0.12772955000400543,
-0.11222080886363983
],
[
0.033502425998449326,
-0.9993638396263123,
0.012227577157318592,
0.033186234533786774
],
[
0.12807372212409973,
-0.007840707898139954,
-0.9917336702346802,
-0.02011531963944435
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 54,
"c2w": [
[
0.98955237865448,
0.041357990354299545,
0.1381143480539322,
-0.12084513157606125
],
[
0.0400158166885376,
-0.9991210699081421,
0.012481640093028545,
0.03441533073782921
],
[
0.13850916922092438,
-0.006824478507041931,
-0.990337610244751,
-0.020538581535220146
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 55,
"c2w": [
[
0.9862995147705078,
0.051765698939561844,
0.1566319763660431,
-0.12939453125
],
[
0.04983573779463768,
-0.9986255764961243,
0.01622649095952511,
0.03541626036167145
],
[
0.15725667774677277,
-0.008198308758437634,
-0.9875237345695496,
-0.020988130941987038
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 56,
"c2w": [
[
0.984306275844574,
0.04622218385338783,
0.170307457447052,
-0.1372266262769699
],
[
0.04363279789686203,
-0.9988685250282288,
0.018917826935648918,
0.0367233008146286
],
[
0.17098918557167053,
-0.011189945042133331,
-0.9852093458175659,
-0.020934371277689934
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 57,
"c2w": [
[
0.9834174513816833,
0.03818284720182419,
0.17729121446609497,
-0.14412634074687958
],
[
0.03552212566137314,
-0.9992039203643799,
0.018158666789531708,
0.038071438670158386
],
[
0.17784342169761658,
-0.011559788137674332,
-0.9839909076690674,
-0.021163316443562508
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 58,
"c2w": [
[
0.981341540813446,
0.03356339409947395,
0.18932068347930908,
-0.15092207491397858
],
[
0.031624045222997665,
-0.999411940574646,
0.01325617078691721,
0.03952564671635628
],
[
0.18965427577495575,
-0.007021745201200247,
-0.9818258285522461,
-0.022035738453269005
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 59,
"c2w": [
[
0.9784899353981018,
0.035839978605508804,
0.20315741002559662,
-0.15803329646587372
],
[
0.03451337665319443,
-0.9993535280227661,
0.010070106945931911,
0.04026692733168602
],
[
0.20338697731494904,
-0.002841850044205785,
-0.9790943264961243,
-0.022242089733481407
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 60,
"c2w": [
[
0.9753698110580444,
0.045579977333545685,
0.21581532061100006,
-0.16582775115966797
],
[
0.04357967525720596,
-0.9989515542984009,
0.014020735397934914,
0.04131442680954933
],
[
0.21622812747955322,
-0.004270239267498255,
-0.9763335585594177,
-0.02264733426272869
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 61,
"c2w": [
[
0.9708402752876282,
0.06460239738225937,
0.23085853457450867,
-0.17446626722812653
],
[
0.060261089354753494,
-0.9978488087654114,
0.025814643129706383,
0.04260188341140747
],
[
0.23202960193157196,
-0.011150108650326729,
-0.9726448059082031,
-0.023023486137390137
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 62,
"c2w": [
[
0.9656692743301392,
0.08569502830505371,
0.24523289501667023,
-0.18336011469364166
],
[
0.07896718382835388,
-0.9961845278739929,
0.03715602308511734,
0.04276826232671738
],
[
0.2474813014268875,
-0.016515081748366356,
-0.9687519073486328,
-0.023311259225010872
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 63,
"c2w": [
[
0.9620997309684753,
0.10501604527235031,
0.25166600942611694,
-0.19174179434776306
],
[
0.09705337882041931,
-0.9943113327026367,
0.04388203099370003,
0.04325946047902107
],
[
0.2548426687717438,
-0.01779385469853878,
-0.9668188095092773,
-0.0242270827293396
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 64,
"c2w": [
[
0.9583520293235779,
0.12536390125751495,
0.2566033899784088,
-0.19998735189437866
],
[
0.11786643415689468,
-0.992033839225769,
0.04445652291178703,
0.04391712695360184
],
[
0.26013249158859253,
-0.012360073626041412,
-0.9654937982559204,
-0.026070749387145042
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 65,
"c2w": [
[
0.9543125629425049,
0.13868065178394318,
0.264679491519928,
-0.20729194581508636
],
[
0.13286328315734863,
-0.9903330206871033,
0.03984793275594711,
0.04437526687979698
],
[
0.26764699816703796,
-0.0028611954767256975,
-0.9635127782821655,
-0.028420140966773033
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 66,
"c2w": [
[
0.9496145248413086,
0.1446687877178192,
0.2780345678329468,
-0.21359321475028992
],
[
0.1396147459745407,
-0.9894763827323914,
0.03800300881266594,
0.04485655948519707
],
[
0.2806064784526825,
0.0027295169420540333,
-0.9598190188407898,
-0.03043207898736
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 67,
"c2w": [
[
0.9447887539863586,
0.15403147041797638,
0.2892204821109772,
-0.21979665756225586
],
[
0.14791208505630493,
-0.9880636930465698,
0.043037161231040955,
0.04526793956756592
],
[
0.29239732027053833,
0.0021181784104555845,
-0.956294596195221,
-0.032102424651384354
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 68,
"c2w": [
[
0.9438828229904175,
0.16129767894744873,
0.28821560740470886,
-0.22565703094005585
],
[
0.15527361631393433,
-0.9868999123573303,
0.04380249232053757,
0.04589923098683357
],
[
0.29150518774986267,
0.0034078608732670546,
-0.9565631747245789,
-0.03382106497883797
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 69,
"c2w": [
[
0.9422971606254578,
0.1662890464067459,
0.2905580401420593,
-0.23282258212566376
],
[
0.16112473607063293,
-0.9860489964485168,
0.041787728667259216,
0.046672772616147995
],
[
0.29345330595970154,
0.007439627777785063,
-0.9559444785118103,
-0.03534875810146332
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 70,
"c2w": [
[
0.9377971291542053,
0.17271123826503754,
0.30117669701576233,
-0.2386842519044876
],
[
0.16570396721363068,
-0.9849640727043152,
0.04886716604232788,
0.04754669591784477
],
[
0.3050881028175354,
0.004078683443367481,
-0.9523153901100159,
-0.03664742410182953
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 71,
"c2w": [
[
0.9358951449394226,
0.1779935359954834,
0.3040042221546173,
-0.24411168694496155
],
[
0.17021088302135468,
-0.9840272665023804,
0.05214056000113487,
0.04857167229056358
],
[
0.308429092168808,
0.0029467283748090267,
-0.9512427449226379,
-0.037976812571287155
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 72,
"c2w": [
[
0.9337133765220642,
0.186527281999588,
0.30559274554252625,
-0.250864177942276
],
[
0.17856855690479279,
-0.982441246509552,
0.05405965819954872,
0.048946917057037354
],
[
0.3103105127811432,
0.004093030001968145,
-0.9506264328956604,
-0.038378432393074036
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 73,
"c2w": [
[
0.9279485940933228,
0.1951771229505539,
0.31751736998558044,
-0.2562291622161865
],
[
0.18364520370960236,
-0.9807631373405457,
0.06616714596748352,
0.05003221705555916
],
[
0.3243236541748047,
-0.003089170204475522,
-0.945941150188446,
-0.03897278010845184
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 74,
"c2w": [
[
0.9238162040710449,
0.19669048488140106,
0.32844558358192444,
-0.26049113273620605
],
[
0.18334856629371643,
-0.9804486036300659,
0.07144119590520859,
0.05109729990363121
],
[
0.3360758125782013,
-0.005778506863862276,
-0.9418172240257263,
-0.04007278010249138
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 75,
"c2w": [
[
0.9216097593307495,
0.20032227039337158,
0.33242514729499817,
-0.26734259724617004
],
[
0.18722562491893768,
-0.9797238111495972,
0.07132896035909653,
0.0517752580344677
],
[
0.3399735987186432,
-0.0034989637788385153,
-0.9404284954071045,
-0.04059941694140434
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 76,
"c2w": [
[
0.9158811569213867,
0.21418550610542297,
0.3395383358001709,
-0.272514283657074
],
[
0.1968712955713272,
-0.9767301082611084,
0.08508826047182083,
0.05195070803165436
],
[
0.3498619794845581,
-0.011085381731390953,
-0.9367356896400452,
-0.040685903280973434
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 77,
"c2w": [
[
0.9108303189277649,
0.22166211903095245,
0.3482155203819275,
-0.2771630585193634
],
[
0.20048460364341736,
-0.9749605655670166,
0.09621734917163849,
0.051945727318525314
],
[
0.3608241379261017,
-0.01782582700252533,
-0.932463526725769,
-0.041100893169641495
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 78,
"c2w": [
[
0.9027479887008667,
0.2322867512702942,
0.362062007188797,
-0.2800906002521515
],
[
0.20715057849884033,
-0.9724003672599792,
0.10735993832349777,
0.050317391753196716
],
[
0.37700751423835754,
-0.021917618811130524,
-0.925950825214386,
-0.04025956988334656
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 79,
"c2w": [
[
0.892962634563446,
0.24167704582214355,
0.3797498941421509,
-0.2838560938835144
],
[
0.21287259459495544,
-0.9700729846954346,
0.11680611222982407,
0.050094250589609146
],
[
0.3966144621372223,
-0.023465141654014587,
-0.917685329914093,
-0.04115304350852966
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 80,
"c2w": [
[
0.8875889182090759,
0.24125856161117554,
0.39240312576293945,
-0.28655728697776794
],
[
0.21358826756477356,
-0.9703139662742615,
0.11344961822032928,
0.05041355639696121
],
[
0.4081249237060547,
-0.01688392460346222,
-0.9127699732780457,
-0.04259447380900383
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 81,
"c2w": [
[
0.8872004747390747,
0.23867836594581604,
0.39485177397727966,
-0.28284355998039246
],
[
0.21125498414039612,
-0.9709639549255371,
0.1122511476278305,
0.049640897661447525
],
[
0.4101787805557251,
-0.01617486961185932,
-0.9118617177009583,
-0.0412735752761364
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 82,
"c2w": [
[
0.889481246471405,
0.23909135162830353,
0.38943353295326233,
-0.28351858258247375
],
[
0.2110058218240738,
-0.970805287361145,
0.11407709121704102,
0.050261229276657104
],
[
0.40533900260925293,
-0.019296690821647644,
-0.9139627814292908,
-0.041186220943927765
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 83,
"c2w": [
[
0.892019510269165,
0.23546956479549408,
0.38581761717796326,
-0.2840943932533264
],
[
0.20942631363868713,
-0.9717447757720947,
0.10886998474597931,
0.05129878595471382
],
[
0.40055182576179504,
-0.016313789412379265,
-0.9161288738250732,
-0.04144482687115669
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 84,
"c2w": [
[
0.8918665051460266,
0.23372754454612732,
0.38722801208496094,
-0.2777651846408844
],
[
0.20731477439403534,
-0.9721500277519226,
0.10929255932569504,
0.051071152091026306
],
[
0.4019884169101715,
-0.0171962883323431,
-0.9154832363128662,
-0.03984501212835312
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 85,
"c2w": [
[
0.8914158344268799,
0.2346855103969574,
0.3876860737800598,
-0.2776321470737457
],
[
0.20643126964569092,
-0.9718384146690369,
0.1136493980884552,
0.05187379941344261
],
[
0.40344008803367615,
-0.021278349682688713,
-0.9147586226463318,
-0.03964449465274811
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 86,
"c2w": [
[
0.890605628490448,
0.23667998611927032,
0.38833510875701904,
-0.2781742811203003
],
[
0.20808005332946777,
-0.9713510870933533,
0.11480315029621124,
0.052467964589595795
],
[
0.40438133478164673,
-0.02143954671919346,
-0.9143391847610474,
-0.03990679234266281
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 87,
"c2w": [
[
0.8872567415237427,
0.24400855600833893,
0.39145275950431824,
-0.27515530586242676
],
[
0.21323162317276,
-0.9694786071777344,
0.121010422706604,
0.05118592083454132
],
[
0.4090326428413391,
-0.023897208273410797,
-0.912206768989563,
-0.03916674479842186
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 88,
"c2w": [
[
0.8826533555984497,
0.24923864006996155,
0.39850109815597534,
-0.27520960569381714
],
[
0.2161887139081955,
-0.9681028127670288,
0.12664692103862762,
0.05110187828540802
],
[
0.41735532879829407,
-0.02563389390707016,
-0.9083817601203918,
-0.03974321857094765
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 89,
"c2w": [
[
0.8816727995872498,
0.25334808230400085,
0.39808014035224915,
-0.2750883996486664
],
[
0.22156967222690582,
-0.9671294093132019,
0.12476992607116699,
0.050718825310468674
],
[
0.41660523414611816,
-0.021803760901093483,
-0.9088259935379028,
-0.04077373817563057
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 90,
"c2w": [
[
0.8811606764793396,
0.25866836309432983,
0.39578601717948914,
-0.27511635422706604
],
[
0.2279839813709259,
-0.9657852053642273,
0.12362129241228104,
0.050382308661937714
],
[
0.4142211973667145,
-0.018697349354624748,
-0.9099841713905334,
-0.04190545901656151
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 91,
"c2w": [
[
0.8798891305923462,
0.2654130160808563,
0.39414599537849426,
-0.2754277288913727
],
[
0.2343093752861023,
-0.9639562964439392,
0.1260453462600708,
0.049969375133514404
],
[
0.4133935570716858,
-0.018553825095295906,
-0.9103633761405945,
-0.0431244820356369
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 92,
"c2w": [
[
0.8784522414207458,
0.27033212780952454,
0.3940078318119049,
-0.27454090118408203
],
[
0.2394922524690628,
-0.9626210927963257,
0.12650737166404724,
0.048953358083963394
],
[
0.4134792685508728,
-0.016768859699368477,
-0.9103590846061707,
-0.04459052160382271
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 93,
"c2w": [
[
0.8800128698348999,
0.27050039172172546,
0.39039328694343567,
-0.2736113667488098
],
[
0.24205903708934784,
-0.9626412391662598,
0.12136422842741013,
0.04827003926038742
],
[
0.40863773226737976,
-0.012303857132792473,
-0.9126137495040894,
-0.046191371977329254
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 94,
"c2w": [
[
0.8822624683380127,
0.27187490463256836,
0.38431358337402344,
-0.2728692889213562
],
[
0.24435093998908997,
-0.9622606039047241,
0.11977943032979965,
0.04786086454987526
],
[
0.40237486362457275,
-0.011769512668251991,
-0.9153993129730225,
-0.04759219288825989
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 95,
"c2w": [
[
0.882716715335846,
0.27238771319389343,
0.38290488719940186,
-0.27117207646369934
],
[
0.2452199012041092,
-0.9621217846870422,
0.11911695450544357,
0.048161908984184265
],
[
0.4008471369743347,
-0.011250631883740425,
-0.9160758852958679,
-0.04847544804215431
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 96,
"c2w": [
[
0.8853266835212708,
0.2685289680957794,
0.37959033250808716,
-0.26915425062179565
],
[
0.24320180714130402,
-0.9632316827774048,
0.11418243497610092,
0.0484929196536541
],
[
0.3962947130203247,
-0.008771705441176891,
-0.9180814623832703,
-0.04954756051301956
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 97,
"c2w": [
[
0.8930930495262146,
0.26493391394615173,
0.36358606815338135,
-0.26710644364356995
],
[
0.24378108978271484,
-0.9642579555511475,
0.10381430387496948,
0.04866691306233406
],
[
0.37809470295906067,
-0.0040804240852594376,
-0.9257579445838928,
-0.050659310072660446
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 98,
"c2w": [
[
0.8986698389053345,
0.26571959257125854,
0.34897804260253906,
-0.2652667760848999
],
[
0.24648141860961914,
-0.9640449285507202,
0.09931916743516922,
0.04923800006508827
],
[
0.3628215491771698,
-0.0032385368831455708,
-0.9318529963493347,
-0.05109970644116402
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 99,
"c2w": [
[
0.9038875699043274,
0.26454898715019226,
0.33615642786026,
-0.26296618580818176
],
[
0.24589255452156067,
-0.9643554091453552,
0.09775219857692719,
0.0497266985476017
],
[
0.3500345051288605,
-0.005698631517589092,
-0.9367194771766663,
-0.0512307770550251
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 100,
"c2w": [
[
0.9108555912971497,
0.26261457800865173,
0.3183954358100891,
-0.26040399074554443
],
[
0.24524104595184326,
-0.9648695588111877,
0.09425270557403564,
0.050153978168964386
],
[
0.3319621980190277,
-0.007766969967633486,
-0.9432607293128967,
-0.05161174759268761
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 101,
"c2w": [
[
0.9180064797401428,
0.26095589995384216,
0.29860690236091614,
-0.257522314786911
],
[
0.24607813358306885,
-0.9653290510177612,
0.08709435909986496,
0.05133538693189621
],
[
0.3109816908836365,
-0.006472561042755842,
-0.9503938555717468,
-0.05241354554891586
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 102,
"c2w": [
[
0.9252237677574158,
0.25628066062927246,
0.27978774905204773,
-0.2541082799434662
],
[
0.24351507425308228,
-0.9665839076042175,
0.08009945601224899,
0.05220785364508629
],
[
0.290966272354126,
-0.005977388005703688,
-0.9567146301269531,
-0.052907537668943405
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 103,
"c2w": [
[
0.9298092722892761,
0.2518133819103241,
0.2684116065502167,
-0.25046586990356445
],
[
0.23985940217971802,
-0.9677488803863525,
0.07700356096029282,
0.052813705056905746
],
[
0.2791455388069153,
-0.00721757672727108,
-0.9602216482162476,
-0.05320378765463829
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 104,
"c2w": [
[
0.9352705478668213,
0.2461705207824707,
0.2543010711669922,
-0.24702303111553192
],
[
0.23600587248802185,
-0.9692099094390869,
0.07023786008358002,
0.052921734750270844
],
[
0.26376160979270935,
-0.005674852058291435,
-0.9645711779594421,
-0.05317215248942375
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 105,
"c2w": [
[
0.9403175711631775,
0.23785191774368286,
0.2433706820011139,
-0.24262861907482147
],
[
0.22931118309497833,
-0.9712944030761719,
0.06327343732118607,
0.05332394316792488
],
[
0.2514342963695526,
-0.003689506556838751,
-0.9678673148155212,
-0.05338548868894577
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 106,
"c2w": [
[
0.9428036212921143,
0.23141758143901825,
0.2399316281080246,
-0.23769299685955048
],
[
0.22384409606456757,
-0.9728530645370483,
0.05874287709593773,
0.053855497390031815
],
[
0.24701236188411713,
-0.0016757204430177808,
-0.9690108895301819,
-0.053878575563430786
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 107,
"c2w": [
[
0.9465228915214539,
0.22755596041679382,
0.2287197709083557,
-0.23357100784778595
],
[
0.22189000248908997,
-0.9737606644630432,
0.05054694041609764,
0.054105404764413834
],
[
0.23422056436538696,
0.0029067941941320896,
-0.972179114818573,
-0.054438360035419464
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 108,
"c2w": [
[
0.9491713047027588,
0.22469788789749146,
0.22041933238506317,
-0.22899985313415527
],
[
0.21973532438278198,
-0.9744213819503784,
0.047110043466091156,
0.054427217692136765
],
[
0.22536683082580566,
0.003718410152941942,
-0.9742668867111206,
-0.05449497699737549
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 109,
"c2w": [
[
0.9505728483200073,
0.22203248739242554,
0.21705485880374908,
-0.22380352020263672
],
[
0.21594110131263733,
-0.97503662109375,
0.05170144885778427,
0.05474497377872467
],
[
0.22311583161354065,
-0.0022749267518520355,
-0.9747892618179321,
-0.05404440686106682
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 110,
"c2w": [
[
0.9521917700767517,
0.21874327957630157,
0.21326561272144318,
-0.21826423704624176
],
[
0.21199415624141693,
-0.975760817527771,
0.05430794507265091,
0.05504278093576431
],
[
0.21997572481632233,
-0.006500510964542627,
-0.9754837155342102,
-0.05378751829266548
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 111,
"c2w": [
[
0.9534626603126526,
0.21442469954490662,
0.21196921169757843,
-0.2123989313840866
],
[
0.20713505148887634,
-0.976691722869873,
0.05628783628344536,
0.05603308230638504
],
[
0.2190980762243271,
-0.009762097150087357,
-0.9756540060043335,
-0.05296022444963455
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 112,
"c2w": [
[
0.9557152986526489,
0.21053196489810944,
0.2056320458650589,
-0.2065773606300354
],
[
0.20311547815799713,
-0.9775070548057556,
0.056780632585287094,
0.05628914758563042
],
[
0.21296092867851257,
-0.012499067932367325,
-0.9769807457923889,
-0.05262712761759758
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 113,
"c2w": [
[
0.9595184326171875,
0.20641599595546722,
0.19161644577980042,
-0.20056895911693573
],
[
0.19957199692726135,
-0.9783624410629272,
0.05457072705030441,
0.0564730204641819
],
[
0.1987345963716507,
-0.014120340347290039,
-0.9799516201019287,
-0.05240635946393013
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 114,
"c2w": [
[
0.9637314081192017,
0.20010390877723694,
0.17657917737960815,
-0.19605545699596405
],
[
0.19420954585075378,
-0.979672908782959,
0.05023549497127533,
0.056994032114744186
],
[
0.18304216861724854,
-0.014120163396000862,
-0.9830036759376526,
-0.0523856058716774
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 115,
"c2w": [
[
0.9669103622436523,
0.1939810961484909,
0.16569755971431732,
-0.1903035044670105
],
[
0.1894257813692093,
-0.9809521436691284,
0.04302060231566429,
0.05735307186841965
],
[
0.1708865612745285,
-0.010209676809608936,
-0.9852378368377686,
-0.052678413689136505
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 116,
"c2w": [
[
0.9698290824890137,
0.19281816482543945,
0.14917360246181488,
-0.18410752713680267
],
[
0.18911641836166382,
-0.9811897873878479,
0.03875091299414635,
0.05755934491753578
],
[
0.15383949875831604,
-0.009370583109557629,
-0.9880514144897461,
-0.0528075285255909
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 117,
"c2w": [
[
0.9687671661376953,
0.2072921246290207,
0.13608887791633606,
-0.18116091191768646
],
[
0.20217753946781158,
-0.9780439734458923,
0.05053945258259773,
0.05706509202718735
],
[
0.14357733726501465,
-0.021446850150823593,
-0.9894067049026489,
-0.05162994563579559
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 118,
"c2w": [
[
0.9705423712730408,
0.20631681382656097,
0.12442227452993393,
-0.1755567342042923
],
[
0.20042301714420319,
-0.9779735207557678,
0.05829622223973274,
0.056937675923109055
],
[
0.13370917737483978,
-0.03164186328649521,
-0.9905153512954712,
-0.05073455721139908
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 119,
"c2w": [
[
0.9738060832023621,
0.19854013621807098,
0.1108311265707016,
-0.16926971077919006
],
[
0.19407439231872559,
-0.9797202944755554,
0.04983238875865936,
0.05682701990008354
],
[
0.1184772327542305,
-0.02701760083436966,
-0.9925891160964966,
-0.05057940632104874
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 120,
"c2w": [
[
0.9765044450759888,
0.1915120929479599,
0.09880382567644119,
-0.162599578499794
],
[
0.18794354796409607,
-0.9811789393424988,
0.04432949796319008,
0.05686432495713234
],
[
0.1054338738322258,
-0.024718409404158592,
-0.9941190481185913,
-0.05069495365023613
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 121,
"c2w": [
[
0.9791537523269653,
0.18274259567260742,
0.0886736512184143,
-0.1555183380842209
],
[
0.17995084822177887,
-0.9829185009002686,
0.03858567774295807,
0.0570678673684597
],
[
0.09421022236347198,
-0.021824415773153305,
-0.9953131079673767,
-0.05123153701424599
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 122,
"c2w": [
[
0.9816557765007019,
0.17371226847171783,
0.07858727872371674,
-0.14837129414081573
],
[
0.17196694016456604,
-0.9846901297569275,
0.028508566319942474,
0.05726168677210808
],
[
0.08233640342950821,
-0.014471185393631458,
-0.9964995384216309,
-0.052179258316755295
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 123,
"c2w": [
[
0.983752965927124,
0.1660192608833313,
0.06832089275121689,
-0.14075098931789398
],
[
0.16478537023067474,
-0.9860528707504272,
0.02335546910762787,
0.057654090225696564
],
[
0.0712454691529274,
-0.011717728339135647,
-0.9973899722099304,
-0.052563030272722244
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 124,
"c2w": [
[
0.9852088093757629,
0.15997570753097534,
0.06141110882163048,
-0.13354045152664185
],
[
0.1586875468492508,
-0.9870035648345947,
0.02534102089703083,
0.058001451194286346
],
[
0.06466693431138992,
-0.015221020206809044,
-0.9977908134460449,
-0.05258386582136154
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 125,
"c2w": [
[
0.9867863059043884,
0.1524723768234253,
0.05481717735528946,
-0.12634354829788208
],
[
0.15134966373443604,
-0.9881863594055176,
0.02410455048084259,
0.058313485234975815
],
[
0.0578448623418808,
-0.015489478595554829,
-0.9982054233551025,
-0.05271187424659729
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 126,
"c2w": [
[
0.988197386264801,
0.14517046511173248,
0.048902444541454315,
-0.1182824969291687
],
[
0.14428231120109558,
-0.9893084764480591,
0.021245580166578293,
0.059146665036678314
],
[
0.05146383121609688,
-0.013939070515334606,
-0.9985775947570801,
-0.052776217460632324
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 127,
"c2w": [
[
0.9892261028289795,
0.1390971541404724,
0.04564770311117172,
-0.11066459864377975
],
[
0.13825301826000214,
-0.9901705980300903,
0.021171484142541885,
0.059760816395282745
],
[
0.0481439083814621,
-0.0146324522793293,
-0.9987332224845886,
-0.05274767801165581
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 128,
"c2w": [
[
0.9906389117240906,
0.13120238482952118,
0.037688784301280975,
-0.10286769270896912
],
[
0.13062113523483276,
-0.9912778735160828,
0.017501981928944588,
0.06024927645921707
],
[
0.03965635970234871,
-0.01241519208997488,
-0.9991362690925598,
-0.05307738482952118
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 129,
"c2w": [
[
0.991646409034729,
0.12453240901231766,
0.03360159322619438,
-0.09375137090682983
],
[
0.12423747032880783,
-0.992194414138794,
0.010735235176980495,
0.061989180743694305
],
[
0.0346761979162693,
-0.006470981054008007,
-0.9993776679039001,
-0.05374123901128769
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 130,
"c2w": [
[
0.9923779368400574,
0.11935741454362869,
0.030656659975647926,
-0.08577049523591995
],
[
0.11912724375724792,
-0.992836058139801,
0.009234525263309479,
0.06259255856275558
],
[
0.03153924643993378,
-0.005512095522135496,
-0.9994873404502869,
-0.054276663810014725
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 131,
"c2w": [
[
0.9933951497077942,
0.112062007188797,
0.024661246687173843,
-0.077805295586586
],
[
0.11194907873868942,
-0.9936963319778442,
0.005917479749768972,
0.06299470365047455
],
[
0.02516891621053219,
-0.00311759184114635,
-0.999678373336792,
-0.055084794759750366
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 132,
"c2w": [
[
0.9941843152046204,
0.10671859979629517,
0.014447963796555996,
-0.06832024455070496
],
[
0.10676109790802002,
-0.9942822456359863,
-0.002200774382799864,
0.0645352303981781
],
[
0.014130489900708199,
0.003730455646291375,
-0.9998931884765625,
-0.05657143518328667
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 133,
"c2w": [
[
0.9946922063827515,
0.1027413010597229,
0.005628267768770456,
-0.06002077832818031
],
[
0.10278531163930893,
-0.9946699142456055,
-0.008184760808944702,
0.06500165909528732
],
[
0.004757355432957411,
0.008719820529222488,
-0.999950647354126,
-0.05772431567311287
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 134,
"c2w": [
[
0.9951773881912231,
0.0979652926325798,
-0.0049810633063316345,
-0.05121074616909027
],
[
0.09791538864374161,
-0.9951500296592712,
-0.009432941675186157,
0.0659768208861351
],
[
-0.005881006363779306,
0.008899726904928684,
-0.9999430775642395,
-0.05853927880525589
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 135,
"c2w": [
[
0.9950489401817322,
0.09689754992723465,
-0.022100331261754036,
-0.04349302127957344
],
[
0.0966833308339119,
-0.9952591061592102,
-0.010566181503236294,
0.06644897162914276
],
[
-0.023019392043352127,
0.0083771338686347,
-0.9996999502182007,
-0.05957501754164696
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 136,
"c2w": [
[
0.9939433336257935,
0.10023906081914902,
-0.04504188522696495,
-0.03689797967672348
],
[
0.09951889514923096,
-0.9948735237121582,
-0.01796211674809456,
0.06660249084234238
],
[
-0.0466114841401577,
0.013370808213949203,
-0.9988235831260681,
-0.0609469972550869
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 137,
"c2w": [
[
0.992068350315094,
0.10616789013147354,
-0.06729582697153091,
-0.03064901754260063
],
[
0.10463438183069229,
-0.9941727519035339,
-0.025926783680915833,
0.0668131485581398
],
[
-0.06965626776218414,
0.018679684028029442,
-0.9973961710929871,
-0.06206958740949631
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 138,
"c2w": [
[
0.9901765584945679,
0.10979857295751572,
-0.08657180517911911,
-0.025053828954696655
],
[
0.10798817127943039,
-0.9938291907310486,
-0.025339344516396523,
0.06669249385595322
],
[
-0.08881980925798416,
0.01574169471859932,
-0.9959233403205872,
-0.061265379190444946
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 139,
"c2w": [
[
0.987821102142334,
0.11347465962171555,
-0.1064564511179924,
-0.018965480849146843
],
[
0.11186111718416214,
-0.9935013651847839,
-0.021026942878961563,
0.06706772744655609
],
[
-0.1081506609916687,
0.008862520568072796,
-0.9940950274467468,
-0.060793060809373856
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 140,
"c2w": [
[
0.9857499003410339,
0.11487612128257751,
-0.12288456410169601,
-0.013017923571169376
],
[
0.11367180198431015,
-0.9933764934539795,
-0.016790343448519707,
0.06696784496307373
],
[
-0.1239994466304779,
0.0025825698394328356,
-0.9922789335250854,
-0.05911403149366379
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 141,
"c2w": [
[
0.9846528172492981,
0.11419990658760071,
-0.13197427988052368,
-0.006349817384034395
],
[
0.11356110125780106,
-0.993453860282898,
-0.01238179299980402,
0.06730128079652786
],
[
-0.13252435624599457,
-0.002795377979055047,
-0.9911758303642273,
-0.05827226862311363
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 142,
"c2w": [
[
0.9833523631095886,
0.1114710196852684,
-0.1435004025697708,
0.0008715508156456053
],
[
0.11139648407697678,
-0.9937390089035034,
-0.008579119108617306,
0.06793845444917679
],
[
-0.14355826377868652,
-0.0075491429306566715,
-0.9896130561828613,
-0.0580587200820446
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 143,
"c2w": [
[
0.9806929230690002,
0.1106637567281723,
-0.16122935712337494,
0.006192260421812534
],
[
0.1107010468840599,
-0.9938149452209473,
-0.008779823780059814,
0.06750436127185822
],
[
-0.1612037569284439,
-0.009237946011126041,
-0.9868779182434082,
-0.056761905550956726
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 144,
"c2w": [
[
0.9792629480361938,
0.10709302872419357,
-0.171974316239357,
0.013172715902328491
],
[
0.10719195753335953,
-0.9941999316215515,
-0.008738337084650993,
0.06758356094360352
],
[
-0.17191267013549805,
-0.009877135045826435,
-0.9850626587867737,
-0.056299351155757904
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 145,
"c2w": [
[
0.9784040451049805,
0.10174117982387543,
-0.1799284964799881,
0.021125201135873795
],
[
0.10249336808919907,
-0.9947203993797302,
-0.005135974381119013,
0.06803666800260544
],
[
-0.17950108647346497,
-0.013416419737040997,
-0.9836663007736206,
-0.05614084750413895
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 146,
"c2w": [
[
0.9759573340415955,
0.09969306737184525,
-0.19382604956626892,
0.026545776054263115
],
[
0.1011296808719635,
-0.994870126247406,
-0.0024939849972724915,
0.06830152124166489
],
[
-0.1930803805589676,
-0.01716754212975502,
-0.9810327291488647,
-0.05544542148709297
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 147,
"c2w": [
[
0.9747830629348755,
0.09791506826877594,
-0.20052599906921387,
0.03313243016600609
],
[
0.09964703768491745,
-0.9950217604637146,
-0.0014630623627454042,
0.06858464330434799
],
[
-0.19967098534107208,
-0.01855565421283245,
-0.9796872735023499,
-0.055435892194509506
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 148,
"c2w": [
[
0.9740980267524719,
0.09483283758163452,
-0.20527967810630798,
0.04049564525485039
],
[
0.09726470708847046,
-0.9952569603919983,
0.001764977816492319,
0.06891844421625137
],
[
-0.20413866639137268,
-0.021685730665922165,
-0.9787017703056335,
-0.05568385496735573
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 149,
"c2w": [
[
0.970637321472168,
0.09529108554124832,
-0.22086836397647858,
0.04435419663786888
],
[
0.09856975078582764,
-0.9951227307319641,
0.003844622988253832,
0.06900888681411743
],
[
-0.219424769282341,
-0.025502674281597137,
-0.9752960801124573,
-0.05535615235567093
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 150,
"c2w": [
[
0.9673356413841248,
0.0978267714381218,
-0.2338624745607376,
0.04956134036183357
],
[
0.10112267732620239,
-0.9948717355728149,
0.002114431466907263,
0.06900597363710403
],
[
-0.23245631158351898,
-0.025694165378808975,
-0.9722673892974854,
-0.055547941476106644
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 151,
"c2w": [
[
0.9661830067634583,
0.09801861643791199,
-0.2385011613368988,
0.05600238963961601
],
[
0.10166005045175552,
-0.9948146939277649,
0.0029846939723938704,
0.06912054866552353
],
[
-0.236971914768219,
-0.027129800990223885,
-0.9711376428604126,
-0.05596620589494705
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 152,
"c2w": [
[
0.9633328914642334,
0.09784557670354843,
-0.24983200430870056,
0.06235114857554436
],
[
0.10188324749469757,
-0.9947910308837891,
0.0032484654802829027,
0.06907141208648682
],
[
-0.2482127994298935,
-0.028583047911524773,
-0.9682837724685669,
-0.056526895612478256
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 153,
"c2w": [
[
0.9595569968223572,
0.09930325299501419,
-0.2634183168411255,
0.06497124582529068
],
[
0.10290369391441345,
-0.9946913123130798,
-0.00012952911492902786,
0.06853148341178894
],
[
-0.26203277707099915,
-0.02698242850601673,
-0.9646816849708557,
-0.056338436901569366
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 154,
"c2w": [
[
0.9577592611312866,
0.09897550195455551,
-0.2700018882751465,
0.07023023813962936
],
[
0.10206799954175949,
-0.9947740435600281,
-0.002598811872303486,
0.06845727562904358
],
[
-0.26884809136390686,
-0.025069518014788628,
-0.9628562927246094,
-0.05702937766909599
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 155,
"c2w": [
[
0.9549217224121094,
0.09710094332695007,
-0.28052791953086853,
0.07615100592374802
],
[
0.10005499422550201,
-0.9949746131896973,
-0.0038081458769738674,
0.06844213604927063
],
[
-0.2794879376888275,
-0.024431737139821053,
-0.959838330745697,
-0.057867418974637985
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 156,
"c2w": [
[
0.9500954151153564,
0.09723290055990219,
-0.2964193820953369,
0.07781010121107101
],
[
0.09975236654281616,
-0.9949900507926941,
-0.006651073694229126,
0.06780386716127396
],
[
-0.29558104276657104,
-0.02324938029050827,
-0.9550347328186035,
-0.05811305344104767
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 157,
"c2w": [
[
0.9469042420387268,
0.09570461511611938,
-0.3069413900375366,
0.08279328048229218
],
[
0.09814336895942688,
-0.9951438903808594,
-0.00751769682392478,
0.06757413595914841
],
[
-0.30617034435272217,
-0.02300572395324707,
-0.9516987204551697,
-0.05864019691944122
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 158,
"c2w": [
[
0.9459838271141052,
0.0915636345744133,
-0.3110155463218689,
0.08869650214910507
],
[
0.09406550973653793,
-0.995541512966156,
-0.006980189587920904,
0.06753998249769211
],
[
-0.3102680444717407,
-0.02265268936753273,
-0.9503791928291321,
-0.0593363493680954
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 159,
"c2w": [
[
0.9426634907722473,
0.09176863729953766,
-0.32088008522987366,
0.09013884514570236
],
[
0.09410545974969864,
-0.9955280423164368,
-0.008253755047917366,
0.0672803521156311
],
[
-0.3202025294303894,
-0.02241605333983898,
-0.9470838904380798,
-0.059653181582689285
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 160,
"c2w": [
[
0.9382954835891724,
0.09170399606227875,
-0.3334546387195587,
0.09490305930376053
],
[
0.09491357207298279,
-0.9954630136489868,
-0.006690450012683868,
0.06730973720550537
],
[
-0.33255529403686523,
-0.025371750816702843,
-0.9427424073219299,
-0.060008298605680466
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 161,
"c2w": [
[
0.936507523059845,
0.08895159512758255,
-0.33917728066444397,
0.09955921769142151
],
[
0.09250127524137497,
-0.9956961274147034,
-0.005721529945731163,
0.06903403252363205
],
[
-0.33822643756866455,
-0.026016075164079666,
-0.9407050609588623,
-0.06094246730208397
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 162,
"c2w": [
[
0.9348491430282593,
0.08699106425046921,
-0.3442233204841614,
0.10478298366069794
],
[
0.09018546342849731,
-0.9959020614624023,
-0.006753705907613039,
0.0700346902012825
],
[
-0.3434002101421356,
-0.024730242788791656,
-0.9388635158538818,
-0.061978403478860855
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 163,
"c2w": [
[
0.9329249858856201,
0.08537446707487106,
-0.34980303049087524,
0.110392726957798
],
[
0.0893656462430954,
-0.995987594127655,
-0.004746852442622185,
0.07052518427371979
],
[
-0.3488047122955322,
-0.026831917464733124,
-0.9368112683296204,
-0.06275641918182373
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 164,
"c2w": [
[
0.9335037469863892,
0.08086040616035461,
-0.3493313193321228,
0.11643403768539429
],
[
0.0858611986041069,
-0.9963064193725586,
-0.0011736464221030474,
0.07100383192300797
],
[
-0.34813591837882996,
-0.02889840118587017,
-0.9369985461235046,
-0.06355975568294525
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 165,
"c2w": [
[
0.9329827427864075,
0.07548624277114868,
-0.35191622376441956,
0.12133108079433441
],
[
0.08105291426181793,
-0.9967092275619507,
0.0010887130629271269,
0.07348498702049255
],
[
-0.3506759703159332,
-0.02953958697617054,
-0.9360308647155762,
-0.06544434279203415
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 166,
"c2w": [
[
0.9312680959701538,
0.07385953515768051,
-0.3567695617675781,
0.12687397003173828
],
[
0.07980067282915115,
-0.9968089461326599,
0.001939553301781416,
0.07437179237604141
],
[
-0.3554878532886505,
-0.030276695266366005,
-0.9341903924942017,
-0.06661219894886017
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 167,
"c2w": [
[
0.9312818050384521,
0.0716237872838974,
-0.357189416885376,
0.13260990381240845
],
[
0.07846220582723618,
-0.9969061613082886,
0.0046704416163265705,
0.07514441013336182
],
[
-0.35574978590011597,
-0.03237536549568176,
-0.9340202808380127,
-0.06761181354522705
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 168,
"c2w": [
[
0.930363655090332,
0.06810718774795532,
-0.36025670170783997,
0.13487905263900757
],
[
0.07556435465812683,
-0.9971188306808472,
0.006637957878410816,
0.07699838280677795
],
[
-0.3587666451931,
-0.033398281782865524,
-0.9328296184539795,
-0.06918029487133026
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 169,
"c2w": [
[
0.9296770691871643,
0.06488673388957977,
-0.3626158833503723,
0.14025628566741943
],
[
0.07281570881605148,
-0.9973114728927612,
0.008225802332162857,
0.07791727781295776
],
[
-0.3611072599887848,
-0.03405147045850754,
-0.9319024085998535,
-0.07036101818084717
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 170,
"c2w": [
[
0.9293913841247559,
0.060514185577631,
-0.36410120129585266,
0.14628922939300537
],
[
0.06898293644189835,
-0.9975647926330566,
0.010286490432918072,
0.07873572409152985
],
[
-0.36259207129478455,
-0.03467694669961929,
-0.9313026070594788,
-0.07168414443731308
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 171,
"c2w": [
[
0.9272843599319458,
0.05756565183401108,
-0.3699053227901459,
0.15111000835895538
],
[
0.06593997031450272,
-0.9977732300758362,
0.010023199953138828,
0.0803636834025383
],
[
-0.3685046434402466,
-0.03368590027093887,
-0.9290153980255127,
-0.07311020791530609
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 172,
"c2w": [
[
0.924820065498352,
0.05512889102101326,
-0.3763890266418457,
0.1568933129310608
],
[
0.06369026005268097,
-0.9979162812232971,
0.010329763405025005,
0.08106011897325516
],
[
-0.37503525614738464,
-0.033525485545396805,
-0.9264041185379028,
-0.07465715706348419
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 173,
"c2w": [
[
0.9240468144416809,
0.05284368246793747,
-0.3786093294620514,
0.16286174952983856
],
[
0.06066373363137245,
-0.9981199502944946,
0.008747265674173832,
0.08151870965957642
],
[
-0.37743526697158813,
-0.03105073794722557,
-0.9255152344703674,
-0.07638794928789139
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 174,
"c2w": [
[
0.9228122234344482,
0.051728423684835434,
-0.3817614018917084,
0.16649538278579712
],
[
0.059895724058151245,
-0.9981591105461121,
0.009532944299280643,
0.08334314078092575
],
[
-0.38056549429893494,
-0.031662993133068085,
-0.9242117404937744,
-0.07875263690948486
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 175,
"c2w": [
[
0.9200537204742432,
0.05064912512898445,
-0.38850465416908264,
0.17172832787036896
],
[
0.060255441814661026,
-0.9981037974357605,
0.012574266642332077,
0.08396491408348083
],
[
-0.38713109493255615,
-0.03497852012515068,
-0.921360969543457,
-0.0803893432021141
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 176,
"c2w": [
[
0.917990505695343,
0.05028577521443367,
-0.39340150356292725,
0.17716684937477112
],
[
0.05904559791088104,
-0.9982032775878906,
0.01018773578107357,
0.08422916382551193
],
[
-0.3921823799610138,
-0.032580871134996414,
-0.9193103313446045,
-0.08239585906267166
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 177,
"c2w": [
[
0.9157825112342834,
0.050605691969394684,
-0.398473858833313,
0.18178445100784302
],
[
0.05859419330954552,
-0.9982507228851318,
0.007886014878749847,
0.08590222150087357
],
[
-0.39737775921821594,
-0.030570128932595253,
-0.9171457886695862,
-0.08527877926826477
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 178,
"c2w": [
[
0.9121411442756653,
0.05122743174433708,
-0.40666231513023376,
0.1868142932653427
],
[
0.059903547167778015,
-0.9981669187545776,
0.008623769506812096,
0.0864546149969101
],
[
-0.40547510981559753,
-0.03222661092877388,
-0.913537859916687,
-0.0874151811003685
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 179,
"c2w": [
[
0.9081563353538513,
0.05278152599930763,
-0.415290504693985,
0.1917884349822998
],
[
0.06104482337832451,
-0.9981129765510559,
0.0066370852291584015,
0.08673939108848572
],
[
-0.4141565263271332,
-0.0313788466155529,
-0.9096646308898926,
-0.08960217237472534
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 180,
"c2w": [
[
0.903003454208374,
0.05441230162978172,
-0.4261738061904907,
0.19852381944656372
],
[
0.061342742294073105,
-0.9981135129928589,
0.0025413352996110916,
0.08760444819927216
],
[
-0.42523157596588135,
-0.028437504544854164,
-0.9046377539634705,
-0.09207107126712799
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 181,
"c2w": [
[
0.8971235752105713,
0.054259732365608215,
-0.4384348690509796,
0.20404018461704254
],
[
0.06248272955417633,
-0.9980366230010986,
0.004337088204920292,
0.08803143352270126
],
[
-0.4373387396335602,
-0.03128551319241524,
-0.8987525105476379,
-0.09377656877040863
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 182,
"c2w": [
[
0.8934791088104248,
0.05226203054189682,
-0.4460535943508148,
0.20965532958507538
],
[
0.06252450495958328,
-0.9980088472366333,
0.00830924790352583,
0.08838149160146713
],
[
-0.4447311460971832,
-0.03531341999769211,
-0.8949676752090454,
-0.09524769335985184
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 183,
"c2w": [
[
0.8912796378135681,
0.04888065159320831,
-0.45081186294555664,
0.21658974885940552
],
[
0.060195885598659515,
-0.9981282949447632,
0.010785439983010292,
0.0877823680639267
],
[
-0.4494408965110779,
-0.036749862134456635,
-0.8925538063049316,
-0.09570524096488953
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 184,
"c2w": [
[
0.8890500068664551,
0.044913213700056076,
-0.45560169219970703,
0.2230587750673294
],
[
0.057707421481609344,
-0.9982324838638306,
0.014203093014657497,
0.08771061152219772
],
[
-0.4541585147380829,
-0.038918860256671906,
-0.8900704383850098,
-0.09664744883775711
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 185,
"c2w": [
[
0.885239839553833,
0.04284288361668587,
-0.4631575644016266,
0.2289787381887436
],
[
0.05665977671742439,
-0.9982661008834839,
0.01595330610871315,
0.08799488097429276
],
[
-0.46167099475860596,
-0.04036490619182587,
-0.8861323595046997,
-0.09805021435022354
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 186,
"c2w": [
[
0.8807780742645264,
0.04270403832197189,
-0.4715997576713562,
0.2345360815525055
],
[
0.05645805969834328,
-0.9982916116714478,
0.015046530403196812,
0.0862731859087944
],
[
-0.47015151381492615,
-0.03987826034426689,
-0.8816843628883362,
-0.09756816923618317
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 187,
"c2w": [
[
0.8777271509170532,
0.04131384566426277,
-0.4773763418197632,
0.24023641645908356
],
[
0.05580667406320572,
-0.9983099699020386,
0.016211550682783127,
0.08564909547567368
],
[
-0.4758998155593872,
-0.04087010398507118,
-0.8785493969917297,
-0.09802999347448349
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 188,
"c2w": [
[
0.8733748197555542,
0.04116963595151901,
-0.485305517911911,
0.24578966200351715
],
[
0.05741012096405029,
-0.998176634311676,
0.01863977499306202,
0.08577633649110794
],
[
-0.4836532473564148,
-0.04414095729589462,
-0.8741459250450134,
-0.09894177317619324
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 189,
"c2w": [
[
0.8691186904907227,
0.04182498902082443,
-0.4928320050239563,
0.249920055270195
],
[
0.059618689119815826,
-0.9980118870735168,
0.02044079452753067,
0.0844222828745842
],
[
-0.4909972846508026,
-0.0471474714577198,
-0.8698843717575073,
-0.09818804264068604
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 190,
"c2w": [
[
0.8662143349647522,
0.039975855499506,
-0.49807098507881165,
0.25553807616233826
],
[
0.05879221111536026,
-0.998024582862854,
0.022144967690110207,
0.08432941883802414
],
[
-0.4962018132209778,
-0.048464979976415634,
-0.8668534755706787,
-0.09872052073478699
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 191,
"c2w": [
[
0.8626561164855957,
0.03854890167713165,
-0.5043197274208069,
0.2614571452140808
],
[
0.059588994830846786,
-0.9978933334350586,
0.02565261721611023,
0.08428151160478592
],
[
-0.5022684335708618,
-0.052181292325258255,
-0.8631358742713928,
-0.09904897212982178
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 192,
"c2w": [
[
0.8584250211715698,
0.03745834156870842,
-0.5115694403648376,
0.26704901456832886
],
[
0.06056484952569008,
-0.9977552890777588,
0.028571145609021187,
0.0822954848408699
],
[
-0.5093508958816528,
-0.05550931394100189,
-0.8587667942047119,
-0.09689230471849442
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 193,
"c2w": [
[
0.856450617313385,
0.034602370113134384,
-0.515067994594574,
0.2735481858253479
],
[
0.05751404911279678,
-0.9979351758956909,
0.02859237976372242,
0.08175843209028244
],
[
-0.51301509141922,
-0.05411160737276077,
-0.8566722869873047,
-0.0971885472536087
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 194,
"c2w": [
[
0.8535550236701965,
0.032892681658267975,
-0.5199633836746216,
0.2787777781486511
],
[
0.05453362315893173,
-0.9981634616851807,
0.02637719176709652,
0.08042537420988083
],
[
-0.5181408524513245,
-0.05086987093091011,
-0.8537812232971191,
-0.09696847200393677
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 195,
"c2w": [
[
0.8501909971237183,
0.030272388830780983,
-0.5256032943725586,
0.284778356552124
],
[
0.05290689319372177,
-0.9982043504714966,
0.028087595477700233,
0.0798155888915062
],
[
-0.5238091945648193,
-0.05168785899877548,
-0.8502659797668457,
-0.09715955704450607
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 196,
"c2w": [
[
0.8474487662315369,
0.025775106623768806,
-0.530251145362854,
0.2914596498012543
],
[
0.04844816401600838,
-0.9984075427055359,
0.028898146003484726,
0.07968166470527649
],
[
-0.5286619067192078,
-0.05017939209938049,
-0.8473479747772217,
-0.09817556291818619
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 197,
"c2w": [
[
0.8459898233413696,
0.021960781887173653,
-0.5327466130256653,
0.29798582196235657
],
[
0.04287991672754288,
-0.9987174272537231,
0.026923414319753647,
0.07840510457754135
],
[
-0.5314720273017883,
-0.04562106356024742,
-0.84584641456604,
-0.0988621711730957
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 198,
"c2w": [
[
0.8459377884864807,
0.016956927254796028,
-0.5330119132995605,
0.3044734299182892
],
[
0.04005105793476105,
-0.998691737651825,
0.031792834401130676,
0.07786428928375244
],
[
-0.5317754745483398,
-0.04824245348572731,
-0.8455101847648621,
-0.09924182295799255
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 199,
"c2w": [
[
0.8463507294654846,
0.0115076694637537,
-0.5325016379356384,
0.31084346771240234
],
[
0.03639403358101845,
-0.9986793994903564,
0.036262135952711105,
0.07780755311250687
],
[
-0.5313811302185059,
-0.05007036775350571,
-0.8456518650054932,
-0.0999825969338417
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 200,
"c2w": [
[
0.844244122505188,
0.007822088897228241,
-0.5359017252922058,
0.3169493079185486
],
[
0.03136739507317543,
-0.9989007115364075,
0.03483521193265915,
0.07769111543893814
],
[
-0.5350401401519775,
-0.04621926322579384,
-0.8435614109039307,
-0.10125069320201874
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 201,
"c2w": [
[
0.8385785222053528,
0.005063660442829132,
-0.5447571873664856,
0.32262012362480164
],
[
0.02825631946325302,
-0.9990151524543762,
0.03421059623360634,
0.07703495770692825
],
[
-0.544047474861145,
-0.044081106781959534,
-0.8378956913948059,
-0.10186558961868286
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 202,
"c2w": [
[
0.8331617712974548,
0.0040953257121145725,
-0.5530142188072205,
0.32810842990875244
],
[
0.02683168835937977,
-0.9990943074226379,
0.033025406301021576,
0.07687390595674515
],
[
-0.5523781180381775,
-0.04235381260514259,
-0.8325170278549194,
-0.10288915038108826
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 203,
"c2w": [
[
0.8289322853088379,
0.0023835531901568174,
-0.5593438744544983,
0.33370721340179443
],
[
0.02403292804956436,
-0.9992192387580872,
0.031358130276203156,
0.07675964385271072
],
[
-0.5588324069976807,
-0.03943643718957901,
-0.8283423781394958,
-0.10413272678852081
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 204,
"c2w": [
[
0.8218919038772583,
-0.00018395160441286862,
-0.5696434378623962,
0.3421984910964966
],
[
0.020225349813699722,
-0.9993600249290466,
0.029504219070076942,
0.07711245119571686
],
[
-0.5692843198776245,
-0.035770516842603683,
-0.8213621973991394,
-0.10599634796380997
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 205,
"c2w": [
[
0.8137971758842468,
8.574180537834764e-05,
-0.5811489820480347,
0.3480837643146515
],
[
0.016755564138293266,
-0.9995877146720886,
0.023315751925110817,
0.07729417085647583
],
[
-0.58090740442276,
-0.028711771592497826,
-0.8134631514549255,
-0.10797794163227081
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 206,
"c2w": [
[
0.8091093897819519,
0.0010833910200744867,
-0.5876570343971252,
0.35361626744270325
],
[
0.015601084567606449,
-0.9996854662895203,
0.01963719166815281,
0.07762711495161057
],
[
-0.5874509215354919,
-0.02505672350525856,
-0.8088718056678772,
-0.10944287478923798
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 207,
"c2w": [
[
0.8083131909370422,
-0.0012549918610602617,
-0.5887514352798462,
0.36136266589164734
],
[
0.013829204253852367,
-0.9996813535690308,
0.0211174339056015,
0.07917044311761856
],
[
-0.5885903239250183,
-0.025211462751030922,
-0.8080382347106934,
-0.11049912124872208
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 208,
"c2w": [
[
0.8078417778015137,
-0.002736598253250122,
-0.5893930196762085,
0.3676873445510864
],
[
0.013513597659766674,
-0.9996403455734253,
0.02316359616816044,
0.08013459295034409
],
[
-0.5892444849014282,
-0.026677342131733894,
-0.8075142502784729,
-0.1112036257982254
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 209,
"c2w": [
[
0.8044857382774353,
-0.0021096430718898773,
-0.5939682722091675,
0.372612863779068
],
[
0.01613512821495533,
-0.9995470643043518,
0.02540399879217148,
0.08106119185686111
],
[
-0.5937528014183044,
-0.030020907521247864,
-0.8040872812271118,
-0.11055617034435272
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 210,
"c2w": [
[
0.8023923635482788,
-0.004051064141094685,
-0.5967831611633301,
0.378377765417099
],
[
0.015812106430530548,
-0.9994816184043884,
0.028044486418366432,
0.08190229535102844
],
[
-0.5965874195098877,
-0.031939078122377396,
-0.8019123077392578,
-0.11055635660886765
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 211,
"c2w": [
[
0.8031668066978455,
-0.007310833781957626,
-0.5957093238830566,
0.38469964265823364
],
[
0.013359131291508675,
-0.9994522333145142,
0.030277250334620476,
0.08250082284212112
],
[
-0.5956043601036072,
-0.032275840640068054,
-0.8026292324066162,
-0.11107612401247025
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 212,
"c2w": [
[
0.8014317750930786,
-0.009465992450714111,
-0.598011314868927,
0.3907466232776642
],
[
0.01248201448470354,
-0.9993922710418701,
0.03254741430282593,
0.08296740055084229
],
[
-0.5979559421539307,
-0.03354891762137413,
-0.8008265495300293,
-0.1118229404091835
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 213,
"c2w": [
[
0.7981624603271484,
-0.010566754266619682,
-0.602349579334259,
0.3936193585395813
],
[
0.010262790136039257,
-0.9994626045227051,
0.03113216906785965,
0.08345750719308853
],
[
-0.602354884147644,
-0.031030315905809402,
-0.7976250648498535,
-0.11179709434509277
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 214,
"c2w": [
[
0.7956886291503906,
-0.01197043526917696,
-0.6055876016616821,
0.3984048366546631
],
[
0.0065830303356051445,
-0.9995747208595276,
0.028407758101820946,
0.08381007611751556
],
[
-0.605670154094696,
-0.02659033238887787,
-0.7952714562416077,
-0.11290263384580612
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 215,
"c2w": [
[
0.7922588586807251,
-0.013075903989374638,
-0.6100450158119202,
0.40036529302597046
],
[
0.00580358924344182,
-0.9995636940002441,
0.0289620328694582,
0.08425887674093246
],
[
-0.6101575493812561,
-0.026485878974199295,
-0.7918372750282288,
-0.11311358958482742
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 216,
"c2w": [
[
0.7891924977302551,
-0.015043415129184723,
-0.6139616370201111,
0.4039483368396759
],
[
0.003672719234600663,
-0.9995664954185486,
0.02921253629028797,
0.08439837396144867
],
[
-0.6141349077224731,
-0.02530922368168831,
-0.7887951135635376,
-0.11395035684108734
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 217,
"c2w": [
[
0.7850642800331116,
-0.019415155053138733,
-0.6191099286079407,
0.4087163805961609
],
[
-0.002694307593628764,
-0.9996062517166138,
0.027930911630392075,
0.0843941792845726
],
[
-0.6194084286689758,
-0.020259488373994827,
-0.7848074436187744,
-0.1151798740029335
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 218,
"c2w": [
[
0.7807883024215698,
-0.023312071338295937,
-0.6243606209754944,
0.41342392563819885
],
[
-0.004125202540308237,
-0.9994742274284363,
0.03215914964675903,
0.08426833152770996
],
[
-0.6247820854187012,
-0.022533873096108437,
-0.7804739475250244,
-0.11575490981340408
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 219,
"c2w": [
[
0.7753514647483826,
-0.022610703483223915,
-0.6311250329017639,
0.41262421011924744
],
[
-0.00038542214315384626,
-0.9993756413459778,
0.0353301577270031,
0.08303573727607727
],
[
-0.6315298080444336,
-0.027150040492415428,
-0.774876058101654,
-0.11481382697820663
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 220,
"c2w": [
[
0.7689582705497742,
-0.02025463618338108,
-0.6389780640602112,
0.4150683283805847
],
[
3.702915273606777e-05,
-0.999496579170227,
0.03172709047794342,
0.08281902223825455
],
[
-0.6392990350723267,
-0.024420468136668205,
-0.7685703635215759,
-0.11541832238435745
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 221,
"c2w": [
[
0.7679167985916138,
-0.019770827144384384,
-0.6402443647384644,
0.4179660379886627
],
[
-0.0003718225925695151,
-0.9995371103286743,
0.030419863760471344,
0.08286312967538834
],
[
-0.6405494809150696,
-0.023121867328882217,
-0.7675687074661255,
-0.11590289324522018
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 222,
"c2w": [
[
0.7714807391166687,
-0.01968441903591156,
-0.6359480619430542,
0.4144214689731598
],
[
0.0005288420943543315,
-0.99950110912323,
0.03157898038625717,
0.08089607954025269
],
[
-0.6362524032592773,
-0.0246988907456398,
-0.7710855007171631,
-0.11499224603176117
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 223,
"c2w": [
[
0.7698755264282227,
-0.019890954717993736,
-0.6378840208053589,
0.4159659743309021
],
[
-0.0005420821253210306,
-0.9995341897010803,
0.030513936653733253,
0.08061084151268005
],
[
-0.6381938457489014,
-0.023146146908402443,
-0.7695276737213135,
-0.11525648832321167
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 224,
"c2w": [
[
0.7637983560562134,
-0.017742542549967766,
-0.6452109813690186,
0.4176963269710541
],
[
-0.0027578670997172594,
-0.9997026920318604,
0.02422589436173439,
0.08042960613965988
],
[
-0.6454490423202515,
-0.016724292188882828,
-0.7636202573776245,
-0.11604374647140503
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 225,
"c2w": [
[
0.7598994970321655,
-0.016218282282352448,
-0.6498382091522217,
0.4109179377555847
],
[
-0.0032272685784846544,
-0.9997705221176147,
0.021177824586629868,
0.07908248901367188
],
[
-0.6500325202941895,
-0.013995816931128502,
-0.7597774863243103,
-0.11493472754955292
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 226,
"c2w": [
[
0.7597420811653137,
-0.018606161698698997,
-0.6499583125114441,
0.4106464087963104
],
[
-0.005115638952702284,
-0.9997305870056152,
0.02263927273452282,
0.07847505807876587
],
[
-0.6502044796943665,
-0.013875055126845837,
-0.7596325874328613,
-0.11482956260442734
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 227,
"c2w": [
[
0.762604832649231,
-0.02118532545864582,
-0.6465176343917847,
0.41130876541137695
],
[
-0.005529765039682388,
-0.9996405243873596,
0.026233909651637077,
0.0779886469244957
],
[
-0.6468410491943359,
-0.016431014984846115,
-0.7624478340148926,
-0.11460556089878082
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 228,
"c2w": [
[
0.7643221616744995,
-0.02213415317237377,
-0.6444545388221741,
0.4054666757583618
],
[
-0.00257432390935719,
-0.999507486820221,
0.03127549961209297,
0.07776761800050735
],
[
-0.6448293924331665,
-0.02224552258849144,
-0.7640027403831482,
-0.11282748728990555
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 229,
"c2w": [
[
0.7654951810836792,
-0.02093987725675106,
-0.6431008577346802,
0.40362727642059326
],
[
0.000601939857006073,
-0.9994465708732605,
0.033259280025959015,
0.07772432267665863
],
[
-0.643441379070282,
-0.025846924632787704,
-0.7650589346885681,
-0.11198698729276657
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 230,
"c2w": [
[
0.7675557732582092,
-0.020418060943484306,
-0.6406568884849548,
0.40263861417770386
],
[
0.0009794748621061444,
-0.9994540214538574,
0.033026594668626785,
0.0777575671672821
],
[
-0.6409813761711121,
-0.02597726136445999,
-0.7671167254447937,
-0.11166508495807648
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 231,
"c2w": [
[
0.7644580006599426,
-0.01991787739098072,
-0.6443657279014587,
0.3994714319705963
],
[
0.0038829571567475796,
-0.9993622303009033,
0.035497743636369705,
0.07841476052999496
],
[
-0.6446618437767029,
-0.029638580977916718,
-0.7638931274414062,
-0.11093950271606445
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 232,
"c2w": [
[
0.7565836310386658,
-0.018276426941156387,
-0.6536415219306946,
0.3980156481266022
],
[
0.00865053478628397,
-0.9992420673370361,
0.03795265033841133,
0.07864809781312943
],
[
-0.6538397669792175,
-0.03436870127916336,
-0.7558521032333374,
-0.11014970391988754
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 233,
"c2w": [
[
0.754599928855896,
-0.017086807638406754,
-0.6559626460075378,
0.3969402015209198
],
[
0.009498865343630314,
-0.9992717504501343,
0.03695668652653694,
0.07886948436498642
],
[
-0.6561164259910583,
-0.0341184139251709,
-0.7538880705833435,
-0.10971074551343918
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 234,
"c2w": [
[
0.7588127255439758,
-0.0181376114487648,
-0.6510562896728516,
0.3952568769454956
],
[
0.010355474427342415,
-0.9991498589515686,
0.03990447148680687,
0.07844733446836472
],
[
-0.6512265801429749,
-0.03702201694250107,
-0.7579797506332397,
-0.10811284929513931
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 235,
"c2w": [
[
0.7624300718307495,
-0.019383970648050308,
-0.6467801928520203,
0.39382198452949524
],
[
0.011577649042010307,
-0.9989825487136841,
0.04358728975057602,
0.0786169096827507
],
[
-0.6469669938087463,
-0.04072045534849167,
-0.7614299058914185,
-0.10725411027669907
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 236,
"c2w": [
[
0.7680238485336304,
-0.01781000941991806,
-0.6401734948158264,
0.3919544816017151
],
[
0.012597866356372833,
-0.9989996552467346,
0.04290657863020897,
0.07885025441646576
],
[
-0.6402972936630249,
-0.04101809859275818,
-0.767031192779541,
-0.10682466626167297
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 237,
"c2w": [
[
0.7735172510147095,
-0.015967845916748047,
-0.6335740685462952,
0.3892759382724762
],
[
0.013557027094066143,
-0.999036967754364,
0.04173002764582634,
0.078630730509758
],
[
-0.6336302161216736,
-0.04086827486753464,
-0.7725558280944824,
-0.10626023262739182
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 238,
"c2w": [
[
0.7778307795524597,
-0.013551369309425354,
-0.6283276677131653,
0.3867049515247345
],
[
0.015647325664758682,
-0.9990400075912476,
0.04091707989573479,
0.07872620224952698
],
[
-0.6282789707183838,
-0.04165821149945259,
-0.7768720388412476,
-0.10576918721199036
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 239,
"c2w": [
[
0.782047688961029,
-0.01194493193179369,
-0.6231040954589844,
0.3840641379356384
],
[
0.01785479299724102,
-0.998976469039917,
0.04155967757105827,
0.07881014794111252
],
[
-0.6229627728462219,
-0.043627046048641205,
-0.781033992767334,
-0.10524184256792068
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 240,
"c2w": [
[
0.7870141267776489,
-0.011345939710736275,
-0.6168306469917297,
0.38099005818367004
],
[
0.020768601447343826,
-0.998776912689209,
0.04487008601427078,
0.07789693027734756
],
[
-0.6165853142738342,
-0.048124101012945175,
-0.7858158946037292,
-0.10408389568328857
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 241,
"c2w": [
[
0.7891659140586853,
-0.009822948835790157,
-0.6141015291213989,
0.37771761417388916
],
[
0.023518187925219536,
-0.9986554980278015,
0.046196747571229935,
0.07775238901376724
],
[
-0.6137296557426453,
-0.0508994534611702,
-0.7878738045692444,
-0.10346090793609619
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 242,
"c2w": [
[
0.790764331817627,
-0.008556811138987541,
-0.6120609045028687,
0.37427210807800293
],
[
0.02348347380757332,
-0.9987421035766602,
0.04430268704891205,
0.07781185209751129
],
[
-0.6116700768470764,
-0.049406301230192184,
-0.7895687222480774,
-0.1032450944185257
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 243,
"c2w": [
[
0.7943567633628845,
-0.00951387733221054,
-0.6073769927024841,
0.37067192792892456
],
[
0.02396303042769432,
-0.9986082315444946,
0.04698207601904869,
0.07682578265666962
],
[
-0.6069786548614502,
-0.051875121891498566,
-0.7930232286453247,
-0.10101158171892166
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 244,
"c2w": [
[
0.7955766916275024,
-0.011429447680711746,
-0.6057450771331787,
0.3668065071105957
],
[
0.0238430704921484,
-0.9984568357467651,
0.0501544363796711,
0.07677086442708969
],
[
-0.6053835153579712,
-0.05434452369809151,
-0.7940765023231506,
-0.09987688064575195
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 245,
"c2w": [
[
0.7962696552276611,
-0.00842990167438984,
-0.6048831343650818,
0.3620377480983734
],
[
0.023298097774386406,
-0.9987337589263916,
0.04458843916654587,
0.07720238715410233
],
[
-0.6044930815696716,
-0.04959704726934433,
-0.7950649261474609,
-0.0992918461561203
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 246,
"c2w": [
[
0.8028858304023743,
-0.003637064713984728,
-0.5961217284202576,
0.3580564558506012
],
[
0.028063775971531868,
-0.998642086982727,
0.04389059171080589,
0.07698648422956467
],
[
-0.5954718589782715,
-0.05196855962276459,
-0.8016935586929321,
-0.09739013761281967
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 247,
"c2w": [
[
0.8151018023490906,
-9.544775093672797e-05,
-0.5793177485466003,
0.35315099358558655
],
[
0.036242496222257614,
-0.9980327486991882,
0.05115773156285286,
0.07747939229011536
],
[
-0.5781829953193665,
-0.06269467622041702,
-0.8134948015213013,
-0.09489049017429352
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 248,
"c2w": [
[
0.828475296497345,
0.003402749774977565,
-0.5600152611732483,
0.34798455238342285
],
[
0.04375333711504936,
-0.9973182678222656,
0.058667927980422974,
0.07798808068037033
],
[
-0.5583138465881348,
-0.07310746610164642,
-0.8264024257659912,
-0.09229781478643417
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 249,
"c2w": [
[
0.8385898470878601,
0.004933931864798069,
-0.5447409749031067,
0.3412448465824127
],
[
0.0474710650742054,
-0.9968169927597046,
0.06404975056648254,
0.0779155045747757
],
[
-0.5426910519599915,
-0.07957090437412262,
-0.8361548185348511,
-0.08971934020519257
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 250,
"c2w": [
[
0.8449521660804749,
0.006859326269477606,
-0.5347978472709656,
0.3356648087501526
],
[
0.048173803836107254,
-0.9968295097351074,
0.06332669407129288,
0.07808367908000946
],
[
-0.532667875289917,
-0.07927127927541733,
-0.8426036834716797,
-0.08842077851295471
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 251,
"c2w": [
[
0.8487296104431152,
0.008314543403685093,
-0.528761625289917,
0.33021700382232666
],
[
0.04884494096040726,
-0.9968346953392029,
0.06272755563259125,
0.0783419981598854
],
[
-0.5265663862228394,
-0.07906606793403625,
-0.8464492559432983,
-0.08758191764354706
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 252,
"c2w": [
[
0.8510493636131287,
0.01131901890039444,
-0.5249636769294739,
0.3244952857494354
],
[
0.049970585852861404,
-0.9969759583473206,
0.05951392278075218,
0.07817014306783676
],
[
-0.5227025151252747,
-0.0768820270895958,
-0.8490414023399353,
-0.08671443909406662
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 253,
"c2w": [
[
0.8533351421356201,
0.015405449084937572,
-0.5211350917816162,
0.3187248110771179
],
[
0.05137325078248978,
-0.9971835017204285,
0.05464329570531845,
0.07824648916721344
],
[
-0.5188255310058594,
-0.07340145111083984,
-0.8517231345176697,
-0.08613007515668869
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 254,
"c2w": [
[
0.8553824424743652,
0.017188359051942825,
-0.5177116990089417,
0.3132462799549103
],
[
0.051881205290555954,
-0.9972665309906006,
0.052610162645578384,
0.07832057029008865
],
[
-0.5153922438621521,
-0.07186131924390793,
-0.8539360165596008,
-0.08541656285524368
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 255,
"c2w": [
[
0.8580073714256287,
0.01769292540848255,
-0.5133326053619385,
0.3089660704135895
],
[
0.0524030365049839,
-0.99720698595047,
0.0532182902097702,
0.07785043865442276
],
[
-0.5109572410583496,
-0.07256186753511429,
-0.8565380573272705,
-0.08412787318229675
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 256,
"c2w": [
[
0.8635196089744568,
0.018624166026711464,
-0.50397127866745,
0.30365148186683655
],
[
0.05561547726392746,
-0.9967394471168518,
0.058458905667066574,
0.07786934822797775
],
[
-0.5012392997741699,
-0.07850901782512665,
-0.8617398142814636,
-0.08216612786054611
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 257,
"c2w": [
[
0.8685205578804016,
0.019226599484682083,
-0.49528011679649353,
0.29811298847198486
],
[
0.05792825669050217,
-0.9963369369506836,
0.06290523707866669,
0.07802624255418777
],
[
-0.49225640296936035,
-0.08332520723342896,
-0.8664528727531433,
-0.08037803322076797
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 258,
"c2w": [
[
0.872444212436676,
0.02108997106552124,
-0.488258421421051,
0.29251226782798767
],
[
0.059808120131492615,
-0.9961664080619812,
0.06383941322565079,
0.07816999405622482
],
[
-0.48504024744033813,
-0.08489814400672913,
-0.8703609704971313,
-0.07905049622058868
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 259,
"c2w": [
[
0.8781058192253113,
0.022720733657479286,
-0.47792670130729675,
0.28704288601875305
],
[
0.06125372275710106,
-0.9959908723831177,
0.06519327312707901,
0.0782342404127121
],
[
-0.4745294153690338,
-0.08652138710021973,
-0.875977098941803,
-0.07794292271137238
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 260,
"c2w": [
[
0.880111575126648,
0.02371816895902157,
-0.4741741120815277,
0.281542032957077
],
[
0.06229943409562111,
-0.9958848357200623,
0.06581946462392807,
0.07827422767877579
],
[
-0.4706616699695587,
-0.08746924996376038,
-0.877967357635498,
-0.07712043076753616
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 261,
"c2w": [
[
0.8804730772972107,
0.02751988172531128,
-0.4732967019081116,
0.2766687273979187
],
[
0.06496628373861313,
-0.9958999156951904,
0.06294997036457062,
0.07851436734199524
],
[
-0.4696238040924072,
-0.08617407828569412,
-0.878650963306427,
-0.07649226486682892
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 262,
"c2w": [
[
0.8833582401275635,
0.030264686793088913,
-0.46772024035453796,
0.2711782455444336
],
[
0.06570093333721161,
-0.9960557818412781,
0.0596342533826828,
0.0786125659942627
],
[
-0.4640706479549408,
-0.08340806514024734,
-0.8818625211715698,
-0.07597239315509796
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 263,
"c2w": [
[
0.8865094184875488,
0.03149117901921272,
-0.4616376757621765,
0.26557740569114685
],
[
0.06558967381715775,
-0.996159553527832,
0.05800139531493187,
0.0786544680595398
],
[
-0.45803824067115784,
-0.08169744908809662,
-0.8851703405380249,
-0.0752084031701088
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 264,
"c2w": [
[
0.8873553276062012,
0.03361063823103905,
-0.45985960960388184,
0.2606908082962036
],
[
0.06727217882871628,
-0.9961048364639282,
0.05700567364692688,
0.07979754358530045
],
[
-0.45615237951278687,
-0.08152004331350327,
-0.8861599564552307,
-0.07443149387836456
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 265,
"c2w": [
[
0.8895763754844666,
0.03630828857421875,
-0.4553411304950714,
0.25479090213775635
],
[
0.0692029595375061,
-0.9960421919822693,
0.05577518045902252,
0.0801064670085907
],
[
-0.4515138864517212,
-0.08112724125385284,
-0.8885682821273804,
-0.07343994081020355
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 266,
"c2w": [
[
0.8933069705963135,
0.03835846111178398,
-0.4478072226047516,
0.2487352192401886
],
[
0.0712113231420517,
-0.995845377445221,
0.05675315856933594,
0.08032192289829254
],
[
-0.44376981258392334,
-0.08258693665266037,
-0.8923271298408508,
-0.07214584201574326
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 267,
"c2w": [
[
0.894439160823822,
0.04064455255866051,
-0.44533872604370117,
0.24434413015842438
],
[
0.07303693890571594,
-0.9957664012908936,
0.05581059679389,
0.08099742233753204
],
[
-0.44118496775627136,
-0.08244536072015762,
-0.893621027469635,
-0.0708019882440567
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 268,
"c2w": [
[
0.8959786891937256,
0.04358331486582756,
-0.44195330142974854,
0.23901070654392242
],
[
0.07430382072925568,
-0.9958564043045044,
0.052430685609579086,
0.08132762461900711
],
[
-0.4378369152545929,
-0.07981559634208679,
-0.8955044746398926,
-0.0697844997048378
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 269,
"c2w": [
[
0.8990082144737244,
0.044970083981752396,
-0.43561676144599915,
0.23315182328224182
],
[
0.07510452717542648,
-0.9958086013793945,
0.05219722539186478,
0.08134753257036209
],
[
-0.43144360184669495,
-0.07964252680540085,
-0.8986175656318665,
-0.06859957426786423
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 270,
"c2w": [
[
0.9022036194801331,
0.04662466421723366,
-0.4287829101085663,
0.22845454514026642
],
[
0.076619453728199,
-0.9956533908843994,
0.0529506616294384,
0.08311733603477478
],
[
-0.4244503676891327,
-0.08062539249658585,
-0.9018544554710388,
-0.06656229496002197
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 271,
"c2w": [
[
0.9063988327980042,
0.04718588665127754,
-0.4197792410850525,
0.22283929586410522
],
[
0.07634859532117844,
-0.9956750869750977,
0.0529337003827095,
0.08317538350820541
],
[
-0.4154660105705261,
-0.08002860099077225,
-0.9060813784599304,
-0.0653914213180542
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 272,
"c2w": [
[
0.9127042293548584,
0.044633254408836365,
-0.4061758518218994,
0.21735553443431854
],
[
0.0724315270781517,
-0.9959472417831421,
0.053317293524742126,
0.08301245421171188
],
[
-0.4021500051021576,
-0.0780828595161438,
-0.9122381806373596,
-0.06435293704271317
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 273,
"c2w": [
[
0.9182880520820618,
0.042197566479444504,
-0.39365774393081665,
0.21318452060222626
],
[
0.0691712275147438,
-0.9961106181144714,
0.05457956716418266,
0.08388599753379822
],
[
-0.3898235261440277,
-0.07734955102205276,
-0.9176353812217712,
-0.06184975802898407
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 274,
"c2w": [
[
0.9209781885147095,
0.04251697286963463,
-0.38728728890419006,
0.20753176510334015
],
[
0.06852679699659348,
-0.9962087273597717,
0.05359305068850517,
0.08397769927978516
],
[
-0.3835403621196747,
-0.07589758932590485,
-0.920400083065033,
-0.06070244684815407
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 275,
"c2w": [
[
0.9250136017799377,
0.042371634393930435,
-0.37756386399269104,
0.20179693400859833
],
[
0.06749618798494339,
-0.996281087398529,
0.053556062281131744,
0.08395310491323471
],
[
-0.3738904893398285,
-0.07502420991659164,
-0.9244334697723389,
-0.05960492417216301
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 276,
"c2w": [
[
0.9292356371879578,
0.04080276936292648,
-0.3672277629375458,
0.1977272480726242
],
[
0.06556810438632965,
-0.9963194131851196,
0.05521268770098686,
0.08384017646312714
],
[
-0.36362332105636597,
-0.07538402825593948,
-0.9284908771514893,
-0.058869846165180206
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 277,
"c2w": [
[
0.9309430122375488,
0.04160669818520546,
-0.3627864122390747,
0.19270431995391846
],
[
0.06512841582298279,
-0.9964767694473267,
0.05284304544329643,
0.08375737071037292
],
[
-0.3593096137046814,
-0.07282156497240067,
-0.9303728342056274,
-0.05833776667714119
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 278,
"c2w": [
[
0.933343768119812,
0.04246397688984871,
-0.3564635217189789,
0.18712401390075684
],
[
0.06486788392066956,
-0.9965832233428955,
0.05112766847014427,
0.0836712121963501
],
[
-0.35307446122169495,
-0.07084272056818008,
-0.9329092502593994,
-0.05769985169172287
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 279,
"c2w": [
[
0.9369657635688782,
0.04044746607542038,
-0.3470723032951355,
0.18182453513145447
],
[
0.06279270350933075,
-0.9965983629226685,
0.0533742792904377,
0.0841180831193924
],
[
-0.3437328338623047,
-0.07180348038673401,
-0.9363183379173279,
-0.05740123987197876
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 280,
"c2w": [
[
0.9399687051773071,
0.039779920130968094,
-0.33893418312072754,
0.17643341422080994
],
[
0.06279085576534271,
-0.9963865280151367,
0.05719476565718651,
0.08403980731964111
],
[
-0.3354342579841614,
-0.07504326105117798,
-0.939069926738739,
-0.05649414286017418
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 281,
"c2w": [
[
0.943051815032959,
0.03863624110817909,
-0.330394446849823,
0.16970935463905334
],
[
0.06116548553109169,
-0.9964374303817749,
0.05806281045079231,
0.08433426916599274
],
[
-0.3269740641117096,
-0.0749649778008461,
-0.942055344581604,
-0.055741529911756516
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 282,
"c2w": [
[
0.9461483955383301,
0.03906384855508804,
-0.3213678002357483,
0.16360339522361755
],
[
0.0597538985311985,
-0.9967095255851746,
0.05476822331547737,
0.08450828492641449
],
[
-0.3181709051132202,
-0.07102184742689133,
-0.9453693628311157,
-0.05539891496300697
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 283,
"c2w": [
[
0.9477834701538086,
0.0411880686879158,
-0.3162437081336975,
0.15783879160881042
],
[
0.06059257686138153,
-0.9968191981315613,
0.05176887661218643,
0.08456574380397797
],
[
-0.3131055533885956,
-0.06822770833969116,
-0.9472644329071045,
-0.054919447749853134
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 284,
"c2w": [
[
0.949252188205719,
0.04232030361890793,
-0.31165575981140137,
0.15217341482639313
],
[
0.06167310103774071,
-0.9967146515846252,
0.0525004081428051,
0.08462362736463547
],
[
-0.30841004848480225,
-0.0690569058060646,
-0.9487435817718506,
-0.05415813997387886
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 285,
"c2w": [
[
0.9516776204109192,
0.0432090200483799,
-0.30404385924339294,
0.14405012130737305
],
[
0.062151260673999786,
-0.9966639876365662,
0.052897270768880844,
0.08511734008789062
],
[
-0.3007439076900482,
-0.0692378580570221,
-0.951188325881958,
-0.05281767621636391
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 286,
"c2w": [
[
0.9546177387237549,
0.04325345903635025,
-0.2946762442588806,
0.13790087401866913
],
[
0.06145749241113663,
-0.9967125058174133,
0.05279405042529106,
0.0851685181260109
],
[
-0.2914239466190338,
-0.06850820034742355,
-0.9541376829147339,
-0.05205512419342995
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 287,
"c2w": [
[
0.9579555988311768,
0.044436000287532806,
-0.28345468640327454,
0.13173288106918335
],
[
0.06258954852819443,
-0.9965056777000427,
0.05530788004398346,
0.08525251597166061
],
[
-0.2800065577030182,
-0.07072379440069199,
-0.9573894143104553,
-0.051101699471473694
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 288,
"c2w": [
[
0.9605370163917542,
0.043524522334337234,
-0.27472567558288574,
0.12368329614400864
],
[
0.06179055944085121,
-0.996391773223877,
0.058184027671813965,
0.08590133488178253
],
[
-0.2712019681930542,
-0.07286336272954941,
-0.9597606062889099,
-0.049119651317596436
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 289,
"c2w": [
[
0.9602347016334534,
0.03963267430663109,
-0.27636662125587463,
0.11742658913135529
],
[
0.05744260549545288,
-0.9967405200004578,
0.05664537474513054,
0.08603727072477341
],
[
-0.27322080731391907,
-0.07026807218790054,
-0.9593814611434937,
-0.048573605716228485
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 290,
"c2w": [
[
0.9596325755119324,
0.036821890622377396,
-0.27883583307266235,
0.11121318489313126
],
[
0.05460109934210777,
-0.9969217777252197,
0.05626411736011505,
0.08614648878574371
],
[
-0.2759057581424713,
-0.06921762228012085,
-0.9586891531944275,
-0.04767914488911629
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 291,
"c2w": [
[
0.9604801535606384,
0.037983834743499756,
-0.27574455738067627,
0.10345076769590378
],
[
0.056179746985435486,
-0.9967118501663208,
0.058389537036418915,
0.08702351897954941
],
[
-0.27261999249458313,
-0.07157324999570847,
-0.9594559073448181,
-0.044442836195230484
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 292,
"c2w": [
[
0.9632251262664795,
0.03811142221093178,
-0.2659790515899658,
0.09680639952421188
],
[
0.05534619465470314,
-0.9968042373657227,
0.057603102177381516,
0.08735022693872452
],
[
-0.2629337012767792,
-0.0702056884765625,
-0.9622561931610107,
-0.04284846410155296
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 293,
"c2w": [
[
0.9651198387145996,
0.037275031208992004,
-0.25914138555526733,
0.09030243754386902
],
[
0.05350138619542122,
-0.9970049858093262,
0.055845413357019424,
0.0875866562128067
],
[
-0.25628361105918884,
-0.06776194274425507,
-0.9642235636711121,
-0.04141460731625557
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 294,
"c2w": [
[
0.9670581221580505,
0.03692827373743057,
-0.25186288356781006,
0.08312194794416428
],
[
0.05291743949055672,
-0.9969704151153564,
0.057006582617759705,
0.08779752999544144
],
[
-0.24899469316005707,
-0.06845661997795105,
-0.9660824537277222,
-0.039635103195905685
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 295,
"c2w": [
[
0.9698463678359985,
0.03581233695149422,
-0.24107150733470917,
0.0764661356806755
],
[
0.051043376326560974,
-0.9970551133155823,
0.05723348259925842,
0.08798366785049438
],
[
-0.23831191658973694,
-0.06781279295682907,
-0.9688183069229126,
-0.03825369104743004
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 296,
"c2w": [
[
0.9729282855987549,
0.033799320459365845,
-0.22862230241298676,
0.06988610327243805
],
[
0.048148263245821,
-0.9971850514411926,
0.05747745931148529,
0.08815564215183258
],
[
-0.22603605687618256,
-0.06692921370267868,
-0.9718169569969177,
-0.037038326263427734
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 297,
"c2w": [
[
0.9764643311500549,
0.030543021857738495,
-0.21350541710853577,
0.06328222900629044
],
[
0.044202402234077454,
-0.9972493052482605,
0.05949760228395462,
0.08792247623205185
],
[
-0.21110089123249054,
-0.06753473728895187,
-0.9751284122467041,
-0.03547694534063339
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 298,
"c2w": [
[
0.9788936376571655,
0.02589867264032364,
-0.2027226835489273,
0.05701623111963272
],
[
0.03833026438951492,
-0.9976013898849487,
0.05763884261250496,
0.08801965415477753
],
[
-0.2007436603307724,
-0.06419271230697632,
-0.9775383472442627,
-0.03482786938548088
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 299,
"c2w": [
[
0.9805108308792114,
0.023685483261942863,
-0.19503213465213776,
0.05137864872813225
],
[
0.03523341938853264,
-0.9978113770484924,
0.055955421179533005,
0.08800631016492844
],
[
-0.1932799518108368,
-0.061736542731523514,
-0.9791994094848633,
-0.034751854836940765
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 300,
"c2w": [
[
0.981979250907898,
0.02314099669456482,
-0.18756677210330963,
0.04491521045565605
],
[
0.03435390442609787,
-0.9977970719337463,
0.05675205588340759,
0.08795453608036041
],
[
-0.18584027886390686,
-0.06217299401760101,
-0.9806109666824341,
-0.034248802810907364
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 301,
"c2w": [
[
0.9836960434913635,
0.021892253309488297,
-0.17850174009799957,
0.0381045825779438
],
[
0.032442428171634674,
-0.9978809952735901,
0.05640071630477905,
0.08779799193143845
],
[
-0.17688874900341034,
-0.061272189021110535,
-0.9823217988014221,
-0.03359514847397804
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 302,
"c2w": [
[
0.9855846166610718,
0.021556515246629715,
-0.1678042709827423,
0.030989812687039375
],
[
0.03132721409201622,
-0.9979504346847534,
0.05579885095357895,
0.08767463266849518
],
[
-0.16625751554965973,
-0.060251329094171524,
-0.984239935874939,
-0.032860737293958664
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 303,
"c2w": [
[
0.986893355846405,
0.022597085684537888,
-0.15978369116783142,
0.024223191663622856
],
[
0.03210137039422989,
-0.99784916639328,
0.05715318024158478,
0.08716423064470291
],
[
-0.15814852714538574,
-0.061533372849226,
-0.9854961633682251,
-0.033610615879297256
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 304,
"c2w": [
[
0.9884855151176453,
0.02334006130695343,
-0.14950472116470337,
0.0168861523270607
],
[
0.03230205550789833,
-0.9978054761886597,
0.057799313217401505,
0.0870884582400322
],
[
-0.14782759547233582,
-0.06196309253573418,
-0.9870702028274536,
-0.03328816965222359
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 305,
"c2w": [
[
0.9903618693351746,
0.02251153439283371,
-0.13666215538978577,
0.009610445238649845
],
[
0.03041628748178482,
-0.9979655742645264,
0.056031566113233566,
0.0870891734957695
],
[
-0.13512276113033295,
-0.05964828282594681,
-0.9890317916870117,
-0.03289894014596939
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 306,
"c2w": [
[
0.9916970729827881,
0.023468617349863052,
-0.12643633782863617,
0.005955985747277737
],
[
0.030940670520067215,
-0.9978681802749634,
0.05746122822165489,
0.08637219667434692
],
[
-0.12481825798749924,
-0.06089615449309349,
-0.9903090596199036,
-0.03438106179237366
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 307,
"c2w": [
[
0.9925408363342285,
0.024794595316052437,
-0.11936458945274353,
-0.0009465472539886832
],
[
0.032144609838724136,
-0.9976776838302612,
0.06004982441663742,
0.08614595234394073
],
[
-0.11759847402572632,
-0.06343883275985718,
-0.9910328388214111,
-0.03418109565973282
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 308,
"c2w": [
[
0.9936089515686035,
0.02563450112938881,
-0.1099279448390007,
-0.005447672680020332
],
[
0.03203917667269707,
-0.9978657960891724,
0.056897442787885666,
0.08567123115062714
],
[
-0.10823480039834976,
-0.06005580723285675,
-0.9923096895217896,
-0.0352448932826519
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 309,
"c2w": [
[
0.9948108792304993,
0.026972297579050064,
-0.09810102730989456,
-0.011195538565516472
],
[
0.03272999823093414,
-0.9978051781654358,
0.05756370723247528,
0.08528485894203186
],
[
-0.0963330864906311,
-0.060475848615169525,
-0.9935102462768555,
-0.03544679656624794
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 310,
"c2w": [
[
0.9955013394355774,
0.028185062110424042,
-0.09045807272195816,
-0.017797989770770073
],
[
0.03376917913556099,
-0.9975781440734863,
0.06080673635005951,
0.08501079678535461
],
[
-0.08852515369653702,
-0.06358788162469864,
-0.9940422177314758,
-0.035311028361320496
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 311,
"c2w": [
[
0.9959492087364197,
0.029703106731176376,
-0.0848698690533638,
-0.024461328983306885
],
[
0.034596312791109085,
-0.9977871775627136,
0.056778598576784134,
0.08474162220954895
],
[
-0.08299557119607925,
-0.05948478728532791,
-0.9947729706764221,
-0.0357167012989521
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 312,
"c2w": [
[
0.9966839551925659,
0.029910467565059662,
-0.07567352801561356,
-0.02702292613685131
],
[
0.034007903188467026,
-0.9979912638664246,
0.053449951112270355,
0.08473815023899078
],
[
-0.07392280548810959,
-0.055846206843853,
-0.9956990480422974,
-0.036679577082395554
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 313,
"c2w": [
[
0.9973729252815247,
0.0306162778288126,
-0.06564957648515701,
-0.03312598168849945
],
[
0.03434676304459572,
-0.99781334400177,
0.056469544768333435,
0.08452092111110687
],
[
-0.0637771338224411,
-0.05857604369521141,
-0.9962435960769653,
-0.036867398768663406
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 314,
"c2w": [
[
0.9978249073028564,
0.03173813596367836,
-0.05777664855122566,
-0.03965602070093155
],
[
0.035251785069704056,
-0.9975243806838989,
0.06084712594747543,
0.08426354080438614
],
[
-0.055702440440654755,
-0.06275150924921036,
-0.9964735507965088,
-0.036938633769750595
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 315,
"c2w": [
[
0.9982426166534424,
0.033323097974061966,
-0.0490022711455822,
-0.04240023344755173
],
[
0.03630911186337471,
-0.9974547624588013,
0.061364881694316864,
0.084602490067482
],
[
-0.04683268070220947,
-0.06303627043962479,
-0.9969118237495422,
-0.03761252760887146
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 316,
"c2w": [
[
0.998598575592041,
0.03722376003861427,
-0.03761960193514824,
-0.04858063533902168
],
[
0.039455875754356384,
-0.997391402721405,
0.0604451447725296,
0.08447478711605072
],
[
-0.03527146950364113,
-0.06184475123882294,
-0.9974623322486877,
-0.037764307111501694
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 317,
"c2w": [
[
0.9987664222717285,
0.040499597787857056,
-0.0287298783659935,
-0.05285647138953209
],
[
0.04220142215490341,
-0.9972246289253235,
0.061335716396570206,
0.08561031520366669
],
[
-0.026166072115302086,
-0.062472496181726456,
-0.9977036118507385,
-0.03875238820910454
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 318,
"c2w": [
[
0.9989511966705322,
0.04147643968462944,
-0.019395338371396065,
-0.05792976915836334
],
[
0.04266560450196266,
-0.9969363212585449,
0.06555649638175964,
0.08597585558891296
],
[
-0.01661686599254608,
-0.06631525605916977,
-0.9976603388786316,
-0.03898158296942711
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 319,
"c2w": [
[
0.9990283250808716,
0.04303719103336334,
-0.009499004110693932,
-0.06363514065742493
],
[
0.04358919337391853,
-0.9966872930526733,
0.06866146624088287,
0.08585456013679504
],
[
-0.006512540392577648,
-0.06900880485773087,
-0.9975947737693787,
-0.0389329269528389
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 320,
"c2w": [
[
0.9990078806877136,
0.044403087347745895,
-0.0034046799410134554,
-0.06794098019599915
],
[
0.04453141242265701,
-0.9967663288116455,
0.06688634306192398,
0.08684932440519333
],
[
-0.00042371024028398097,
-0.06697160005569458,
-0.9977548122406006,
-0.03951643407344818
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 321,
"c2w": [
[
0.9989534616470337,
0.04561036452651024,
0.003411282552406192,
-0.07292469590902328
],
[
0.04528578743338585,
-0.9967864751815796,
0.06607486307621002,
0.087293341755867
],
[
0.006414019037038088,
-0.06585123389959335,
-0.9978088140487671,
-0.03969787061214447
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 322,
"c2w": [
[
0.9987781047821045,
0.04832136631011963,
0.010358976200222969,
-0.07852381467819214
],
[
0.047503381967544556,
-0.9965282678604126,
0.06837247312068939,
0.08729109913110733
],
[
0.013626864179968834,
-0.06779684126377106,
-0.997606098651886,
-0.03958975896239281
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 323,
"c2w": [
[
0.99854975938797,
0.050688087940216064,
0.018140284344553947,
-0.08409874886274338
],
[
0.04927777498960495,
-0.9962447285652161,
0.07119119167327881,
0.08719891309738159
],
[
0.02168070711195469,
-0.07019403576850891,
-0.9972977042198181,
-0.03948817029595375
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 324,
"c2w": [
[
0.9981984496116638,
0.05281825363636017,
0.028462812304496765,
-0.0867341160774231
],
[
0.05063017085194588,
-0.9960625767707825,
0.07277319580316544,
0.08790965378284454
],
[
0.03219449520111084,
-0.07120101153850555,
-0.9969422817230225,
-0.03923351690173149
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 325,
"c2w": [
[
0.9976330399513245,
0.057196591049432755,
0.03816917538642883,
-0.0916869044303894
],
[
0.054226819425821304,
-0.9957258105278015,
0.07476335763931274,
0.08798734098672867
],
[
0.04228224232792854,
-0.07251659780740738,
-0.99647057056427,
-0.03935123607516289
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 326,
"c2w": [
[
0.9970793128013611,
0.05995553731918335,
0.04730900004506111,
-0.09662771224975586
],
[
0.05633582919836044,
-0.9956318736076355,
0.0744541734457016,
0.08794722706079483
],
[
0.051566287875175476,
-0.07157152891159058,
-0.9961016178131104,
-0.03969461843371391
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 327,
"c2w": [
[
0.996532678604126,
0.0603938065469265,
0.05722911283373833,
-0.0972018912434578
],
[
0.056158993393182755,
-0.9957553744316101,
0.07292069494724274,
0.08833315223455429
],
[
0.06139015406370163,
-0.06945393234491348,
-0.9956944584846497,
-0.03906753286719322
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 328,
"c2w": [
[
0.995781421661377,
0.062223102897405624,
0.06743660569190979,
-0.10099542886018753
],
[
0.057205382734537125,
-0.9956203103065491,
0.07394396513700485,
0.0882963016629219
],
[
0.07174228131771088,
-0.06977429240942001,
-0.9949796795845032,
-0.03915421664714813
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
},
{
"frame_index": 329,
"c2w": [
[
0.9951283931732178,
0.06358400732278824,
0.07534300535917282,
-0.10369100421667099
],
[
0.05820496752858162,
-0.9957365989685059,
0.07155950367450714,
0.08931335806846619
],
[
0.07957183569669724,
-0.06682555377483368,
-0.994586706161499,
-0.039462096989154816
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 839.4537000868055,
"fy": 840.2316923945783,
"cx": 415.5501980251736,
"cy": 245.01093044051203
}
}
]
}