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 / spatialvid_eval /source /scene_002 /transforms.json
HugMinjun's picture
HugMinjun
Add files using upload-large-folder tool
10686b9 verified
Raw History Blame Contribute Delete
58.2 kB
{
"format_version": "1.0",
"camera_model": "opencv_pinhole",
"pose_type": "c2w",
"coordinate_system": "opencv",
"image_hw": [
480,
832
],
"num_frames": 81,
"frames": [
{
"frame_index": 0,
"c2w": [
[
0.9999998595890507,
0.0005039691908322894,
0.00016381982142564349,
-9.957522192201934e-05
],
[
-0.0005039363074328888,
0.9999998528821569,
-0.0002007084028619836,
2.517892534430545e-05
],
[
-0.00016392094817620825,
0.00020062581992443261,
0.9999999664396011,
-8.514647830253727e-05
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 1,
"c2w": [
[
0.9999790620969463,
-0.0004800178258056823,
-0.006453289905066524,
-0.001027481214967887
],
[
0.0004755984034747325,
0.9999996513651247,
-0.0006863496105733628,
0.004385115696448046
],
[
0.0064536171152724114,
0.0006832660654757463,
0.9999789417650821,
0.029946021010931412
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 2,
"c2w": [
[
0.9999137914179214,
-0.0013768627983060196,
-0.01305810020915987,
-0.00212772049848815
],
[
0.0013613572656365517,
0.9999983578558144,
-0.0011962408077435915,
0.008815215416111032
],
[
0.013059725825342532,
0.0011783609419245811,
0.9999140238174768,
0.06058755262587646
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 3,
"c2w": [
[
0.9998118334282696,
-0.0027789907362339183,
-0.01919830584427215,
-0.0035438090212558063
],
[
0.002751808786163479,
0.9999951739018014,
-0.0014421239581336946,
0.013280410623900209
],
[
0.01920222084048305,
0.0013890225319107602,
0.9998146554893059,
0.0913577188397028
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 4,
"c2w": [
[
0.9996697002752791,
-0.003951767654021071,
-0.025394367169555794,
-0.005080123073738003
],
[
0.003914723977242635,
0.9999911999681285,
-0.0015082846165622207,
0.01779546110391201
],
[
0.02540010408867613,
0.001408374492523006,
0.9996763732296434,
0.12252298861499789
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 5,
"c2w": [
[
0.9994827940503206,
-0.005336349950069304,
-0.031712265238787944,
-0.006797148769302449
],
[
0.005290610173969674,
0.9999848401585878,
-0.0015260724068644012,
0.022777934203929776
],
[
0.031719928142288266,
0.001357505880023973,
0.9994958745970061,
0.15662134017265222
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 6,
"c2w": [
[
0.9993034404354273,
-0.006534736097519288,
-0.036741409309582446,
-0.00853692730534756
],
[
0.006491868636514826,
0.9999781007923464,
-0.0012859149809501928,
0.027511748857809513
],
[
0.036749007816874846,
0.0010464988618127523,
0.9993239791301955,
0.18824072665670144
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 7,
"c2w": [
[
0.9991157541800152,
-0.0076644775963992115,
-0.04133963633698308,
-0.010467744443401391
],
[
0.007629470923796909,
0.9999703906286236,
-0.0010045095625250463,
0.03231698893240831
],
[
0.04134611133737555,
0.0006882217757098982,
0.9991446468995694,
0.22019064240171343
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 8,
"c2w": [
[
0.9989174442519984,
-0.008778184530304274,
-0.04568241505664843,
-0.012583179698650322
],
[
0.00874651698937852,
0.9999613497008224,
-0.0008930537857658738,
0.03716464001472384
],
[
0.045688488808566276,
0.0004925249858480016,
0.9989556143340543,
0.25261826163832174
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 9,
"c2w": [
[
0.9987233354870064,
-0.009798864059622402,
-0.04955483242681306,
-0.014840774463549852
],
[
0.009767188586674368,
0.9999519114945062,
-0.0008813203706155516,
0.04205200094220034
],
[
0.04956108534748629,
0.000396183826480079,
0.9987710157276066,
0.28563293619525154
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 10,
"c2w": [
[
0.9985437445739301,
-0.010583645721745367,
-0.0528996844556827,
-0.017222492684580946
],
[
0.010550857785067338,
0.9999439339856295,
-0.0008990469080007839,
0.046917383754293836
],
[
0.05290623377517531,
0.000339600618495871,
0.9985994267468548,
0.31884607014137034
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 11,
"c2w": [
[
0.9983608289229954,
-0.010894410242562226,
-0.056186894358531844,
-0.01986139281779848
],
[
0.010853103602879605,
0.9999405622302536,
-0.0010402638270716423,
0.051833630352142536
],
[
0.056194887795734796,
0.00042875647109665455,
0.9984197267449766,
0.3521351684356794
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 12,
"c2w": [
[
0.9981725430194046,
-0.011137529294259107,
-0.05939301140196927,
-0.02264042365340044
],
[
0.011072293417095175,
0.9999376815215116,
-0.0014273723655247002,
0.05673965464304874
],
[
0.0594052075214007,
0.0007671470547639303,
0.9982336564175422,
0.3860613227350579
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 13,
"c2w": [
[
0.9979867354919859,
-0.011532718072810573,
-0.06236563313157295,
-0.02554957485874023
],
[
0.011423245611186494,
0.9999325229917234,
-0.002111616232432431,
0.061800453191399485
],
[
0.062385777559916575,
0.0013949470454580205,
0.9980511354038855,
0.42100968272396744
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 14,
"c2w": [
[
0.9978389985937668,
-0.010834271332632291,
-0.06480703241222885,
-0.028796797548564707
],
[
0.010686966932539071,
0.9999394624123392,
-0.0026192075719892517,
0.06687152881502277
],
[
0.06483148635633457,
0.0019209568483574886,
0.997894377327388,
0.45605538009132285
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 15,
"c2w": [
[
0.9976994908659956,
-0.010386514830463494,
-0.06699138926317483,
-0.03193239254083806
],
[
0.010185691105246848,
0.9999425509808149,
-0.0033386276655946122,
0.0720433956200978
],
[
0.0670222173793299,
0.0026485935244088227,
0.9977479678405268,
0.49155093517034715
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 16,
"c2w": [
[
0.9975815479446754,
-0.009625086433756421,
-0.06883613085762745,
-0.035409183335267304
],
[
0.009380143353477581,
0.9999484752002097,
-0.003880702957467778,
0.07775239184519753
],
[
0.06886993619115601,
0.003225624888080898,
0.9976204324456811,
0.5302726333187141
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 17,
"c2w": [
[
0.9975210487269948,
-0.008876337521467853,
-0.06980664709611636,
-0.03878225822692613
],
[
0.008591921279790322,
0.9999535244070112,
-0.004373547155206851,
0.08306854760108176
],
[
0.06984222387151368,
0.0037629321282629663,
0.9975509531379736,
0.5665992668362746
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 18,
"c2w": [
[
0.9975048635067522,
-0.008555848037272204,
-0.07007741964954688,
-0.04189800651436924
],
[
0.008253739094785668,
0.9999553591913083,
-0.004599501661792953,
0.0885901675814858
],
[
0.07011364397412818,
0.0040096245391226925,
0.9975309518204056,
0.6045222413275342
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 19,
"c2w": [
[
0.9975446414118436,
-0.008381950055099192,
-0.06953007481507742,
-0.045022663232602955
],
[
0.008075458819464039,
0.999956404064209,
-0.004687956466483476,
0.09426674497034024
],
[
0.06956633780336277,
0.004114958596429181,
0.9975688406122047,
0.6432169974756801
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 20,
"c2w": [
[
0.9976415004777033,
-0.00826325841977349,
-0.06814070064862002,
-0.04816416656705185
],
[
0.007954234929103163,
0.9999568193760987,
-0.0048051565977471535,
0.10000180402302439
],
[
0.06817746454136761,
0.004251816497013989,
0.9976641495940336,
0.6823920474098432
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 21,
"c2w": [
[
0.9977902364671765,
-0.008187586926963317,
-0.06593638927852885,
-0.05136074496892632
],
[
0.00788815932264258,
0.9999573664823237,
-0.0048002250193597586,
0.1058124304817138
],
[
0.06597288043792601,
0.004269500913373813,
0.9978122821496406,
0.7221682822260457
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 22,
"c2w": [
[
0.9979920499987658,
-0.008140321128782676,
-0.06281403753287555,
-0.054518358930879335
],
[
0.007871037720774137,
0.9999587473169409,
-0.004533258158626137,
0.11176071903944326
],
[
0.06284834846246444,
0.004029743944085541,
0.9980149529236954,
0.7628856776518615
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 23,
"c2w": [
[
0.9982518372496937,
-0.008239770338405974,
-0.058526708538767236,
-0.057334453930048046
],
[
0.00801976777517456,
0.9999598692006271,
-0.0039929078498743015,
0.1178767700585405
],
[
0.058557260458834276,
0.003516556985979506,
0.9982778576501239,
0.8049067635694652
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 24,
"c2w": [
[
0.9985448828939446,
-0.008470335577510833,
-0.05325758407516096,
-0.05989188099381062
],
[
0.00831784437138192,
0.9999606495649263,
-0.003084280581282221,
0.12419287413112307
],
[
0.053281613257595284,
0.002636804295915546,
0.9985760446514692,
0.8478430670377035
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 25,
"c2w": [
[
0.9988131225325774,
-0.008370206718927683,
-0.04798214142996396,
-0.06227050624065753
],
[
0.008263130743689773,
0.9999629084008987,
-0.002429504626134774,
0.13117799493066426
],
[
0.04800069715155536,
0.00203013839383901,
0.9988452390691296,
0.8949573261306427
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 26,
"c2w": [
[
0.9990310862008498,
-0.00839839870415561,
-0.043201339140777714,
-0.06431256304771758
],
[
0.00830542647603804,
0.9999627922212031,
-0.002331107939701336,
0.13756290206266386
],
[
0.04321930928880725,
0.001970043751151137,
0.9990636667561369,
0.9381447742044491
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 27,
"c2w": [
[
0.9992083564699731,
-0.008438332088059915,
-0.03887743448515264,
-0.06599682735590363
],
[
0.008356348382008017,
0.9999625067693882,
-0.0022707921965870606,
0.14413347062996876
],
[
0.038895138543193666,
0.0019441211518799685,
0.9992414065633254,
0.9815454829096225
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 28,
"c2w": [
[
0.9993817605521209,
-0.008017292029155408,
-0.034231852188609205,
-0.067629921383545
],
[
0.007952007257783977,
0.999966295588799,
-0.0020428575542872822,
0.15072559633644117
],
[
0.03424707660977355,
0.001769382642109615,
0.99941183054272,
1.0257854561720903
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 29,
"c2w": [
[
0.9995174725815005,
-0.007317570703621007,
-0.03018733448462744,
-0.06929908195200128
],
[
0.00727849298085458,
0.9999725255179706,
-0.0014041898516026904,
0.1574242157981487
],
[
0.03019678036176903,
0.0011837939893414432,
0.9995432722436652,
1.0704773955358449
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 30,
"c2w": [
[
0.9996149931796952,
-0.007409479577842219,
-0.026738829868632158,
-0.07076121183849234
],
[
0.007393090851264782,
0.9999724174458406,
-0.000711726904283279,
0.1638048453043882
],
[
0.026743365869371434,
0.0005137702860956256,
0.9996422002006868,
1.1154717367692695
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 31,
"c2w": [
[
0.9996913217136789,
-0.0070828770338512495,
-0.02381373854062951,
-0.07222558969083628
],
[
0.0070826480707037644,
0.9999749133192496,
-9.395991888486758e-05,
0.17057054685249157
],
[
0.023813806639524832,
-7.473341383291012e-05,
0.9997164083020007,
1.1602827668285045
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 32,
"c2w": [
[
0.9997478071568163,
-0.006387866830007323,
-0.021529450585178137,
-0.07350046107426864
],
[
0.006407762573401552,
0.9999791043381471,
0.0008552577858309921,
0.17762564091428065
],
[
0.02152353744021761,
-0.0009929977036239308,
0.9997678486986968,
1.2059892365215525
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 33,
"c2w": [
[
0.9997844372473369,
-0.005625765712168688,
-0.01998573987066198,
-0.07457523001902708
],
[
0.005653736442817425,
0.9999831152526535,
0.0013433070511631386,
0.18489517646313852
],
[
0.019977845285744377,
-0.001456011590040949,
0.9997993627363386,
1.252579476506984
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 34,
"c2w": [
[
0.9998094164331393,
-0.005037691424414931,
-0.01886140177023633,
-0.07571429936774474
],
[
0.005065526149008627,
0.9999861501553109,
0.0014282655194017707,
0.19203926721983144
],
[
0.018853945381792313,
-0.0015235362393387485,
0.9998210877856438,
1.299101887280447
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 35,
"c2w": [
[
0.9998305391323191,
-0.004233090729793343,
-0.017915746181765526,
-0.07716694717245914
],
[
0.0042627212587186296,
0.9999896087941841,
0.0016160170559114209,
0.19892335629281613
],
[
0.017908719268741043,
-0.001692113036373758,
0.9998381941732499,
1.3452907145971518
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 36,
"c2w": [
[
0.9998466121200806,
-0.0029780034110680836,
-0.01725930843576353,
-0.07875516977309047
],
[
0.0030070318585076294,
0.9999941073739795,
0.0016561934427845844,
0.20661903333057555
],
[
0.017254274583391543,
-0.0017078386931058094,
0.9998496753490493,
1.3966824284981807
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 37,
"c2w": [
[
0.9998550744610362,
-0.002485271096446535,
-0.016842015974734677,
-0.07974914879797378
],
[
0.0025144711621965144,
0.9999953718493085,
0.0017128090196569933,
0.21383435661815212
],
[
0.01683768123259651,
-0.0017549095533684006,
0.9998566961235841,
1.4451803943898736
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 38,
"c2w": [
[
0.9998651109827964,
-0.0017797093660069237,
-0.01632765978126347,
-0.08102832765913294
],
[
0.0018110281410643676,
0.9999965483180495,
0.00190355694927754,
0.220815305946178
],
[
0.016324215645243553,
-0.0019328700316930542,
0.9998648828701847,
1.492732686712095
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 39,
"c2w": [
[
0.9998764096771833,
-0.001219723868140826,
-0.015674107462665926,
-0.08264401939289955
],
[
0.0012549985694407812,
0.9999967017373367,
0.0022408688134222705,
0.22736625389334345
],
[
0.015671322524165393,
-0.002260262846165136,
0.9998746425738628,
1.5388073701084404
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 40,
"c2w": [
[
0.9998859264677478,
-0.0006806655381438037,
-0.01508876224742295,
-0.08373948499606468
],
[
0.0007186459627854617,
0.9999965870626709,
0.0025118540941647463,
0.23447472554211457
],
[
0.015087001017904283,
-0.0025224110361682624,
0.9998830030772854,
1.5871869213566938
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 41,
"c2w": [
[
0.999898737337236,
-0.0003480734811298462,
-0.014226521579546986,
-0.08462767331301471
],
[
0.00039371121575184373,
0.9999947856406372,
0.0032052586502735085,
0.24167482167258916
],
[
0.014225331731814662,
-0.0032105352183547367,
0.9998936605463263,
1.635348107138533
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 42,
"c2w": [
[
0.9999141169365522,
-0.00017818171919161045,
-0.013104464974580463,
-0.08525953362923153
],
[
0.00022775692867235353,
0.9999928234758324,
0.0037816826432463956,
0.2483795317863675
],
[
0.013103697103356059,
-0.0037843424934505114,
0.9999069816108476,
1.6803586777665895
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 43,
"c2w": [
[
0.9999330785091531,
0.00040823511097187227,
-0.011561654176711553,
-0.08623154738859698
],
[
-0.00035641945728010014,
0.9999898860492641,
0.004483387597583591,
0.2554112361169959
],
[
0.011563367518944215,
-0.004478966764094593,
0.9999231107381946,
1.7272461234572982
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 44,
"c2w": [
[
0.9999521213495022,
0.000832076331970224,
-0.009750008082501193,
-0.08709970252509648
],
[
-0.0007822101648988305,
0.9999866012586482,
0.005117172113167982,
0.26258931005217784
],
[
0.009754135322466701,
-0.005109300554442859,
0.9999393741082285,
1.775170529386311
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 45,
"c2w": [
[
0.9999688164934109,
0.0014878050010826657,
-0.00775580279828491,
-0.0878382071494827
],
[
-0.0014454027144404444,
0.9999839953167307,
0.005469910546057666,
0.27048896652698246
],
[
0.007763816829383524,
-0.005458529716648805,
0.9999549627866108,
1.827860173342137
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 46,
"c2w": [
[
0.9999805574941102,
0.002551692243455609,
-0.005689771565107582,
-0.08857289140255707
],
[
-0.002518202165264101,
0.9999795099739518,
0.005885430324964003,
0.27777921730767885
],
[
0.005704672788449614,
-0.005870987902375135,
0.9999664935433721,
1.8754614204104603
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 47,
"c2w": [
[
0.9999867949194988,
0.0037075432415908925,
-0.0035586668487135563,
-0.08917859988197847
],
[
-0.003685195465215852,
0.9999735781635716,
0.006265964341337957,
0.284978131816862
],
[
0.0035818041559459524,
-0.006252767215841318,
0.9999740364535138,
1.922927473457919
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 48,
"c2w": [
[
0.9999870705338201,
0.004880494759737986,
-0.0014281232752964338,
-0.08950714845467528
],
[
-0.004871454455112068,
0.9999684985253678,
0.006266648898232839,
0.2921534114814175
],
[
0.0014586626344162484,
-0.006259610836315954,
0.9999793445744254,
1.97071095622466
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 49,
"c2w": [
[
0.9999813011937897,
0.006063254617050138,
0.0007963706576635482,
-0.089722641284597
],
[
-0.006067838875509488,
0.9999642674171366,
0.005886019052834021,
0.29938314657091936
],
[
-0.0007606537690848921,
-0.0058907412401402875,
0.9999823601311603,
2.018491695166383
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 50,
"c2w": [
[
0.9999704966592725,
0.007067960673410785,
0.003008279064047937,
-0.08993078583476065
],
[
-0.007084011914382142,
0.9999605486822736,
0.0053589042017400355,
0.3066045967564632
],
[
-0.0029702838593242973,
-0.005380056780894947,
0.9999811160231125,
2.0662195853246
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 51,
"c2w": [
[
0.999954424875852,
0.008049133540590298,
0.005134162098161224,
-0.09004031413706999
],
[
-0.008074576262383362,
0.9999551273196782,
0.00495424719504056,
0.3139026670292634
],
[
-0.005094054317280696,
-0.0049954775880146265,
0.9999745475832276,
2.1141165332785143
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 52,
"c2w": [
[
0.9999350367681172,
0.008842329980967631,
0.007192735505484051,
-0.0902099530063261
],
[
-0.008878205368727686,
0.9999482310753511,
0.004971180816147705,
0.32113144290769624
],
[
-0.007148406324130215,
-0.005034716455156241,
0.9999617752280541,
2.1620495046669035
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 53,
"c2w": [
[
0.9999145447390446,
0.00941362794788075,
0.009071208749012245,
-0.08975136238739378
],
[
-0.009460455152235939,
0.9999420734989489,
0.00513317006685418,
0.328496042835423
],
[
-0.009022361532426547,
-0.005218549174013189,
0.9999456803931385,
2.211547166167433
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 54,
"c2w": [
[
0.9998984788658094,
0.00922133143973406,
0.010862734845292573,
-0.08926341349551328
],
[
-0.009278837690068925,
0.9999431400837018,
0.005255451518929482,
0.33573216107853115
],
[
-0.010813654930776998,
-0.005355711533030322,
0.9999271879597099,
2.2599407844340864
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 55,
"c2w": [
[
0.9998755612949284,
0.008919085321909487,
0.013011988401952241,
-0.08930869490645205
],
[
-0.00898896514793522,
0.9999454366979558,
0.005321854235496946,
0.3423499118127646
],
[
-0.012963812352901706,
-0.005438156301097787,
0.9999011781297809,
2.3059587822104746
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 56,
"c2w": [
[
0.999856972206299,
0.00847048805859417,
0.014638509572419163,
-0.0885837175367017
],
[
-0.008554066018273923,
0.9999474156898598,
0.005656307074943357,
0.3500250621394078
],
[
-0.014589828134957765,
-0.00578071684311354,
0.9998768525312367,
2.3583209425314156
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 57,
"c2w": [
[
0.999829608869621,
0.007974890649736083,
0.016647953229920305,
-0.08799928758596659
],
[
-0.008071315448892547,
0.999950992904614,
0.005732857577273779,
0.35700359852002955
],
[
-0.016601418449799114,
-0.005866251631287982,
0.9998449779827137,
2.406771846245187
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 58,
"c2w": [
[
0.9998008427232642,
0.007391783142295125,
0.018537433258896882,
-0.08717845352025479
],
[
-0.007496177154646409,
0.9999563993131457,
0.005568375055148254,
0.3642587646364173
],
[
-0.01849546479321166,
-0.005706225956437553,
0.9998126608357273,
2.455328329186263
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 59,
"c2w": [
[
0.9997695722718846,
0.006902089042580748,
0.020326424332409443,
-0.08641125712007923
],
[
-0.007015021416135275,
0.9999603245235069,
0.005489886462744195,
0.37141888918766713
],
[
-0.020287726186639134,
-0.005631211742684279,
0.9997783242401712,
2.5029312778522756
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 60,
"c2w": [
[
0.9997389845474153,
0.006149635412990328,
0.022003289762910137,
-0.08561597888331332
],
[
-0.0062660994390933145,
0.9999667014400518,
0.0052280023835033764,
0.3783853872604101
],
[
-0.021970406776450114,
-0.005364512595736711,
0.9997442289059176,
2.5500284892801277
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 61,
"c2w": [
[
0.9997026574188754,
0.005604322278597272,
0.02373158910474747,
-0.08478253501257844
],
[
-0.005726873816529516,
0.999970599816976,
0.0050992566092579695,
0.3853631108224865
],
[
-0.02370231351426479,
-0.005233648199404571,
0.9997053612242943,
2.5969283641590026
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 62,
"c2w": [
[
0.9996597719873711,
0.00540023618603762,
0.025518184090811566,
-0.08392273108088139
],
[
-0.005535220881649731,
0.9999710452223133,
0.005222073035294507,
0.3923947219041886
],
[
-0.025489244789692916,
-0.005361545125205146,
0.9996607185610135,
2.6431928455069476
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 63,
"c2w": [
[
0.9996237793756376,
0.004581616611204221,
0.027042716135676256,
-0.08292077269385723
],
[
-0.004720429966403749,
0.999975998376897,
0.0050715097417481595,
0.3992495424392377
],
[
-0.027018831353319207,
-0.005197254982806454,
0.9996214139827861,
2.6888501217152254
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 64,
"c2w": [
[
0.9995941185085081,
0.0033472065064890865,
0.02829124337674029,
-0.0819588680670483
],
[
-0.0034913492825064123,
0.9999811684534698,
0.005047100020909304,
0.40581588618150277
],
[
-0.028273816922845352,
-0.005143826108689704,
0.9995869808723887,
2.7343724833470784
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 65,
"c2w": [
[
0.9995743623905331,
0.0026202844695721087,
0.029055604637627103,
-0.08064683323290858
],
[
-0.0027691269615673325,
0.9999832442139976,
0.005083623424223873,
0.4131436019876528
],
[
-0.029041797248625975,
-0.005161918301088849,
0.9995648696367949,
2.7836517368271805
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 66,
"c2w": [
[
0.9995615480234442,
0.002214057576098634,
0.02952642311600872,
-0.07944334625526357
],
[
-0.0023574580284913458,
0.9999855916064214,
0.004822755560805744,
0.41985695428896475
],
[
-0.029515319829196425,
-0.0048902483173251295,
0.9995523654950625,
2.8290200923286926
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 67,
"c2w": [
[
0.9995559916263437,
0.0011775435029875998,
0.029773024622558014,
-0.07848932225059191
],
[
-0.0013028525564692604,
0.9999903741851415,
0.004189762794814718,
0.4262076123392608
],
[
-0.029767804404977123,
-0.0042266923662935075,
0.9995479042509907,
2.8737003571752444
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 68,
"c2w": [
[
0.9995837709342402,
0.0008080265527653598,
0.028838030064040246,
-0.07763921238086781
],
[
-0.0009280887236399844,
0.9999909572640805,
0.004150185705375696,
0.4326613362733347
],
[
-0.02883441582910109,
-0.004175222527971244,
0.9995754818825022,
2.9176512540938933
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 69,
"c2w": [
[
0.9996180069627134,
-0.0003012819060452278,
0.027636016086004647,
-0.07687762362732195
],
[
0.00017867943872379587,
0.9999901329971662,
0.004438691470281456,
0.439058118965707
],
[
-0.027637080698782124,
-0.004432057933202336,
0.9996081975618878,
2.9611346772915756
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 70,
"c2w": [
[
0.9996640395319013,
-0.000600910172114747,
0.025912293872347295,
-0.07635563974126708
],
[
0.0004783107035833511,
0.9999886647149127,
0.004737262981651876,
0.4455478341913294
],
[
-0.025914846818622633,
-0.0047232773210495104,
0.9996529954767885,
3.0041953940806816
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 71,
"c2w": [
[
0.9997122439742221,
-0.0011591997372451665,
0.02396008146886784,
-0.07590746232786343
],
[
0.001045738618533746,
0.9999881841929164,
0.004747410377866314,
0.45180560084576193
],
[
-0.02396530155803011,
-0.0047209882994280325,
0.9997016437871399,
3.0470335001918114
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 72,
"c2w": [
[
0.9997527086163028,
-0.0020745746519780944,
0.022140861644925028,
-0.0754715723408428
],
[
0.001967143718234449,
0.999986192821001,
0.004872834180634609,
0.4579132798975955
],
[
-0.02215066500035954,
-0.00482807491382644,
0.9997429858381947,
3.0897744596963115
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 73,
"c2w": [
[
0.9997858771385177,
-0.0028775739656732016,
0.020491936034384598,
-0.07523721784560261
],
[
0.0027697786604976363,
0.9999821887850894,
0.00528681745043098,
0.46408488901643574
],
[
-0.02050678425636458,
-0.005228927294810037,
0.9997760399803594,
3.132187854632347
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 74,
"c2w": [
[
0.9998154954878992,
-0.003731905316244883,
0.018842713843741716,
-0.07509222779808329
],
[
0.0036268263686711076,
0.9999776994873149,
0.005607732032541157,
0.47020569670535534
],
[
-0.01886322116654694,
-0.005538358129252695,
0.9998067340623656,
3.174395919336461
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 75,
"c2w": [
[
0.9998391202000905,
-0.00472410915924513,
0.01730365597671191,
-0.07489375952601152
],
[
0.004634137177189107,
0.9999755542111151,
0.0052360054236285135,
0.4759939304023621
],
[
-0.017327968436370588,
-0.005154975540660664,
0.9998365705139232,
3.2162636625435854
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 76,
"c2w": [
[
0.9998573344386982,
-0.005411528300913393,
0.01600081656009145,
-0.07470716054979545
],
[
0.005344458905557009,
0.999976765663321,
0.00423141731931222,
0.4821501280754926
],
[
-0.01602334322630879,
-0.004145297935224494,
0.9998630251073795,
3.2608934664011913
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 77,
"c2w": [
[
0.9998723585193816,
-0.005918282078354377,
0.014840505588773508,
-0.07453222272628457
],
[
0.005860570385036545,
0.9999751069482573,
0.003929274561990288,
0.48807772045412956
],
[
-0.014863390718521158,
-0.003841799196014903,
0.9998821531537035,
3.301268780495791
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 78,
"c2w": [
[
0.9998856701191987,
-0.006584643327717502,
0.013612096184206227,
-0.07452499429362872
],
[
0.0065293914331143645,
0.9999702801572121,
0.004099493849273727,
0.493877103615766
],
[
-0.013638685339669256,
-0.004010146450418708,
0.9998989473880108,
3.341532177318272
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 79,
"c2w": [
[
0.9999000761821617,
-0.00674831979584061,
0.012421667796258157,
-0.07438221552237938
],
[
0.0067071341054210434,
0.9999718810794398,
0.003354311037881031,
0.4996070861443189
],
[
-0.012443954475946508,
-0.003270662070593415,
0.9999172219572082,
3.381282275687794
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 80,
"c2w": [
[
0.999910670473446,
-0.006924868492528569,
0.011432290658705001,
-0.07451266448313185
],
[
0.006896352458293948,
0.9999730145838845,
0.0025318820646687205,
0.5053010099797661
],
[
-0.011449515103920845,
-0.002452814787054501,
0.9999314438017767,
3.420170149526345
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 612.5198364257812,
"fy": 612.5200080871582,
"cx": 416.0,
"cy": 240.0
}
}
]
}