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_009 /transforms.json
HugMinjun's picture
HugMinjun
Add files using upload-large-folder tool
ad2ea69 verified
Raw History Blame Contribute Delete
58.1 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": [
[
0.9999999988381678,
-1.0995179582052475e-05,
4.6933683121183114e-05,
-0.00012040915429576355
],
[
1.0999017964024834e-05,
0.9999999965952304,
-8.178362263812044e-05,
-0.00011596544514781612
],
[
-4.6932783735766956e-05,
8.178413876752536e-05,
0.9999999955543343,
-0.00036934803215042146
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 1,
"c2w": [
[
0.9999958034324247,
9.959912346462563e-05,
-0.002895375200927434,
-0.002273822882905695
],
[
-9.641633568916639e-05,
0.999999391028194,
0.001099384887682131,
-0.0031520401059898615
],
[
0.0028954829354967326,
-0.0010991011125718398,
0.9999952040661568,
0.00857436430779249
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 2,
"c2w": [
[
0.9999829386708191,
0.0002136673982356999,
-0.005837526318230338,
-0.004427236611515627
],
[
-0.00020035565990926264,
0.9999973787578277,
0.0022808627936679684,
-0.006188114766831907
],
[
0.005837998362679025,
-0.0022796542976793025,
0.9999803602828411,
0.0175180766477354
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 3,
"c2w": [
[
0.9999676009094363,
0.00030149770897327176,
-0.008044018309162846,
-0.006042296907973076
],
[
-0.0002760283781675089,
0.9999949464176429,
0.0031671671112014073,
-0.00846517076246344
],
[
0.0080449325516818,
-0.003164844120539513,
0.9999626307127341,
0.02422586090269259
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 4,
"c2w": [
[
0.9999474636247505,
0.00035052457666897484,
-0.010244370305174121,
-0.008578100532681342
],
[
-0.0003042842650084619,
0.9999897613152824,
0.004514939167989162,
-0.012312766866042836
],
[
0.010245848013436983,
-0.004511584768762018,
0.9999373321370494,
0.03382635542052971
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 5,
"c2w": [
[
0.9999255363187829,
0.00037867597583208704,
-0.012197476054496784,
-0.011241367456089052
],
[
-0.0003065074275080797,
0.9999824414814747,
0.005918004895744913,
-0.01643087011720135
],
[
0.012199502891166395,
-0.0059138256023073595,
0.9999080951747287,
0.04364577733099824
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 6,
"c2w": [
[
0.9999065864872668,
0.0004015869055802465,
-0.013662248253463384,
-0.013238817648644836
],
[
-0.00030637580784409853,
0.9999756602430179,
0.00697029808580336,
-0.01951944755557023
],
[
0.013664714898100314,
-0.006965461183428746,
0.9998823720404595,
0.051010343763849636
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 7,
"c2w": [
[
0.9998842404952898,
0.0004494959983218951,
-0.01520866734810367,
-0.016310871205628276
],
[
-0.0003242935134235903,
0.999966049304732,
0.008233776266317654,
-0.02303715659016197
],
[
0.015211852052755888,
-0.008227891056286362,
0.9998504394987738,
0.05992563723894582
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 8,
"c2w": [
[
0.9998662227666631,
0.000514014473275006,
-0.016348466577845135,
-0.01979171139618744
],
[
-0.00036105605067838196,
0.9999561505038366,
0.009357708484281232,
-0.025954471408186935
],
[
0.01635255970342026,
-0.009350553923152587,
0.9998225647245996,
0.06793680227866966
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 9,
"c2w": [
[
0.9998469021213541,
0.0005798126829423854,
-0.017488171304756356,
-0.023272551586746612
],
[
-0.00039653625299542627,
0.9999449871626132,
0.010481670065491808,
-0.028871786226211896
],
[
0.017493286636074558,
-0.010473130650119181,
0.9997921276230645,
0.07594796731839348
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 10,
"c2w": [
[
0.9998326996319913,
0.0005809098802658845,
-0.018282103005827666,
-0.026947760530560198
],
[
-0.0003702462995423413,
0.9999335254700688,
0.011524216184939345,
-0.031145174454690738
],
[
0.018287582242668347,
-0.01151551929834483,
0.9997664513030068,
0.08353270030920715
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 11,
"c2w": [
[
0.9998265224548034,
0.000532689483650399,
-0.018618303839203553,
-0.0298499438033612
],
[
-0.0003047207757288808,
0.9999249804321194,
0.012245025646145895,
-0.032367270683890274
],
[
0.018623429898483593,
-0.012237228025167293,
0.9997516782226858,
0.08890142601563475
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 12,
"c2w": [
[
0.9998181055412074,
0.00046877317733448,
-0.019066622241492432,
-0.03371952150042921
],
[
-0.00021697678568048252,
0.9999127726379992,
0.013206060595956642,
-0.03399673232282299
],
[
0.019071149757317673,
-0.013199521472304012,
0.9997309957582774,
0.09605972695753821
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 13,
"c2w": [
[
0.9998127457982131,
0.00037713745814885045,
-0.019347638273839684,
-0.03757028475702702
],
[
-0.00010443333863044906,
0.9999006687586061,
0.014094030997916512,
-0.035458325016738776
],
[
0.01935103183593753,
-0.014089371292932485,
0.9997134725427353,
0.10302107796696221
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 14,
"c2w": [
[
0.9998159803655291,
0.0002451366179099908,
-0.019181900681494595,
-0.04041602470841745
],
[
3.486971849903823e-05,
0.9998934760789985,
0.014595728099695348,
-0.03617681441088753
],
[
0.01918343529764403,
-0.014593711066622644,
0.9997094674991756,
0.10779895387595138
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 15,
"c2w": [
[
0.999820221329334,
6.900546286732094e-05,
-0.018961019466468724,
-0.04421034464360468
],
[
0.00022047625632578947,
0.9998834635594624,
0.01526468769918511,
-0.03713480026975252
],
[
0.018959863163591346,
-0.015266123888510506,
0.9997036906254966,
0.11416945508793694
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 16,
"c2w": [
[
0.999824380242369,
-0.0001072742173874529,
-0.018740255206513432,
-0.04800466457879192
],
[
0.00040593313600595203,
0.9998729684390423,
0.015933681407233002,
-0.03809278612861752
],
[
0.018736165329438743,
-0.015938490428531626,
0.9996974145368226,
0.12053995629992251
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 17,
"c2w": [
[
0.9998449175087589,
-0.00039381951381266955,
-0.017606414685945454,
-0.05316928859182356
],
[
0.0006810603907542925,
0.9998667260242838,
0.016311540277482557,
-0.03852351556418678
],
[
0.017597644406200534,
-0.01632100167484614,
0.9997119324163749,
0.12557502865063455
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 18,
"c2w": [
[
0.9998640847591291,
-0.0006807984082153725,
-0.016472659843408198,
-0.058333912604855195
],
[
0.0009557570671829368,
0.9998602603151452,
0.01668970853426522,
-0.03895424499975605
],
[
0.01645899563210925,
-0.016703184009570354,
0.9997250147449172,
0.1306101010013466
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 19,
"c2w": [
[
0.9998775611063505,
-0.0008963168662242077,
-0.015622400970777177,
-0.062207380614628924
],
[
0.0011614967571583496,
0.9998552645022328,
0.016973537417201274,
-0.03927729207643299
],
[
0.015604926186929829,
-0.01698960456412518,
0.999733884398971,
0.13438640526438062
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 20,
"c2w": [
[
0.9999073812229528,
-0.0011371191119555473,
-0.013562298329638086,
-0.06831898381245162
],
[
0.0013746732349694637,
0.9998455797305363,
0.017519331231675896,
-0.04045936108442243
],
[
0.013540282469503255,
-0.017536352341160955,
0.9997545384229136,
0.13755077886024616
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 21,
"c2w": [
[
0.9999364219131223,
-0.0013635776932827363,
-0.011193426082162965,
-0.074746246738538
],
[
0.0015662905886923953,
0.9998345698030989,
0.018121251624652644,
-0.041891876616551915
],
[
0.011166864616992454,
-0.018137631668070236,
0.9997731379928645,
0.1400915862044962
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 22,
"c2w": [
[
0.9999544835941214,
-0.0015343561725798935,
-0.009416819587825923,
-0.07956669393310278
],
[
0.0017090655017430814,
0.9998260465391271,
0.01857298460264423,
-0.04296626326564903
],
[
0.009386683925899905,
-0.018588233188632373,
0.9997831603661868,
0.1419971917126837
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 23,
"c2w": [
[
0.999977617138474,
-0.001891249795738116,
-0.006417818653545734,
-0.08648061414178193
],
[
0.002013473612067746,
0.9998157088176138,
0.019091734482390633,
-0.044568827419579404
],
[
0.006380528667217623,
-0.01910422926324737,
0.9997971380626093,
0.1444984716345763
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 24,
"c2w": [
[
0.9999932850970037,
-0.002377615518000019,
-0.0027886744793036277,
-0.0938811916330538
],
[
0.0024316280706415177,
0.9998063576795987,
0.019527783498921505,
-0.04634144019531067
],
[
0.00274170491282743,
-0.019534433390893332,
0.9998054255535264,
0.14696022413411142
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 25,
"c2w": [
[
0.9999955412862074,
-0.0028655390771517956,
0.0008402937002463363,
-0.10128176912432571
],
[
0.002848192218545516,
0.9997966157476413,
0.01996534348940007,
-0.04811405297104193
],
[
-0.000897334269697984,
-0.01996286115166934,
0.9998003195467823,
0.1494219766336466
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 26,
"c2w": [
[
0.9999833273782205,
-0.0034051786429877763,
0.004663659935322809,
-0.10793524688838049
],
[
0.00331007533329435,
0.9997894576512799,
0.02025052519436692,
-0.04934331343821268
],
[
-0.004731634693307538,
-0.02023475049930473,
0.9997840599376249,
0.15219931553705593
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 27,
"c2w": [
[
0.9999631272141006,
-0.003848039982001559,
0.0076770307081293464,
-0.11236503041600877
],
[
0.003691123584301315,
0.999786098839921,
0.020350237667837043,
-0.04985774455717036
],
[
-0.007753697110543986,
-0.02032115042877633,
0.999763437532284,
0.1545190095175186
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 28,
"c2w": [
[
0.9999217622057155,
-0.004438921992342342,
0.011694675667266978,
-0.11827140845284648
],
[
0.004198714784112028,
0.9997813444392941,
0.020484972670701988,
-0.0505436527157806
],
[
-0.011783049757102189,
-0.020434267364004704,
0.9997217615195331,
0.15761193482480215
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 29,
"c2w": [
[
0.9998617537507146,
-0.005019105500764018,
0.015851875804384796,
-0.1239768240447975
],
[
0.004692395719260729,
0.9997771865756504,
0.020580539965976852,
-0.05125758972795447
],
[
-0.015951639695006382,
-0.02050331150935154,
0.9996625227586514,
0.16111435466260027
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 30,
"c2w": [
[
0.9997993022216467,
-0.005429187548191709,
0.01928416966516634,
-0.12780372023776573
],
[
0.005032482088838344,
0.9997759376082709,
0.020560853667306866,
-0.051856107407603026
],
[
-0.019391477538699384,
-0.02045967991121672,
0.9996026070878351,
0.16466253223460658
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 31,
"c2w": [
[
0.9996974447233556,
-0.005975724778065659,
0.023860212215528677,
-0.13290624849505675
],
[
0.005486031038235167,
0.9997740539013479,
0.02053642152645307,
-0.05265413098046777
],
[
-0.023977541096633997,
-0.02039931025896358,
0.9995043499974964,
0.16939343566394835
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 32,
"c2w": [
[
0.9995743449003611,
-0.00652197840956217,
0.0284357664682918,
-0.13800877675234774
],
[
0.00593968596013974,
0.9997719206118986,
0.020514065581710875,
-0.053452154553332513
],
[
-0.028563073148891772,
-0.020336434142224167,
0.9993851010990059,
0.17412433909329011
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 33,
"c2w": [
[
0.9994204568860995,
-0.007095370378787738,
0.03329273309249286,
-0.14166242689894643
],
[
0.006416744338561846,
0.9997703593695583,
0.02044636686939521,
-0.05502840405201765
],
[
-0.033430162274115306,
-0.020220886361685265,
0.9992364785200119,
0.18041295917085534
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 34,
"c2w": [
[
0.9992426414302942,
-0.007668192021009257,
0.03814894990085184,
-0.14531607704554508
],
[
0.00689412503268328,
0.9997685164119282,
0.02038098701059386,
-0.056604653550702794
],
[
-0.03829640436702254,
-0.02010254766494028,
0.9990641986328689,
0.1867015792484206
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 35,
"c2w": [
[
0.9990935799951799,
-0.008097425722388241,
0.04179055047598045,
-0.1480563146554941
],
[
0.00725236519558877,
0.9997669493443444,
0.020333474808131326,
-0.05778684067471665
],
[
-0.041945459962728714,
-0.020011963806021233,
0.9989194660697837,
0.1914180443065945
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 36,
"c2w": [
[
0.9988879026433336,
-0.008677592077552209,
0.046342824132090454,
-0.1522020866534098
],
[
0.007738356615916188,
0.9997617830134851,
0.020408210665860023,
-0.059938082777811735
],
[
-0.046508878611370194,
-0.020026897449001428,
0.9987171008793632,
0.19827525338432142
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 37,
"c2w": [
[
0.998666249902769,
-0.009260704970140766,
0.050793313030326755,
-0.15651189926843118
],
[
0.008226600122618387,
0.9997553810448314,
0.020530492500838837,
-0.0622809890823768
],
[
-0.050971014857105666,
-0.020085253679266158,
0.9984981413247983,
0.2053219921287689
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 38,
"c2w": [
[
0.998486773389364,
-0.00969820540558221,
0.05413047365771365,
-0.15974425872969722
],
[
0.008592419981201095,
0.9997503869322528,
0.02062363080734686,
-0.0640381688108006
],
[
-0.05431697419190388,
-0.020127310816952827,
0.9983208690966618,
0.2106070461871045
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 39,
"c2w": [
[
0.998247228082023,
-0.01020261354633699,
0.05829561135610422,
-0.1651226412620152
],
[
0.009002210112972557,
0.999742766827641,
0.020817309838096907,
-0.06562842554402544
],
[
-0.05849300675841294,
-0.020256032499913024,
0.9980822918515904,
0.2168758672714014
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 40,
"c2w": [
[
0.9980085881560411,
-0.01062853247795022,
0.06217629985895477,
-0.17156959371162978
],
[
0.009333612575109583,
0.9997342213757527,
0.021080092184692957,
-0.06646603270591006
],
[
-0.062383825171940674,
-0.02045778354520729,
0.9978425414108852,
0.22236677069554772
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 41,
"c2w": [
[
0.9977546770242324,
-0.011055231173258753,
0.06605593341991146,
-0.17801654616124432
],
[
0.00966398665511654,
0.9997254794206644,
0.02134415983477864,
-0.06730363986779468
],
[
-0.06627376432797293,
-0.02065787164324186,
0.9975876104387884,
0.2278576741196941
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 42,
"c2w": [
[
0.997512584407095,
-0.01146992567932018,
0.06954915351310505,
-0.18290081305141737
],
[
0.009995519948713132,
0.9997186529701455,
0.021510566810597407,
-0.06730739097984698
],
[
-0.06977631066797284,
-0.020761881139944146,
0.9973465850751673,
0.23278193513928463
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 43,
"c2w": [
[
0.9973438533564772,
-0.011771519936062196,
0.07187954848528601,
-0.18539199904946602
],
[
0.010245519768032648,
0.9997150164552082,
0.021561892278870516,
-0.06668481227651198
],
[
-0.0721128802415806,
-0.020768177396142735,
0.9971802321099761,
0.2360501491005607
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 44,
"c2w": [
[
0.9971102678230741,
-0.01217366552923273,
0.07498610317505387,
-0.18871358038019756
],
[
0.010578663278846018,
0.9997100487520296,
0.021631234533594227,
-0.06585470733873197
],
[
-0.0752276922750542,
-0.020775473323054166,
0.9969499355650578,
0.2404077677155955
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 45,
"c2w": [
[
0.9968748421539719,
-0.012578167144074101,
0.07798935050242108,
-0.191966458270864
],
[
0.010901844672987129,
0.9997010996542702,
0.021882895895407508,
-0.06522524126827717
],
[
-0.07824128618076147,
-0.020964280606281614,
0.9967140011434783,
0.24445867944314706
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 46,
"c2w": [
[
0.9967107063565763,
-0.012887552130218064,
0.08001049202614546,
-0.19425153394871741
],
[
0.011121435111570105,
0.99968542969572,
0.02248010976714676,
-0.06520457916691773
],
[
-0.08027503668784033,
-0.021516334589672642,
0.9965404988411617,
0.2468067727419735
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 47,
"c2w": [
[
0.996485333898928,
-0.013301804235626142,
0.08270454236871715,
-0.1972983015191886
],
[
0.01141232445916616,
0.9996639118732551,
0.023277073456503913,
-0.0651770296984385
],
[
-0.08298637342829586,
-0.022251411243735524,
0.9963022315155585,
0.2499375638070754
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 48,
"c2w": [
[
0.996252506281094,
-0.01371804046317747,
0.08539765274578297,
-0.2003450690896598
],
[
0.01170104262174403,
0.9996416804453612,
0.024074806706151752,
-0.06514948022995926
],
[
-0.08569731226942205,
-0.02298534494466127,
0.996056044902882,
0.2530683548721773
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 49,
"c2w": [
[
0.9960834893332575,
-0.014015570662121932,
0.08729974831978252,
-0.20497878115047932
],
[
0.011890268027242547,
0.9996212844486846,
0.024817518074989078,
-0.06534495074428931
],
[
-0.0876145182257064,
-0.02368230259449328,
0.9958729059171658,
0.2552038673078664
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 50,
"c2w": [
[
0.995910751504516,
-0.014314430445776887,
0.08920130110443086,
-0.20961249321129888
],
[
0.012078062623425624,
0.9996003087927485,
0.025560576376651337,
-0.06554042125861936
],
[
-0.08953153322140156,
-0.02437867392732905,
0.9956855853212752,
0.2573393797435556
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 51,
"c2w": [
[
0.9957787567468273,
-0.014539447058013744,
0.09062710461550996,
-0.21308777725691352
],
[
0.012217969120587816,
0.9995841967030545,
0.02611809587389274,
-0.0656870241443669
],
[
-0.09096916423883278,
-0.024900565872218765,
0.9955423511719287,
0.2589410140703224
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 52,
"c2w": [
[
0.9956409725058235,
-0.014774317455516373,
0.09209111472548176,
-0.21831372535192997
],
[
0.012334790556363117,
0.9995592347784337,
0.02700350183000319,
-0.06640596402745699
],
[
-0.09244948247334256,
-0.025749868210846336,
0.9953843667034034,
0.2609392009689413
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 53,
"c2w": [
[
0.9955149773368984,
-0.01498829246096271,
0.09340921253827077,
-0.2237370854583454
],
[
0.012427515762232097,
0.9995324510419165,
0.02793628762235372,
-0.06729939370013376
],
[
-0.09378425640743047,
-0.026650148278087482,
0.9952357925872953,
0.2628916126885367
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 54,
"c2w": [
[
0.9954193057905766,
-0.015149555745267496,
0.09439754562554935,
-0.22780460553815696
],
[
0.012496238490968106,
0.9995117942643549,
0.02863594157744283,
-0.06796946595464133
],
[
-0.09478528199558982,
-0.027325154842578744,
0.9951226488377428,
0.26435592147823334
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 55,
"c2w": [
[
0.9953107152136971,
-0.015376598134838807,
0.09549942623177762,
-0.23276349769095372
],
[
0.012605429300132304,
0.9994837141549595,
0.02955348187890366,
-0.06835479560269728
],
[
-0.0959045532441418,
-0.02821108592037876,
0.9949906790006803,
0.26624465710709233
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 56,
"c2w": [
[
0.995221586759742,
-0.015615502693902043,
0.09638542069752193,
-0.23725792189013184
],
[
0.012732347775007695,
0.9994550204062399,
0.030455697412783134,
-0.06823202522613239
],
[
-0.09680847363509976,
-0.029082954808263322,
0.9948780333146686,
0.2680697166452149
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 57,
"c2w": [
[
0.9951316205431738,
-0.01585518294920899,
0.09727112093917686,
-0.24175234608930993
],
[
0.01285844604452839,
0.99942550303397,
0.031358001381084216,
-0.06810925484956751
],
[
-0.09771242582413361,
-0.029954583271066218,
0.9947637934608498,
0.26989477618333746
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 58,
"c2w": [
[
0.9950482862482661,
-0.01596296229961333,
0.0981024559784815,
-0.2463077168348078
],
[
0.012830236134301691,
0.9993899808208043,
0.032481552852818174,
-0.06869571242163978
],
[
-0.09856111340243084,
-0.031062035825320345,
0.9946460962851359,
0.27197637146986176
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 59,
"c2w": [
[
0.994990936514111,
-0.015944926993099705,
0.09868533608372368,
-0.249769954803671
],
[
0.01269330626105121,
0.9993584438566748,
0.033490008488036495,
-0.06966747656217187
],
[
-0.09915601964044307,
-0.032069611714991474,
0.9945549878078708,
0.2737299697460563
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 60,
"c2w": [
[
0.9949139212883338,
-0.015921798365236817,
0.09946248319586672,
-0.25438627209548864
],
[
0.012509794890291862,
0.999314798752515,
0.034834437357639754,
-0.07096316208288131
],
[
-0.09994895826607776,
-0.03341301140330279,
0.9944313834601605,
0.2760681007809824
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 61,
"c2w": [
[
0.9948666176013685,
-0.015929084740256328,
0.09993336500764158,
-0.2586433915546512
],
[
0.012376005104906045,
0.9992724766923199,
0.03607425429361825,
-0.07203821526390786
],
[
-0.1004352910089682,
-0.034652295516098615,
0.9943399673830924,
0.27903826253077463
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 62,
"c2w": [
[
0.994899152358111,
-0.016000760093502042,
0.09959745134059672,
-0.26102803602554925
],
[
0.012389797742216288,
0.9992469783759297,
0.03676913268600826,
-0.07234808238539125
],
[
-0.10011078637698992,
-0.0353475866645023,
0.9943482179638963,
0.2826879529515678
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 63,
"c2w": [
[
0.9949423612392239,
-0.016095961807992956,
0.09914947213774573,
-0.26420756198674666
],
[
0.012408540673684654,
0.9992122245563995,
0.037695602069755044,
-0.0727612385473691
],
[
-0.09967811158959373,
-0.03627465107382068,
0.9943582974760181,
0.2875542068459587
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 64,
"c2w": [
[
0.9949853748846332,
-0.016190745803599974,
0.0987013855830251,
-0.2673870879479441
],
[
0.012427686727946367,
0.9991766066971275,
0.03862203039465624,
-0.07317439470934696
],
[
-0.0992454349996906,
-0.03720172549139267,
0.9943673241072362,
0.2924204607403496
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 65,
"c2w": [
[
0.9951167212147826,
-0.016148228132399925,
0.09737528375786532,
-0.26903225171086087
],
[
0.012399895510544323,
0.9991631778469471,
0.03897674468343561,
-0.07326992083078238
],
[
-0.09792320332826333,
-0.03757896702909902,
0.9944842218391188,
0.297977715167704
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 66,
"c2w": [
[
0.9952463047607395,
-0.016105207446500475,
0.09604902473840415,
-0.27067741547377766
],
[
0.01237257597016238,
0.999149615031558,
0.03933149051526194,
-0.07336544695221778
],
[
-0.09660078790546145,
-0.03795614674061061,
0.9945992251659205,
0.3035349695950584
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 67,
"c2w": [
[
0.9953423354445076,
-0.016072611877926673,
0.09505422883436151,
-0.2719112882959652
],
[
0.012352395884250626,
0.9991393550208757,
0.03959757018287175,
-0.07343709154329434
],
[
-0.09560885726642893,
-0.03823899051871318,
0.9946842343258073,
0.3077029104155742
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 68,
"c2w": [
[
0.9955121483862649,
-0.01576257127460312,
0.09331186292308502,
-0.27357290628701325
],
[
0.012052648982383594,
0.9991193918906444,
0.040189232395963885,
-0.07432438656848293
],
[
-0.09386317738000882,
-0.03888421395479664,
0.9948254730540663,
0.3141136337841845
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 69,
"c2w": [
[
0.9956929244103232,
-0.01536253767341517,
0.09143080834954727,
-0.27524000902077167
],
[
0.011662988694918577,
0.9990967900228062,
0.04086048042824733,
-0.07547560456158925
],
[
-0.09197594780115585,
-0.039618134766264315,
0.9949727777299846,
0.32080884679988014
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 70,
"c2w": [
[
0.9958260649178938,
-0.015061600749806402,
0.09001997896576225,
-0.2764903360710905
],
[
0.011371578341127588,
0.9990794136594526,
0.0413643857432464,
-0.07633901805641899
],
[
-0.09056012166607577,
-0.04016806423936707,
0.9950805952178385,
0.3258302565616519
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 71,
"c2w": [
[
0.9960391877245237,
-0.014577262461601822,
0.08771225647648466,
-0.27863813699967976
],
[
0.01091825335388691,
0.9990557580175373,
0.042052159465410584,
-0.07740466777096566
],
[
-0.08824244024714746,
-0.04092793411753833,
0.9952578439520581,
0.33205322456511377
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 72,
"c2w": [
[
0.9962843604806385,
-0.01400907924886027,
0.08497775450248411,
-0.28126663612309993
],
[
0.010400809526367568,
0.9990313860292975,
0.04275643682040208,
-0.07838474920695268
],
[
-0.08549442217408997,
-0.04171373187548635,
0.9954650512951917,
0.3378039475563419
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 73,
"c2w": [
[
0.9965216944820594,
-0.013438735516969811,
0.08224301073228224,
-0.2838951352465201
],
[
0.009885309174418471,
0.9990061690537223,
0.04346210826837601,
-0.07936483064293971
],
[
-0.08274535086113005,
-0.04249793618884116,
0.9956641664389444,
0.34355467054757005
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 74,
"c2w": [
[
0.9968071254614833,
-0.012829862615888398,
0.07880957590592916,
-0.28533403694895715
],
[
0.009375403410826664,
0.9989854382854,
0.044047654927498,
-0.07997821834144139
],
[
-0.07929474408874299,
-0.04316814472484437,
0.9959160882528788,
0.3487242819419636
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 75,
"c2w": [
[
0.9970534557835843,
-0.012344439806312215,
0.07571011237530006,
-0.28552101516004763
],
[
0.008996982199986866,
0.9989734571756648,
0.04439691621940996,
-0.08016323881220366
],
[
-0.076180447762568,
-0.043584936209297376,
0.9961410004182772,
0.35216565679013284
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 76,
"c2w": [
[
0.9973665374024195,
-0.011695192957102992,
0.07157662000684382,
-0.28577031944150155
],
[
0.008494120329628383,
0.9989569731463586,
0.04486441487516755,
-0.08040993277322
],
[
-0.0720266616589564,
-0.044138285693505246,
0.9964255976972414,
0.35675415658769183
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 77,
"c2w": [
[
0.9976705415769225,
-0.010990496459339506,
0.06732532552604054,
-0.28613003398409265
],
[
0.007939870424104833,
0.9989367497798355,
0.04541286598472611,
-0.0808394669075517
],
[
-0.06775285180166593,
-0.04477252424060447,
0.9966970312717229,
0.3613206314700947
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 78,
"c2w": [
[
0.9979044409346878,
-0.010340199122144003,
0.06387336725852968,
-0.2866482429785946
],
[
0.007406089702170668,
0.9989138243145352,
0.04600349365682614,
-0.08157300789825997
],
[
-0.06427967484479055,
-0.04543403873116117,
0.9968971218367639,
0.3646959315727957
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 79,
"c2w": [
[
0.9981970619503538,
-0.009469574679452628,
0.059270166771081344,
-0.28733918830459715
],
[
0.006697585703116064,
0.9988821148366499,
0.04679383511971653,
-0.08255106255253766
],
[
-0.05964702724722281,
-0.04631250171230302,
0.9971446155526876,
0.36919633170973026
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 80,
"c2w": [
[
0.998467682847248,
-0.00859489829292413,
0.054666388512337814,
-0.2880301336305997
],
[
0.005992757751606364,
0.9988491006601514,
0.047587403427141024,
-0.08352911720681536
],
[
-0.055012481894367686,
-0.04718688200910504,
0.9973700541935681,
0.3736967318466649
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 686.3661193847656,
"fy": 686.3659858703613,
"cx": 416.0,
"cy": 240.0
}
}
]
}