HugMinjun's picture
Add files using upload-large-folder tool
3ce7c2d verified
Raw History Blame Contribute Delete
58.3 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": [
[
0.9999999841990428,
-9.02506493745236e-05,
-0.000153155916449376,
0.00016187409589687776
],
[
9.025826836225516e-05,
0.9999999946896675,
4.974042793839132e-05,
-0.00010552996158702512
],
[
0.00015315142653014554,
-4.9754250740253096e-05,
0.9999999870345776,
0.00021697575867706204
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 1,
"c2w": [
[
0.9999999101910569,
-6.995095706172274e-05,
0.00041800088748117587,
-0.0020898186623102537
],
[
7.105635618568367e-05,
0.9999964992969496,
-0.0026450604606509166,
0.00485677498283291
],
[
-0.00041781439967348525,
0.0026450899247207785,
0.9999964144587808,
-0.0004917915193946358
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 2,
"c2w": [
[
0.9999995096823157,
-4.8112163304799014e-05,
0.0009891007774665706,
-0.004341511420517386
],
[
5.339315590063457e-05,
0.9999857414596746,
-0.005339852667971559,
0.009819079927252845
],
[
-0.0009888297624696641,
0.005339902860959377,
0.9999852537178417,
-0.0012005587974663336
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 3,
"c2w": [
[
0.9999987826758587,
-2.473443382923853e-05,
0.0015601394196682334,
-0.006593204178724517
],
[
3.726880154575882e-05,
0.99996772125948,
-0.008034615744370819,
0.01478138487167278
],
[
-0.0015598903286612581,
0.00803466410816552,
0.999966504896455,
-0.0019093260755380314
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 4,
"c2w": [
[
0.9999977291772025,
1.8205396113224862e-07,
0.002131112480712371,
-0.008844896936931648
],
[
2.2683415482048105e-05,
0.9999424388331128,
-0.010729329240417028,
0.019743689816092716
],
[
-0.002130991764708102,
0.010729353216921424,
0.9999401681368969,
-0.0026180933536097293
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 5,
"c2w": [
[
0.9999963491943419,
2.663711098549254e-05,
0.002702015627722862,
-0.01109658969513878
],
[
9.637108391906427e-06,
0.9999098943724313,
-0.013423972707054768,
0.02470599476051265
],
[
-0.0027021297367598894,
0.013423949738356734,
0.9999062436390264,
-0.0033268606316814273
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 6,
"c2w": [
[
0.9999937748423132,
0.00012673965756660198,
0.0035262180420519242,
-0.01341006192580724
],
[
-6.380761313759839e-05,
0.999840829534157,
-0.017841287090265237,
0.032334425962667966
],
[
-0.003527917970899874,
0.017840951025883102,
0.9998346134542866,
-0.0042309314962774534
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 7,
"c2w": [
[
0.9999918320119587,
0.00027226686664330867,
0.004032589753497718,
-0.013533620870729901
],
[
-0.0001863661931894462,
0.9997733953165838,
-0.021286692669177296,
0.03766667847813872
],
[
-0.004037471610887514,
0.02128576726132508,
0.9997652799207862,
-0.004621538669326112
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 8,
"c2w": [
[
0.9999896131489788,
0.0004195378893220274,
0.004538455917468214,
-0.01365717981565256
],
[
-0.00030716806155888296,
0.9996940724140265,
-0.02473190708459046,
0.04299893099360947
],
[
-0.004547443450702514,
0.024730256129249468,
0.9996838176092699,
-0.00501214584237477
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 9,
"c2w": [
[
0.9999871182803325,
0.0005685509363192726,
0.005043810387893696,
-0.01378073876057522
],
[
-0.0004262117505519646,
0.999602861790227,
-0.02817688847854013,
0.04833118350908022
],
[
-0.005057827294392851,
0.028174375780506772,
0.9995902275094724,
-0.005402753015423427
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 10,
"c2w": [
[
0.9999843474363311,
0.0007193041971866663,
0.005548647024921309,
-0.013904297705497878
],
[
-0.0005434958138359175,
0.9994997645533571,
-0.03162159499589278,
0.053663436024550974
],
[
-0.0055686169410008165,
0.03161808437043329,
0.9994845107584753,
-0.005793360188472085
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 11,
"c2w": [
[
0.9999813006506391,
0.0008717958403329342,
0.006052959694989675,
-0.014027856650420539
],
[
-0.0006590188264567088,
0.9993847819560067,
-0.03506598478485453,
0.058995688540021726
],
[
-0.006079806184638367,
0.03506134005935956,
0.9993666686406943,
-0.006183967361520743
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 12,
"c2w": [
[
0.9999786954395697,
0.0010499435472601795,
0.006442537196143326,
-0.013669679036753273
],
[
-0.0008023729083694547,
0.999265562420368,
-0.0383104680005557,
0.063934102807482
],
[
-0.0064780293833880025,
0.03830448249556772,
0.9992451159530652,
-0.006000239235037372
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 13,
"c2w": [
[
0.9999766534889459,
0.0012530727682711772,
0.006717312385615029,
-0.012829764864496083
],
[
-0.0009742279819043775,
0.9991440380453381,
-0.04135507367053182,
0.06847867882693179
],
[
-0.006763383538421756,
0.04134756398015797,
0.9991219322965635,
-0.005242175809021969
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 14,
"c2w": [
[
0.9999744978909895,
0.0014570378392846587,
0.006991466827388295,
-0.011989850692238891
],
[
-0.001145212718225692,
0.9990132065512329,
-0.044399342608351246,
0.07302325484638159
],
[
-0.007049259215945488,
0.04439020361474628,
0.998989398225801,
-0.004484112383006568
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 15,
"c2w": [
[
0.9999710514498932,
0.0017645484711427395,
0.007401528956119794,
-0.010729979433853103
],
[
-0.0014000544291094374,
0.998799511174166,
-0.048965052086594886,
0.07984011887555627
],
[
-0.007479044711112709,
0.04895327207593387,
0.9987730678403723,
-0.0033470172439834644
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 16,
"c2w": [
[
0.9999686118245303,
0.001970594767482391,
0.007674120274273725,
-0.009890065261595912
],
[
-0.0015688563131944005,
0.9986454174505025,
-0.05200835408835774,
0.08438469489500605
],
[
-0.007766212435299338,
0.05199468204897322,
0.9986171633729494,
-0.0025889538179680624
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 17,
"c2w": [
[
0.9999660586273771,
0.0021774701735523027,
0.007946081856648515,
-0.009050151089338722
],
[
-0.001736782274234479,
0.9984820212917158,
-0.05505121928296943,
0.08892927091445585
],
[
-0.008053892261582192,
0.055035550154904155,
0.9984519132329739,
-0.0018308903919526604
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 18,
"c2w": [
[
0.9999633401416679,
0.002509749572404891,
0.008186545657544436,
-0.007882920452921313
],
[
-0.0020304926866867553,
0.9983125545205013,
-0.05803378831508917,
0.09333569960358047
],
[
-0.008318381583490731,
0.05801503808354418,
0.9982810525518335,
-0.0011236568426972607
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 19,
"c2w": [
[
0.9999604597529103,
0.002842744862554639,
0.008426015214495606,
-0.0067156898165039065
],
[
-0.0023234114344195724,
0.9981340894125617,
-0.06101591031741622,
0.0977421282927051
],
[
-0.008583745689085891,
0.06099392063314991,
0.9981012278099562,
-0.00041642329344186105
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 20,
"c2w": [
[
0.9999574174872516,
0.003176453021163716,
0.008664488353664575,
-0.005548459180086498
],
[
-0.0026155358583987084,
0.997946627587953,
-0.06399755821908366,
0.10214855698182973
],
[
-0.008849982169466766,
0.06397217076226124,
0.9979124406397408,
0.0002908102558135386
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 21,
"c2w": [
[
0.9999542133723088,
0.003510871018923072,
0.00890196291025908,
-0.004381228543669091
],
[
-0.002906863306800592,
0.9977501707484012,
-0.06697870495352819,
0.10655498567095435
],
[
-0.00911708860781327,
0.06694976143515892,
0.9977146927549442,
0.0009980438050689383
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 22,
"c2w": [
[
0.999950847437168,
0.0038459958200799385,
0.009138436728551717,
-0.003213997907251683
],
[
-0.0031973911350363735,
0.9975447206772866,
-0.06995932345873614,
0.11096141436007897
],
[
-0.0093850625794081,
0.06992666562211018,
0.9975079859506661,
0.001705277354324338
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 23,
"c2w": [
[
0.999947319712384,
0.004181824382465381,
0.009373907661899501,
-0.002046767270834275
],
[
-0.003487116705775928,
0.997330279239627,
-0.07293938667748881,
0.1153678430492036
],
[
-0.009653901651658702,
0.07290285629961388,
0.9972923221033331,
0.0024125109035797376
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 24,
"c2w": [
[
0.9999456710817737,
0.004422242414186156,
0.009439208486511376,
-0.0009519723954053061
],
[
-0.0036995147177650432,
0.9971573770350414,
-0.07525608955725603,
0.11839944070475808
],
[
-0.009745177046862475,
0.07521708048460053,
0.9971195627043422,
0.0022059533511292776
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 25,
"c2w": [
[
0.9999439649881897,
0.004662811113329014,
0.009503950558549319,
0.00014282248002366266
],
[
-0.003911699915878669,
0.9969790475657548,
-0.07757240049559196,
0.12143103836031258
],
[
-0.009836945027092977,
0.07753087712261365,
0.9969414213508897,
0.0019993957986788173
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 26,
"c2w": [
[
0.9999412981251609,
0.005023943795733627,
0.009600015234657944,
0.0017850147931671159
],
[
-0.0042295761581702665,
0.9967013793742279,
-0.08104610440381402,
0.12597843484364432
],
[
-0.009975519499785096,
0.08100074284998252,
0.9966641202875022,
0.0016895594700031273
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 27,
"c2w": [
[
0.9999394484155005,
0.00526488342664665,
0.009663358888515609,
0.0028798096685960844
],
[
-0.004441224265785469,
0.9965094860591304,
-0.0833613802740146,
0.1290100324991988
],
[
-0.010068516749026667,
0.08331341546636828,
0.9964725283588117,
0.0014830019175526672
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 28,
"c2w": [
[
0.9999375412767743,
0.005505969133431452,
0.009726142568403958,
0.003974604544025053
],
[
-0.004652655517950356,
0.9963121690096897,
-0.08567622003706023,
0.1320416301547533
],
[
-0.010162004821417157,
0.08562561641885665,
0.9962755580013495,
0.0012764443651022072
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 29,
"c2w": [
[
0.9999345039652178,
0.005647453662381823,
0.009954599287015168,
0.0035958829474015265
],
[
-0.004754454002069513,
0.9961484750592174,
-0.0875534739706991,
0.1342731330187974
],
[
-0.010410713086815808,
0.08750041088090346,
0.9961100818427133,
-0.00019912462930023796
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 30,
"c2w": [
[
0.9999302595180328,
0.005689655342777735,
0.010349102486694402,
0.0017436448787255037
],
[
-0.0047463455504963125,
0.9960209124925616,
-0.08899333728656471,
0.13570454109133112
],
[
-0.010814263919240522,
0.08893801043179113,
0.995978454584395,
-0.002943705065654668
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 31,
"c2w": [
[
0.9999258550413297,
0.005732426364284666,
0.010743542611455473,
-0.00010859318995051943
],
[
-0.004737653741732225,
0.995891271703605,
-0.09043301156989185,
0.13713594916386482
],
[
-0.011217800893649167,
0.09037540723313393,
0.9958445896376381,
-0.005688285502009098
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 32,
"c2w": [
[
0.9999212905450048,
0.005775766630799382,
0.01113791877502146,
-0.0019608312586265426
],
[
-0.004728378595307079,
0.9957595529836403,
-0.09187249358584201,
0.13856735723639854
],
[
-0.0116213231033249,
0.09181259805521072,
0.9957084873032271,
-0.008432865938363529
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 33,
"c2w": [
[
0.9999165660393143,
0.005819676044939619,
0.01153223009125921,
-0.003813069327302566
],
[
-0.004718520132061426,
0.9956257566286296,
-0.09331178010000889,
0.13999876530893224
],
[
-0.012024829641584096,
0.09324957966876334,
0.9955701478869734,
-0.011177446374717957
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 34,
"c2w": [
[
0.9999116815348739,
0.005864154508044261,
0.011926475674181225,
-0.005665307395978588
],
[
-0.00470807837414648,
0.995489882939203,
-0.09475086787842535,
0.14143017338146596
],
[
-0.012428319601778296,
0.09468634884500357,
0.9954295716997152,
-0.013922026811072389
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 35,
"c2w": [
[
0.9999104788147425,
0.005985072733869567,
0.01196717430485681,
-0.007568503766649331
],
[
-0.004798160283507684,
0.995286523565117,
-0.09685924668072537,
0.14433209298313918
],
[
-0.012490476947110685,
0.09679315530570398,
0.9952261416741423,
-0.01597651176074455
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 36,
"c2w": [
[
0.9999117471345998,
0.006083320025751839,
0.011810637565197549,
-0.008545581102982062
],
[
-0.004893876444113903,
0.9951499332163671,
-0.0982479536316655,
0.14651830854854553
],
[
-0.012351028928065706,
0.09818148316726752,
0.995091879399834,
-0.016658706492239495
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 37,
"c2w": [
[
0.9999129842436019,
0.00618134878311968,
0.011653963629423766,
-0.009522658439314794
],
[
-0.004989787059488991,
0.9950113964131928,
-0.09963645433760229,
0.14870452411395185
],
[
-0.012211714300435599,
0.09956963359925342,
0.9949556583580773,
-0.01734090122373444
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 38,
"c2w": [
[
0.9999141901393019,
0.006279158812101141,
0.01149715280739028,
-0.010499735775647525
],
[
-0.0050858919399500565,
0.994870913429579,
-0.10102474605249107,
0.1508907396793582
],
[
-0.012072533339743594,
0.10095760385630975,
0.9948174788182772,
-0.018023095955229385
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 39,
"c2w": [
[
0.9999153648193152,
0.006376749919256847,
0.011340205409222604,
-0.011476813111980257
],
[
-0.005182190895430009,
0.9947284845433597,
-0.10241282603070054,
0.15307695524476456
],
[
-0.011933486321248547,
0.102345391193441,
0.994677341053712,
-0.018705290686724333
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 40,
"c2w": [
[
0.9999165082813183,
0.006474121911580394,
0.011183121745316384,
-0.01245389044831299
],
[
-0.005278683735477935,
0.994584110036217,
-0.1038006915270182,
0.1552631708101709
],
[
-0.011794573519944425,
0.10373299286601338,
0.9945352453415326,
-0.019387485418219278
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 41,
"c2w": [
[
0.9999183336647726,
0.00635644767819932,
0.011087000224543312,
-0.01532859467980472
],
[
-0.0051573619973494375,
0.9944575033746805,
-0.10501274017482629,
0.15707588376667503
],
[
-0.011693058551679488,
0.10494698449556134,
0.9944090721765342,
-0.021136661722059122
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 42,
"c2w": [
[
0.9999201351126016,
0.0062386561038309295,
0.010991022082365824,
-0.01820329891129645
],
[
-0.005036164002176518,
0.9943294031674752,
-0.10622464426278924,
0.15888859672317915
],
[
-0.011591395452666667,
0.1061608080537779,
0.9942814100569461,
-0.022885838025898966
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 43,
"c2w": [
[
0.9999219126220821,
0.00612074736651134,
0.01089518746385011,
-0.021078003142788182
],
[
-0.004915089933143926,
0.9941998096082174,
-0.10743640195917416,
0.16070130967968327
],
[
-0.011489584376564685,
0.10737446170602895,
0.9941522591757231,
-0.02463501432973881
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 44,
"c2w": [
[
0.9999236661905282,
0.006002721644453749,
0.010799496513845439,
-0.023952707374279916
],
[
-0.004794139973249105,
0.9940687228927823,
-0.10864801143246958,
0.16251402263618742
],
[
-0.011387625477255933,
0.10858794361793739,
0.9940216197280709,
-0.026384190633578653
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 45,
"c2w": [
[
0.9999253958152889,
0.005884579116048175,
0.010703949376983928,
-0.026827411605771644
],
[
-0.004673314305301911,
0.9939361432193001,
-0.10985947085138782,
0.16432673559269154
],
[
-0.011285518908846215,
0.10980125195538547,
0.9938894919114439,
-0.028133366937418497
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 46,
"c2w": [
[
0.9999260051759876,
0.005722415537351693,
0.010734902570989266,
-0.031715778114305815
],
[
-0.004488224556378233,
0.9937361302963017,
-0.11166180718608842,
0.16689728017395666
],
[
-0.011306635800373133,
0.11160536413698735,
0.9936882824521622,
-0.03131939441443123
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 47,
"c2w": [
[
0.9999237567279121,
0.005634832120140131,
0.01098769302979756,
-0.03574310266839069
],
[
-0.004359227336357207,
0.9936031861988885,
-0.1128437216350417,
0.16841294342347865
],
[
-0.011553262230607458,
0.11278722020865067,
0.9935519941550297,
-0.03419309676077702
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 48,
"c2w": [
[
0.9999214338659047,
0.0055475493820046655,
0.011240586791067743,
-0.039770427222475556
],
[
-0.004229936797927662,
0.9934688247817802,
-0.11402544374565818,
0.16992860667300067
],
[
-0.011799734329163706,
0.11396893823565674,
0.993414237560142,
-0.037066799107122794
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 49,
"c2w": [
[
0.9999190365934252,
0.005460567452952844,
0.011493583478114815,
-0.04379775177656043
],
[
-0.004100353133667723,
0.9933330462451077,
-0.11520697175776398,
0.17144426992252265
],
[
-0.01204605172892193,
0.11515051645783772,
0.9932750128726875,
-0.03994050145346858
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 50,
"c2w": [
[
0.9999165649140443,
0.005373886462544165,
0.011746682714100466,
-0.0478250763306453
],
[
-0.003970476536592125,
0.9931958507911132,
-0.11638830391147434,
0.17295993317204467
],
[
-0.012292214062992619,
0.11633195311523412,
0.9931343203000412,
-0.04281420379981436
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 51,
"c2w": [
[
0.9999140188314435,
0.005287506539889872,
0.011999884122033636,
-0.05185240088473017
],
[
-0.0038403072001519287,
0.9930572386241487,
-0.11756943844719615,
0.17447559642156665
],
[
-0.012538220964717219,
0.11751324644809709,
0.9929921600517644,
-0.04568790614616014
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 52,
"c2w": [
[
0.9999080827256803,
0.005164263338019888,
0.012536206923538951,
-0.055671949459553324
],
[
-0.0036388602078241813,
0.99291308669955,
-0.1187870403586175,
0.1759207766075894
],
[
-0.013060811469511227,
0.11873050427311209,
0.9928406128673477,
-0.04801364191361704
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 53,
"c2w": [
[
0.9998982836554297,
0.005004706640494831,
0.013355719912035257,
-0.05928372205511476
],
[
-0.003365597807606297,
0.9927632363092032,
-0.12004094878113392,
0.17729547373011287
],
[
-0.013859837456607628,
0.11998378867297019,
0.9926790998914788,
-0.04979141110218504
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 54,
"c2w": [
[
0.999887779615633,
0.0048461844684275284,
0.014175424911366136,
-0.06289549465067619
],
[
-0.0030913263510830473,
0.9926117580546181,
-0.12129444122923325,
0.17867017085263634
],
[
-0.01465850867963407,
0.12123700865585058,
0.9925153479193513,
-0.05156918029075304
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 55,
"c2w": [
[
0.9998707017913516,
0.004610341742789106,
0.01540533830478463,
-0.06831315354401833
],
[
-0.0026780285668344906,
0.9923814891907438,
-0.12317389364048376,
0.18073221653642155
],
[
-0.015855846311861963,
0.12311671154062181,
0.9922655226687855,
-0.05423583407360504
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 56,
"c2w": [
[
0.9998584354369764,
0.0044544074749177515,
0.016225515078700337,
-0.07192492613957976
],
[
-0.0024012372355718364,
0.9922259428086071,
-0.1244263335363908,
0.18210691365894502
],
[
-0.016653622586699824,
0.1243697578658818,
0.9920961748656839,
-0.05601360326217305
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 57,
"c2w": [
[
0.9998454642047425,
0.004299508998693138,
0.01704587726030957,
-0.0755366987351412
],
[
-0.0021234390669109277,
0.9920687697984967,
-0.12567834736750413,
0.1834816107814685
],
[
-0.017451037669218943,
0.12562272968244273,
0.9919245894075819,
-0.05779137245074105
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 58,
"c2w": [
[
0.9998262848460099,
0.0038200021717652946,
0.018243018238040747,
-0.07779434108965656
],
[
-0.0014787276487955906,
0.9919444000256995,
-0.1266653884144992,
0.18526743299429843
],
[
-0.0185799218396221,
0.1266164082615795,
0.9917777329943291,
-0.05992644100610118
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 59,
"c2w": [
[
0.9998054289405753,
0.0033416940572350675,
0.019440610632897194,
-0.08005198344417191
],
[
-0.00083289311879724,
0.9918187299828035,
-0.12765153012929858,
0.18705325520712837
],
[
-0.01970813410764032,
0.1276105008850228,
0.991628534035739,
-0.0620615095614613
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 60,
"c2w": [
[
0.9997828965442512,
0.002864585935092095,
0.02063865124002871,
-0.08230962579868728
],
[
-0.00018593720521920833,
0.9916917600061118,
-0.12863676987291042,
0.1888390774199583
],
[
-0.020835671454090012,
0.12860500489250357,
0.9914769929310797,
-0.06419657811682143
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 61,
"c2w": [
[
0.9997586877173358,
0.002388679082114748,
0.021837136853385643,
-0.08456726815320265
],
[
0.0004621383606342634,
0.9915634904354056,
-0.12962110500875673,
0.19062489963278823
],
[
-0.02196253086159371,
0.129599917622652,
0.9913231100858869,
-0.06633164667218155
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 62,
"c2w": [
[
0.9997328025246136,
0.001913974771866703,
0.023036064265727452,
-0.086824910507718
],
[
0.0011113318444626557,
0.9914339216139442,
-0.13060453290268026,
0.19241072184561817
],
[
-0.02308870931458817,
0.13059523641300425,
0.991166885911963,
-0.06846671522754169
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 63,
"c2w": [
[
0.9997052410353555,
0.0014404742746935428,
0.024235430268631328,
-0.08908255286223336
],
[
0.001761641508973814,
0.9913030538884637,
-0.13158705092295164,
0.1941965440584481
],
[
-0.024214203799332444,
0.13159095860001002,
0.9910083208273758,
-0.07060178378290181
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 64,
"c2w": [
[
0.9996673203592756,
0.0008337373097243565,
0.025778934962567477,
-0.08985316662669486
],
[
0.0025864955305983785,
0.9911986746477841,
-0.13235746075437907,
0.19574822940487902
],
[
-0.025662397521979605,
0.13238010522195234,
0.9908667665709903,
-0.07403944650483217
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 65,
"c2w": [
[
0.9996266351320903,
0.0002282299839823879,
0.027322852076048326,
-0.09062378039115637
],
[
0.003412472953405018,
0.9910931774713274,
-0.1331265135055012,
0.1972999147513099
],
[
-0.027109875743674777,
0.13317004723609033,
0.990722359269387,
-0.07747710922676253
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 66,
"c2w": [
[
0.9995604240621172,
-0.000677720944098046,
0.029639489588763945,
-0.09177970103784862
],
[
0.004653539341508795,
0.9909328363600598,
-0.13427754240752285,
0.19962744277095623
],
[
-0.029279740783646722,
0.13435644576174602,
0.9905003999302138,
-0.08263360330965805
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 67,
"c2w": [
[
0.9995128280807908,
-0.0012801452046584,
0.03118441486054482,
-0.09255031480231013
],
[
0.005482313014399019,
0.9908245459163708,
-0.13504319106726498,
0.20117912811738714
],
[
-0.030725408800400516,
0.13514836454013296,
0.9903488621774529,
-0.0860712660315884
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 68,
"c2w": [
[
0.9994624680718441,
-0.0018813326632697385,
0.032729734235834175,
-0.09332092856677163
],
[
0.006312200276225428,
0.9907151388046106,
-0.1358074735463195,
0.20273081346381802
],
[
-0.03217034416059363,
0.1359410693306904,
0.9901944731343524,
-0.08950892875351876
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 69,
"c2w": [
[
0.9993999646340918,
-0.0024716459602115953,
0.0345485405715484,
-0.09365355720037255
],
[
0.007171952695575121,
0.990600706191496,
-0.13659723272249016,
0.20390077518510738
],
[
-0.03388618868962676,
0.13676305005065173,
0.9900240372621941,
-0.09309342857909221
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 70,
"c2w": [
[
0.9993238444142135,
-0.0030506639728042823,
0.03664078921805085,
-0.09354820070311289
],
[
0.008061961387166382,
0.9904811660040951,
-0.13741202483683895,
0.2046890132812552
],
[
-0.035872813714405455,
0.13761450955656251,
0.9898360409662391,
-0.09682476550830874
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 71,
"c2w": [
[
0.9992429961851118,
-0.003627879360856102,
0.03873335857298743,
-0.09344284420585322
],
[
0.008953598769525777,
0.9903604005699851,
-0.1382248532353465,
0.205477251377403
],
[
-0.037858521419554814,
0.1384670194457937,
0.9896431765448207,
-0.10055610243752526
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 72,
"c2w": [
[
0.9991574203872418,
-0.004203288979738904,
0.04082623723618996,
-0.09333748770859356
],
[
0.009846859985076619,
0.9902384105470873,
-0.13903571348978178,
0.20626548947355083
],
[
-0.03984330098708132,
0.13932057507393225,
0.9894454450486504,
-0.10428743936674179
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 73,
"c2w": [
[
0.9990671174868139,
-0.004776889694662242,
0.042919413805805176,
-0.09323213121133389
],
[
0.010741740167395694,
0.9901151965999945,
-0.13984460118263606,
0.20705372756969864
],
[
-0.041827141604047824,
0.14017517179086816,
0.9892428475549548,
-0.10801877629595831
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 74,
"c2w": [
[
0.9989720879757923,
-0.005348678380690449,
0.045012876878356846,
-0.09312677471407423
],
[
0.011638234441239783,
0.9899907593999677,
-0.14065151190714717,
0.20784196566584645
],
[
-0.04381003246263255,
0.1410308049408198,
0.989035385167471,
-0.11175011322517484
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 75,
"c2w": [
[
0.998781845551394,
-0.006472243731688972,
0.048917635450099715,
-0.0940777067879339
],
[
0.013371848566264093,
0.9897668210210175,
-0.14206630026811418,
0.20843569792386468
],
[
-0.047497564809915675,
0.14254736078590402,
0.9886476780279723,
-0.11626009622330617
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 76,
"c2w": [
[
0.9986319863096139,
-0.0073074385867331355,
0.051776029788080345,
-0.0950813171104234
],
[
0.01465935111717183,
0.9896033455914479,
-0.143074532391466,
0.208635311133809
],
[
-0.05019222394095058,
0.14363780747252552,
0.9883566769746371,
-0.11890441075682924
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 77,
"c2w": [
[
0.9984732246848034,
-0.008139468399471363,
0.05463486653872585,
-0.0960849274329129
],
[
0.01594958003296409,
0.9894376576480635,
-0.14407891075617532,
0.20883492434375334
],
[
-0.05288506863286132,
0.1447303378082421,
0.9880568297591035,
-0.12154872529035232
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 78,
"c2w": [
[
0.9983055622746032,
-0.008968324797067457,
0.05749411693314897,
-0.0970885377554024
],
[
0.017242522329880893,
0.9892697588582052,
-0.14507942525503734,
0.20903453755369764
],
[
-0.0555760717871627,
0.14582494079876293,
0.9877481393987768,
-0.12419303982387539
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 79,
"c2w": [
[
0.9981290007662248,
-0.009793999438619763,
0.06035375219830003,
-0.0980921480778919
],
[
0.018538164996857162,
0.9890996509114636,
-0.1460760658197303,
0.20923415076364196
],
[
-0.058265206323901315,
0.1469216054289402,
0.9874306090000532,
-0.12683735435739846
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 80,
"c2w": [
[
0.9979435419364323,
-0.010616484015245092,
0.06321374355725629,
-0.0990957584003814
],
[
0.019836494995653577,
0.9889273355196593,
-0.14706882242091623,
0.2094337639735863
],
[
-0.0609524451819279,
0.14802032066287935,
0.987104241758287,
-0.12948166889092153
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 683.6089579264323,
"fy": 683.6089324951172,
"cx": 416.0,
"cy": 240.0
}
}
]
}