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_029 /transforms.json
HugMinjun's picture
HugMinjun
Add files using upload-large-folder tool
3ce7c2d verified
Raw History Blame Contribute Delete
57.9 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": [
[
0.9999998597703583,
-0.0005200486387925349,
-0.00010004337719489311,
0.00011342351129594977
],
[
0.0005200225195918834,
0.9999998307466041,
-0.0002609278490686485,
-8.823350165471559e-05
],
[
0.00010017905543494299,
0.00026087578766975227,
0.9999999609539896,
-0.0006971227731483013
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 1,
"c2w": [
[
0.999998710490811,
0.00021611608299335045,
-0.001591323522819173,
0.008436066316538714
],
[
-0.00018701086464020008,
0.9998331190574222,
0.018267431752811366,
-0.0006881620372837407
],
[
0.0015950058470465042,
-0.01826711060200233,
0.999831870179483,
0.019013077775040715
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 2,
"c2w": [
[
0.9999965623590708,
0.0007636123490961451,
-0.002508419068170504,
0.012511381178082537
],
[
-0.0006712880714041056,
0.9993296740318209,
0.03660262247134487,
-0.0003190797625269037
],
[
0.002534687824258457,
-0.03660081277287319,
0.9993267512990927,
0.030330663898213133
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 3,
"c2w": [
[
0.9999940646867753,
0.0010007452358849007,
-0.0032968318419728084,
0.01355624416358698
],
[
-0.0008158124387334055,
0.9984513710441596,
0.05562548076288986,
0.001237056464610307
],
[
0.003347393207587062,
-0.05562246101181317,
0.9984462613429443,
0.0372250688383246
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 4,
"c2w": [
[
0.9999918455150231,
0.001328314292589479,
-0.0038137231937772614,
0.012118983681296958
],
[
-0.0010347437222889848,
0.9971093517802668,
0.07597282341578218,
0.0020055019253076584
],
[
0.0039036148488081736,
-0.07596825767040166,
0.9971025953319127,
0.04152207114085895
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 5,
"c2w": [
[
0.999989545674112,
0.001404193798177206,
-0.004351641329487741,
0.011126886181060572
],
[
-0.0009859380977820177,
0.9955084590366471,
0.09466750188183895,
0.002680379636928201
],
[
0.004465027273229933,
-0.09466222174794864,
0.9954994361149542,
0.0428586518420245
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 6,
"c2w": [
[
0.9999882470698023,
0.0013212408396430482,
-0.004664766329407797,
0.009757437221759617
],
[
-0.0007836494988600196,
0.9935469047158689,
0.11341928417592434,
0.004366877696313729
],
[
0.004784518338062234,
-0.113414295625198,
0.9935362630181714,
0.043480389528251104
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 7,
"c2w": [
[
0.9999851627818499,
0.001546017489160642,
-0.005223413259592376,
0.007700083179013494
],
[
-0.0008401221144210724,
0.9911783700067995,
0.13253200755099456,
0.005607703059606083
],
[
0.005382231042062083,
-0.1325256528396945,
0.99116496252058,
0.04293370225693675
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 8,
"c2w": [
[
0.9999790803652367,
0.001955567991347245,
-0.006165596948149306,
0.006408399577504233
],
[
-0.0009992810629307987,
0.9884651361316165,
0.15144529074772375,
0.007319492561630825
],
[
0.006390639189711608,
-0.15143596140328272,
0.9884464119640531,
0.04327623640405132
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 9,
"c2w": [
[
0.9999707219677243,
0.0025421221839147332,
-0.007217535739449366,
0.00602558556654838
],
[
-0.0012785890439299824,
0.9854525955471829,
0.16994571821430818,
0.0083567463737031
],
[
0.00754456210822885,
-0.16993151427596456,
0.985426993763857,
0.04394643096776767
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 10,
"c2w": [
[
0.999961896614323,
0.0032038135676914605,
-0.008120400120028555,
0.006630346647054204
],
[
-0.0016173416682275633,
0.9821070052592994,
0.18831679273643812,
0.009178750565899436
],
[
0.008578433738981641,
-0.1882964837675782,
0.9820747653184823,
0.044935525516537636
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 11,
"c2w": [
[
0.9999497364896727,
0.004141304175212886,
-0.009130941570423217,
0.007001405395113268
],
[
-0.0021472701888920792,
0.9780345952832071,
0.20843157068915671,
0.010081059319477906
],
[
0.009793555277324667,
-0.2084014875881202,
0.9779943283302253,
0.04553698355315178
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 12,
"c2w": [
[
0.9999335465021741,
0.005302729920129721,
-0.010236387789579464,
0.00658221681809993
],
[
-0.002844997072908878,
0.9739756508369991,
0.2266348110249155,
0.011082069730971365
],
[
0.011171775652940332,
-0.22659062785569528,
0.9739260129993049,
0.045373642547530575
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 13,
"c2w": [
[
0.9999174131929683,
0.006486958822395401,
-0.01109442016147813,
0.006077709243804504
],
[
-0.0036231850695998395,
0.9705364974562927,
0.2409269176227999,
0.011494930331520886
],
[
0.012330422678655212,
-0.2408668231004605,
0.9704798473982124,
0.04495076757952482
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 14,
"c2w": [
[
0.9998963553587727,
0.007733056571852195,
-0.012144067535203123,
0.005370177230724179
],
[
-0.0045084128940395376,
0.9692602229267802,
0.2459965334412366,
0.011650313534877546
],
[
0.013673066715989463,
-0.24591628674812313,
0.9691946281106778,
0.04403071282691306
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 15,
"c2w": [
[
0.9998707943954621,
0.009062701276423831,
-0.013276368500535882,
0.004549358274881951
],
[
-0.005515851320325252,
0.9692062878841047,
0.2461884378075588,
0.011746435334849073
],
[
0.015098672100545189,
-0.24608339840689883,
0.9691310495125579,
0.04071791603229169
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 16,
"c2w": [
[
0.9998372290631463,
0.010333966248045154,
-0.014789338082349118,
0.0033852301142992644
],
[
-0.0063726753185484,
0.9691559653216467,
0.2463657928584076,
0.011784162398332892
],
[
0.016879111013738915,
-0.24623144401772024,
0.9690640699088655,
0.0385274406079922
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 17,
"c2w": [
[
0.9997938196737819,
0.012007187840997368,
-0.016375151366028344,
0.002135805465774899
],
[
-0.007612681658227503,
0.9692602285483461,
0.24592002039764513,
0.012153798805754108
],
[
0.018824590834326825,
-0.2457446577131611,
0.9691517930568779,
0.03724062989147951
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 18,
"c2w": [
[
0.9997402279767778,
0.013800992644265455,
-0.018138609841266796,
0.0016064422515177036
],
[
-0.00897670070916563,
0.9699301923818505,
0.24321768182121287,
0.012549638146484125
],
[
0.020949830770649085,
-0.2429916758000973,
0.9698021190338479,
0.03797463919394381
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 19,
"c2w": [
[
0.9996829859324647,
0.015288927709893381,
-0.020004407680146528,
0.0022790611742417076
],
[
-0.010209491874621647,
0.9724228904718044,
0.23300104798503285,
0.012874154506734103
],
[
0.02301508011747701,
-0.232722948537404,
0.9722707109191572,
0.039235720423209455
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 20,
"c2w": [
[
0.9996364671580765,
0.01599196634543559,
-0.02170692378312087,
0.003678244895187285
],
[
-0.01089171469223536,
0.9760071254835966,
0.2174660009203963,
0.01204849960152634
],
[
0.024663821252650764,
-0.21715051926636814,
0.9758264947743343,
0.038847015711992686
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 21,
"c2w": [
[
0.9995985898443557,
0.01649638632247069,
-0.023033202544928293,
0.004622854901415409
],
[
-0.01157523582838442,
0.9798454083163763,
0.19942163803567386,
0.01078247633078888
],
[
0.025858714134565447,
-0.1990749734135706,
0.9796430379805153,
0.03769133630444712
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 22,
"c2w": [
[
0.9995638936516847,
0.016844932088884306,
-0.024254293863237124,
0.005074869817827239
],
[
-0.012197257411981653,
0.9835185311473817,
0.18039547056764624,
0.009441491021419994
],
[
0.026893296925242262,
-0.18002096309212864,
0.9832950744450382,
0.03675339084714408
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 23,
"c2w": [
[
0.9995140751294898,
0.01730840157942961,
-0.0259235964481361,
0.005382223578298947
],
[
-0.012909238027498708,
0.9868445543648922,
0.16115575414457498,
0.008361145389586018
],
[
0.028371908493966303,
-0.1607427906785325,
0.9865884603284631,
0.03550589382773304
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 24,
"c2w": [
[
0.9994649997585646,
0.017701801117519556,
-0.02750200892314152,
0.0053440078209908435
],
[
-0.013625950831588091,
0.9897880685591866,
0.14189401961256312,
0.0077345362710294135
],
[
0.029732940008480768,
-0.14144336525645554,
0.9894997355751952,
0.03470305459727968
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 25,
"c2w": [
[
0.9994175471517859,
0.017934884181252726,
-0.029032849920622977,
0.005073474903197053
],
[
-0.014237461490700562,
0.9923177871531598,
0.12289305916022146,
0.0071634859265850125
],
[
0.031013886170700788,
-0.12240812566517766,
0.9919951560545693,
0.03344683412044272
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 26,
"c2w": [
[
0.9993705648381437,
0.018067650266105004,
-0.03052923433287381,
0.0041412273457404995
],
[
-0.014855505510482904,
0.9946377058842991,
0.10234817042451982,
0.006258156275541878
],
[
0.032214718547859726,
-0.10183022167844014,
0.9942800500169969,
0.03165739543142148
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 27,
"c2w": [
[
0.9993282762605669,
0.018006127392139172,
-0.03191826502839354,
0.0032101457846816736
],
[
-0.015281933632962236,
0.9963798232504514,
0.0836284062017061,
0.0056365897666656875
],
[
0.03330853900312129,
-0.08308445820812622,
0.995985699713475,
0.029589182218610677
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 28,
"c2w": [
[
0.9992798372409396,
0.01806179245968559,
-0.03337032419477629,
0.0025118557085961903
],
[
-0.01585773442386265,
0.9977480490797852,
0.06517179463866854,
0.004941282773724603
],
[
0.03447229529148688,
-0.06459568260050969,
0.9973159271999574,
0.027501241842048246
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 29,
"c2w": [
[
0.9992316932006977,
0.018123501247117722,
-0.03474999288938843,
0.0016700856350838117
],
[
-0.016460129522034038,
0.9987322955875014,
0.0475695899355637,
0.0036623364941559644
],
[
0.03556806769259033,
-0.04696105251232708,
0.998263277952039,
0.025382079166303098
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 30,
"c2w": [
[
0.9991772337478474,
0.018170042534816223,
-0.036258862561900515,
0.0006791576387331834
],
[
-0.01705115222972005,
0.9993760208763378,
0.030932622019749854,
0.002344830537906961
],
[
0.0367982848464264,
-0.030288916317041947,
0.9988635881744317,
0.023708747078475416
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 31,
"c2w": [
[
0.9991129872011856,
0.018287708513392384,
-0.037931497772338674,
-0.000907539783483694
],
[
-0.01775260581547998,
0.9997387620908637,
0.014396268953722407,
0.0013745932683370942
],
[
0.03818486339747629,
-0.013710116350962195,
0.9991766354939247,
0.022887262977218006
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 32,
"c2w": [
[
0.9990392818533881,
0.018351458644834433,
-0.03979619679659743,
-0.00294232694283543
],
[
-0.018458061408856603,
0.999826960220506,
-0.0023129170433837036,
0.0009202970538219122
],
[
0.039746865070008464,
0.0030452556263190545,
0.9992051406669588,
0.02288855998229316
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 33,
"c2w": [
[
0.998937842692175,
0.01865842649211004,
-0.04213133701109041,
-0.005147330300580597
],
[
-0.019548156643260907,
0.9995924131937188,
-0.020805697715007926,
0.0005939399844083378
],
[
0.04172596325256117,
0.021607188766618345,
0.9988954266509832,
0.023435738077611703
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 34,
"c2w": [
[
0.9988259726523415,
0.019074026949518853,
-0.04452929205627414,
-0.008066696059246356
],
[
-0.020768220201997346,
0.9990657237306896,
-0.03789934954738394,
0.00022504234149246834
],
[
0.04376479618078074,
0.0387796488174206,
0.998288926840748,
0.02347122104025534
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 35,
"c2w": [
[
0.9986813117603435,
0.01965982663943982,
-0.04742498030729376,
-0.011212429507459615
],
[
-0.02219492248853986,
0.9983193122960248,
-0.0535344385654713,
-0.00039583315080758967
],
[
0.0462927959445931,
0.054516437092859305,
0.9974391886878784,
0.022694400212583395
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 36,
"c2w": [
[
0.9984956871745413,
0.020509599664438327,
-0.050849965736914235,
-0.01554813348770748
],
[
-0.023943814264428785,
0.9974065497349235,
-0.06787391475630652,
-0.0011851112120218016
],
[
0.04932602206048464,
0.06898935329078176,
0.9963972163149637,
0.02142023141026074
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 37,
"c2w": [
[
0.9982372975437556,
0.02147571435775479,
-0.05532713154830779,
-0.0218536056379851
],
[
-0.025951664024671993,
0.9963358084815293,
-0.08149520152627501,
-0.00210913212493717
],
[
0.05337423467264121,
0.08278738086376303,
0.9951368954283768,
0.020960242801939758
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 38,
"c2w": [
[
0.9978533170867372,
0.022266253349911648,
-0.06158710531234018,
-0.027866362565049357
],
[
-0.02800658092328248,
0.9951807595683823,
-0.09397280037269114,
-0.0035813019033350117
],
[
0.059197880063253626,
0.09549591481658039,
0.9936680236625114,
0.021074575558288566
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 39,
"c2w": [
[
0.99732396240727,
0.02312725954630971,
-0.06935447984189906,
-0.033142889888501656
],
[
-0.03040809940124445,
0.9939186905817814,
-0.10583470131767495,
-0.005510378059778305
],
[
0.06648504718406083,
0.10766042159528755,
0.9919621828088299,
0.021654953655233136
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 40,
"c2w": [
[
0.9965856504423539,
0.024038500275489046,
-0.07898855510069636,
-0.03896907877252934
],
[
-0.033257344378021955,
0.9925095532440302,
-0.11755311890484722,
-0.006789165420766334
],
[
0.07557109485320485,
0.11977870104422077,
0.9899202353719451,
0.022706249377702582
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 41,
"c2w": [
[
0.9957323174031961,
0.025073792219982686,
-0.08881698611509944,
-0.045176778145483855
],
[
-0.036155105516214,
0.9914416149099614,
-0.12544453981676196,
-0.007064862893418187
],
[
0.08491148581889299,
0.12812036984194541,
0.9881170023876682,
0.022673046602434736
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 42,
"c2w": [
[
0.9946305708599852,
0.026720387474395448,
-0.0999802400675177,
-0.053562342666549384
],
[
-0.039674557100952454,
0.9907312218811815,
-0.12991372332692466,
-0.00725130308189256
],
[
0.09558220038052882,
0.1331828325387309,
0.9864716803271024,
0.02256540416170256
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 43,
"c2w": [
[
0.9931422937671133,
0.028974333188030135,
-0.11326461206972777,
-0.06590973283618629
],
[
-0.04386350986887347,
0.9903770082878427,
-0.13126070987468227,
-0.007815393909974634
],
[
0.10837147610409367,
0.13532874591575614,
0.9848562096549367,
0.0202427820620681
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 44,
"c2w": [
[
0.9910660588169853,
0.031912483073943225,
-0.12949772386039574,
-0.08291868963287342
],
[
-0.04897798403987045,
0.9901956573347529,
-0.13081940710302498,
-0.00937707905181333
],
[
0.1240533116863803,
0.13599321166680367,
0.9829123166591157,
0.016537315875346972
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 45,
"c2w": [
[
0.9882164491416017,
0.03564566079830473,
-0.1488544138150321,
-0.10400182790797666
],
[
-0.05524036189925096,
0.9900193923730807,
-0.1296537895415181,
-0.012699158157956279
],
[
0.14274716131399742,
0.13634877920791474,
0.9803225277148879,
0.012102645045476014
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 46,
"c2w": [
[
0.9843597218085944,
0.039726054013608285,
-0.17163268544602525,
-0.12863377777099783
],
[
-0.062240026072387815,
0.9898379131734409,
-0.12785571867912585,
-0.016800671976771795
],
[
0.16480933600805162,
0.1365384424876568,
0.9768291234845682,
0.0038601741912301715
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 47,
"c2w": [
[
0.9789854576764153,
0.04391758532761646,
-0.19914497070499051,
-0.15440702564242548
],
[
-0.06993966712713583,
0.989615271681794,
-0.12557888762174485,
-0.019669442373329234
],
[
0.1915617827758069,
0.13686803773401923,
0.9718905409698121,
-0.0037508088848339847
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 48,
"c2w": [
[
0.9708247670107961,
0.04878981666785085,
-0.23477398822687195,
-0.18022993025664646
],
[
-0.07938617766316658,
0.9892650976429516,
-0.12268822837385061,
-0.021709103170702168
],
[
0.226267776217618,
0.13774658026607947,
0.964276294985278,
-0.0063461943033334455
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 49,
"c2w": [
[
0.9618233209259428,
0.05310717870838594,
-0.2684688564668655,
-0.19995031955927417
],
[
-0.08793827255192183,
0.9889414307075922,
-0.11942238839767313,
-0.022964740707512445
],
[
0.2591577888923557,
0.13847192567324376,
0.9558570846401511,
-0.007240372165462438
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 50,
"c2w": [
[
0.9521384570256641,
0.05660848044290408,
-0.300379490968896,
-0.21603931954755073
],
[
-0.09545007385690725,
0.9886236395053092,
-0.11624363557626527,
-0.022645325150060156
],
[
0.290381890023291,
0.1393512804147201,
0.9467098703368839,
-0.015534135696185485
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 51,
"c2w": [
[
0.9409630479867079,
0.06015287506675632,
-0.33312186050268117,
-0.2316958171944257
],
[
-0.10328965302901585,
0.9881747123798927,
-0.11332248404470256,
-0.02009617116143283
],
[
0.32236592546469617,
0.14104031137983053,
0.9360490588987153,
-0.024425708556785147
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 52,
"c2w": [
[
0.928118699672508,
0.06384262325561556,
-0.3667694081763835,
-0.24258882294770795
],
[
-0.11138764036626107,
0.9876763161088176,
-0.10994675152705459,
-0.019586176214801625
],
[
0.3552301688931411,
0.14289721499580366,
0.9237921373634839,
-0.0327378212955309
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 53,
"c2w": [
[
0.9144113124384118,
0.06744470625494556,
-0.39912800363147327,
-0.25120509920138684
],
[
-0.11918961037436276,
0.9871696494233018,
-0.10625403538822914,
-0.021000350001920066
],
[
0.38684077921474214,
0.1447318031935606,
0.9107178029888685,
-0.03677388403352651
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 54,
"c2w": [
[
0.89974340192937,
0.07081611809380928,
-0.4306354468720474,
-0.26299517564154
],
[
-0.12644526437605247,
0.9867233436538861,
-0.10192466926787286,
-0.0230519855644312
],
[
0.41770013861792593,
0.14615786159703736,
0.8967521807567278,
-0.029213784848036172
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 55,
"c2w": [
[
0.8831388705013593,
0.07458925034323727,
-0.4631437996376692,
-0.27585213883145276
],
[
-0.1337822187977503,
0.9863253344545025,
-0.09625306512919367,
-0.026403520762887916
],
[
0.44963101910692777,
0.14696522835843792,
0.8810409572264039,
-0.004205468591401029
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 56,
"c2w": [
[
0.8693151087421624,
0.07755227963204314,
-0.4881361343277878,
-0.28423146809254923
],
[
-0.13908877701584932,
0.9860864436625234,
-0.09103756221051125,
-0.03299940378004188
],
[
0.47428425424089093,
0.1470345862335483,
0.8680064957304707,
0.023657657946888993
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 57,
"c2w": [
[
0.8570075638619437,
0.07981414969481096,
-0.5090851962018843,
-0.29234502453626643
],
[
-0.14331902717616124,
0.9858713489600018,
-0.08670259366976946,
-0.040923565808987296
],
[
0.4949724153250315,
0.14726637365088033,
0.8563380893426521,
0.05349771028339481
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 58,
"c2w": [
[
0.8453317254155149,
0.0817502145718018,
-0.5279499753039987,
-0.2980503652419763
],
[
-0.1471846099533891,
0.9856163715785217,
-0.08304853201145894,
-0.04866544367103026
],
[
0.5135669037222874,
0.14790967004849265,
0.8452051614296074,
0.08268840725971024
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 59,
"c2w": [
[
0.8351006177795658,
0.08334518378345765,
-0.5437467595529091,
-0.3017406702320555
],
[
-0.150565549307758,
0.9853407309721882,
-0.08021009443235315,
-0.05474888891228545
],
[
0.5290907044598692,
0.1488530289490126,
0.8354075665367556,
0.11159259831010053
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 60,
"c2w": [
[
0.8280337267421803,
0.08425307405056098,
-0.5543117957345729,
-0.30666857324446845
],
[
-0.15288031545493966,
0.9851107834717737,
-0.0786406601830528,
-0.05863608166514382
],
[
0.5394328100179431,
0.14986048111713418,
0.82858558983094,
0.14561754368905813
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 61,
"c2w": [
[
0.8246182694802368,
0.0847351528063746,
-0.5593073068701142,
-0.31309573744151353
],
[
-0.15395006233631364,
0.9850150946234077,
-0.0777472936550493,
-0.06230070846213236
],
[
0.5443382109920862,
0.15021723350840832,
0.8253064247968844,
0.18243748864058662
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 62,
"c2w": [
[
0.8236887606057851,
0.0848026631714284,
-0.5606650818186727,
-0.32762898061129714
],
[
-0.1540234724945981,
0.9850396604553681,
-0.07728930877345885,
-0.06852822347075942
],
[
0.5457230026051783,
0.15001791775986806,
0.8244276977264786,
0.22033910739691082
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 63,
"c2w": [
[
0.8247417524843785,
0.08514138163907456,
-0.5590634908859506,
-0.34476292682096726
],
[
-0.15401609229225594,
0.9850484607087654,
-0.0771917960039474,
-0.07930092616264053
],
[
0.5441324149726969,
0.14976807132323358,
0.8255237366594007,
0.2538268830191863
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 64,
"c2w": [
[
0.8289858906813653,
0.08509236612190701,
-0.5527582493993182,
-0.3667326730011086
],
[
-0.15313487309181723,
0.9851214368487263,
-0.07800939241049018,
-0.0871615762432721
],
[
0.5378959970983019,
0.14931525002114196,
0.8296823804425084,
0.2849153774785066
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 65,
"c2w": [
[
0.8378399930407726,
0.08400948463732036,
-0.5394131557094339,
-0.3838547608373026
],
[
-0.15053972325215673,
0.9853318980717073,
-0.08036692333025322,
-0.08926611722486387
],
[
0.5247494047491643,
0.14853772966279835,
0.838197235191109,
0.3121720694810797
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 66,
"c2w": [
[
0.8514586187298498,
0.08117005113062031,
-0.5181019623492165,
-0.3878005886222
],
[
-0.14559205075926282,
0.9857002416589007,
-0.08484095914885284,
-0.08831368473145826
],
[
0.50380668449949,
0.14767009308941864,
0.851100680448908,
0.3271935151647145
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 67,
"c2w": [
[
0.8695869558536636,
0.07635662219587196,
-0.48784033500316004,
-0.3907525461996038
],
[
-0.13776679149822946,
0.9862566325979021,
-0.09120397917267874,
-0.08855618845894554
],
[
0.47417173826520065,
0.14651798832731738,
0.8681553096808625,
0.33938683226018657
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 68,
"c2w": [
[
0.8897665430076892,
0.07055866053401269,
-0.4509290125593962,
-0.3943944301727464
],
[
-0.1277632130182435,
0.9869845390184824,
-0.0976631001849157,
-0.0907912400690962
],
[
0.4381689860583483,
0.14450949851867836,
0.8872006224606017,
0.3523322998961092
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 69,
"c2w": [
[
0.9085636763712595,
0.06485747573620251,
-0.41268093464548306,
-0.3970367653790296
],
[
-0.11750660947586344,
0.9876658522024218,
-0.10348121144802548,
-0.09363708430738818
],
[
0.4008793368436798,
0.14251200733409078,
0.9049784997763095,
0.3719362026002744
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 70,
"c2w": [
[
0.9261205137765037,
0.05949950566795545,
-0.37250584262211744,
-0.4011821031103696
],
[
-0.10716418489905938,
0.988295435325108,
-0.10857241818471014,
-0.09685654423356697
],
[
0.36168581868420696,
0.14047042870591767,
0.9216568923530658,
0.40023323953329343
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 71,
"c2w": [
[
0.9387810807415432,
0.055032460011389346,
-0.340090445009611,
-0.40586848383086704
],
[
-0.09839234645435208,
0.9888720093728008,
-0.11158447579393083,
-0.10499703991897608
],
[
0.33016515352312265,
0.13821569167100534,
0.9337491065457352,
0.43028433424977175
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 72,
"c2w": [
[
0.9490461902588654,
0.05153982603011016,
-0.31089383250222175,
-0.4133481791444448
],
[
-0.091025282560406,
0.9893182700306028,
-0.11385850217903659,
-0.11402315711576595
],
[
0.3017047011399255,
0.13635617667139766,
0.9436001623535399,
0.46346601360879336
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 73,
"c2w": [
[
0.9575035124550578,
0.04839966700895062,
-0.2843316652602198,
-0.4172751926803854
],
[
-0.08439050427111294,
0.9896901426832657,
-0.11572235853301834,
-0.12126231752684231
],
[
0.27579932274226904,
0.13479945737650384,
0.9517162601668135,
0.4983529924581227
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 74,
"c2w": [
[
0.9649918551789435,
0.04517045325140545,
-0.25836089021243847,
-0.42369390950835134
],
[
-0.07789709345442072,
0.9899691783550137,
-0.11786886246355513,
-0.12710263418642717
],
[
0.2504451282609712,
0.13386805466638343,
0.9588308410090822,
0.5278751073246413
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 75,
"c2w": [
[
0.9718076548633513,
0.0420939775972351,
-0.231987023341904,
-0.43642782463491786
],
[
-0.07167435973428724,
0.9901111824382329,
-0.12059283796081903,
-0.1301330143042173
],
[
0.2246167137718688,
0.13382056441671378,
0.9652146851522301,
0.5599149911850835
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 76,
"c2w": [
[
0.9778156352202816,
0.039721928553131045,
-0.20566660378091942,
-0.45353506318182213
],
[
-0.06599326156039635,
0.9902722675461174,
-0.12249785940045034,
-0.13468660141932615
],
[
0.1988000828656237,
0.13335293218032868,
0.9709250859523253,
0.5928564549305301
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 77,
"c2w": [
[
0.983380459761589,
0.037835736758191754,
-0.17757062928043732,
-0.47802467249887526
],
[
-0.06059695004838539,
0.9903594616383068,
-0.12456382455719889,
-0.14553591166000238
],
[
0.1711457887414095,
0.13325386961528718,
0.976192872965498,
0.6250535535781561
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 78,
"c2w": [
[
0.9876722233625616,
0.03606340191853798,
-0.15232534339405457,
-0.5027919094136754
],
[
-0.05563207456905246,
0.9904401789719188,
-0.1262272718441503,
-0.15450727597602681
],
[
0.14631695553557023,
0.13314534509375694,
0.9802365355375542,
0.6549029881930866
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 79,
"c2w": [
[
0.9908388752951116,
0.0339992210253206,
-0.1306995645501142,
-0.5220868908786469
],
[
-0.05082776817197143,
0.9905144477753262,
-0.1276623152343591,
-0.16005604599820816
],
[
0.12511938773257483,
0.1331359520115132,
0.9831683259215654,
0.6829287023738462
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 80,
"c2w": [
[
0.992647538440805,
0.03213159654761921,
-0.11669800739820554,
-0.5397900419484872
],
[
-0.047202992151830964,
0.9905495517787936,
-0.12877679528061498,
-0.165089226635819
],
[
0.11145735489111877,
0.13333846397094973,
0.9847832817765252,
0.7169965886274556
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 576.7465718587239,
"fy": 576.7465782165527,
"cx": 416.0,
"cy": 240.0
}
}
]
}