HugMinjun's picture
Add files using upload-large-folder tool
10686b9 verified
Raw History Blame Contribute Delete
57.7 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": [
[
0.99999999688816,
-6.114331639703248e-05,
4.98515281680916e-05,
0.00024797068006464487
],
[
6.11599395704924e-05,
0.9999999425118238,
-0.00033352033064375583,
0.000518300852671784
],
[
-4.9831132763116775e-05,
0.00033352337852234423,
0.9999999431395055,
-0.00014727305026305607
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 1,
"c2w": [
[
0.9993220163911822,
-0.003869936439813815,
0.036613264642932936,
-0.004659195405058569
],
[
0.003927066432467588,
0.9999911811061717,
-0.0014885762051520689,
-8.368905994730316e-05
],
[
-0.036607181059139585,
0.0016313496974468139,
0.9993284009739081,
0.03916954367653299
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 2,
"c2w": [
[
0.9969596194195666,
-0.008236451378650082,
0.07748340541999935,
-0.008938917186406277
],
[
0.008410281881546668,
0.9999627946807026,
-0.0019173974631867966,
-0.002755983317681913
],
[
-0.07746473007418136,
0.002563225125899107,
0.9969917980963976,
0.0864995121199309
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 3,
"c2w": [
[
0.9936461375951278,
-0.012150970730516896,
0.11189149723098057,
-0.01074632453434558
],
[
0.012351396876301829,
0.9999231155002622,
-0.0010982183085567125,
-0.007988020064697524
],
[
-0.11186955009066807,
0.0024732566699170997,
0.9937198230708474,
0.1314080772765326
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 4,
"c2w": [
[
0.9894791738517079,
-0.015959667472535265,
0.14379239732304344,
-0.007994856054907873
],
[
0.01601431697899844,
0.9998714603963933,
0.0007773908155572821,
-0.008213532755631036
],
[
-0.14378632120420237,
0.001533525007963779,
0.9896075697647084,
0.17262083539620557
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 5,
"c2w": [
[
0.9838170961333487,
-0.02014537703147786,
0.17803956060383033,
-0.0023842646141629493
],
[
0.01987225854924276,
0.9997970236506956,
0.0033173542715023885,
-0.007188503296523419
],
[
-0.17807025213633357,
0.0002743783340778505,
0.9840177386717337,
0.21839048869630726
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 6,
"c2w": [
[
0.9790982736434892,
-0.022853194039120072,
0.20209973297990763,
0.004864743798331959
],
[
0.022379384652076947,
0.9997388316085304,
0.004629440204326296,
-0.012452975603265406
],
[
-0.20215274841301073,
-9.809249552245134e-06,
0.9793540045422008,
0.2606370146627085
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 7,
"c2w": [
[
0.974364916597507,
-0.025371408687212462,
0.22353814199183064,
0.011677928989398598
],
[
0.024688202597590723,
0.9996780773845,
0.005851004130082238,
-0.01810327100823847
],
[
-0.22361462822551148,
-0.00018225821343593194,
0.9746776209729605,
0.3005893435681734
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 8,
"c2w": [
[
0.9693422815382048,
-0.02795411837123369,
0.24411904573055088,
0.018800314775107872
],
[
0.02704636733243978,
0.9996091757480186,
0.007070344721849359,
-0.02514867238265504
],
[
-0.24422128334038878,
-0.00025105070026591866,
0.9697194964200315,
0.34275322870061115
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 9,
"c2w": [
[
0.9645429524903468,
-0.029714195881949828,
0.262247896777636,
0.025179819485281613
],
[
0.028764940141196394,
0.9995583747885884,
0.0074587940492519544,
-0.024923344021689144
],
[
-0.2623537135622019,
0.0003492178186804396,
0.9649717130709258,
0.38502735126278476
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 10,
"c2w": [
[
0.9589294761269395,
-0.031552512579133406,
0.2818841938897197,
0.032544667283669275
],
[
0.03061389640342325,
0.9995013597030755,
0.007734422971605613,
-0.025804312341969095
],
[
-0.2819876755496841,
0.0012128073411964133,
0.9594172605995992,
0.4339220823610615
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 11,
"c2w": [
[
0.954514476261106,
-0.03298338028981711,
0.29633462712387143,
0.03910941187366582
],
[
0.032108636930483575,
0.999453795802435,
0.007819558208179873,
-0.032758713827636794
],
[
-0.2964306833687313,
0.0020510194445765764,
0.9550521678300014,
0.4755409119828641
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 12,
"c2w": [
[
0.950415720816222,
-0.03399094022524317,
0.309119028220498,
0.048182552515128346
],
[
0.033293351172678246,
0.9994172332032253,
0.007533043482069681,
-0.03704486483461011
],
[
-0.309194939145313,
0.003132085409750877,
0.9509935224006062,
0.5149774198810572
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 13,
"c2w": [
[
0.9459993292803247,
-0.03477248354807523,
0.322298221200606,
0.060701909863770664
],
[
0.03438923613172373,
0.9993848020635238,
0.0068846091195019134,
-0.039656251289413
],
[
-0.32233933895733624,
0.004570754024296152,
0.9466131515926647,
0.5581771531444697
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 14,
"c2w": [
[
0.9431892236868362,
-0.035140774350517635,
0.33039251550098575,
0.07383390441810028
],
[
0.03511026829391909,
0.999365059108214,
0.006061987624926697,
-0.04269509844024576
],
[
-0.33039575872179733,
0.005882568459588613,
0.9438241562955284,
0.5977627357412562
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 15,
"c2w": [
[
0.9404896470763956,
-0.0354628475984597,
0.33796687734499253,
0.08659376337284928
],
[
0.0357608554154342,
0.9993460742167163,
0.005346509851644964,
-0.047108291535579744
],
[
-0.33793547455405337,
0.00705764747247602,
0.9411428184128491,
0.6377174868164659
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 16,
"c2w": [
[
0.937855106985971,
-0.035721906342799654,
0.34518363765910104,
0.10011321475090351
],
[
0.036288530201727946,
0.9993297193582525,
0.004822300608091033,
-0.05607864348596494
],
[
-0.3451245295196092,
0.008003587607614875,
0.9385227763401781,
0.6844348265550576
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 17,
"c2w": [
[
0.9359838976792197,
-0.035895311274052176,
0.3502080380484645,
0.10991766284736222
],
[
0.036646773953486374,
0.9993182250841349,
0.004483187872054482,
-0.05774855505049232
],
[
-0.35013020041695625,
0.008637803148542275,
0.9366612146943787,
0.7224459932686399
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 18,
"c2w": [
[
0.9342798030860024,
-0.03604669912683332,
0.3547138072131396,
0.11891208220008545
],
[
0.036963951445134716,
0.9993078057980782,
0.004192322100291786,
-0.056946808058195825
],
[
-0.354619395745837,
0.009194822080411665,
0.9349655284596151,
0.7593105577591481
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 19,
"c2w": [
[
0.9333987496617914,
-0.0361141361866061,
0.35701896769961666,
0.13213956180651884
],
[
0.03725160052117134,
0.9992990969033798,
0.0036923145452271437,
-0.06336825739134862
],
[
-0.35690207674993396,
0.009853126183354032,
0.9340898369621625,
0.8085813242304486
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 20,
"c2w": [
[
0.932828868346095,
-0.03622173630337575,
0.358494474433446,
0.14544592162952694
],
[
0.03766558628193443,
0.9992860228504976,
0.0029577264364993665,
-0.06886639901465633
],
[
-0.358345651557518,
0.010743851953732663,
0.9335271627837158,
0.852273394187525
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 21,
"c2w": [
[
0.9325314988729845,
-0.03639478805273503,
0.35924980586258004,
0.16106203500904023
],
[
0.03829550374117787,
0.9992647883846857,
0.0018267697497829916,
-0.07420370524702935
],
[
-0.35905216613037494,
0.012054131951566897,
0.9332396476253996,
0.8967389965375194
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 22,
"c2w": [
[
0.932739707931647,
-0.03587403163042046,
0.35876132888337564,
0.17847972942664667
],
[
0.038719734023823275,
0.9992498300526447,
-0.0007478882838522112,
-0.07540398806517452
],
[
-0.3584653671482232,
0.014588728331843503,
0.9334290275971437,
0.9445348911465496
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 23,
"c2w": [
[
0.9330668832113854,
-0.03515157306909826,
0.3579812262744501,
0.1934890304370804
],
[
0.03897352288017518,
0.9992342374655483,
-0.0034645621589298545,
-0.07636719899850773
],
[
-0.3575853128534499,
0.017184457728205232,
0.933722356187367,
0.986012012367208
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 24,
"c2w": [
[
0.933307053658038,
-0.03407390566273897,
0.3574589662395382,
0.20786250334589818
],
[
0.03905337705342241,
0.9992145381030818,
-0.00671867428653341,
-0.08538230826957005
],
[
-0.3569492643680272,
0.020230565892531794,
0.9339046776147941,
1.030711803348595
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 25,
"c2w": [
[
0.9334825622912623,
-0.032909504718954125,
0.35710960557970595,
0.22282684149856705
],
[
0.03931828237025484,
0.9991694558337493,
-0.010699121475265007,
-0.09144510115331848
],
[
-0.3564609074914007,
0.024028379638309054,
0.9340012089940594,
1.0797223162163754
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 26,
"c2w": [
[
0.9335500184364078,
-0.03194840213636286,
0.3570205353734099,
0.23464096035691978
],
[
0.03970308024617875,
0.9991076002189737,
-0.014410711420644238,
-0.09303987942881595
],
[
-0.3562415311222829,
0.02762793487788837,
0.9339853685781352,
1.1207909227536044
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 27,
"c2w": [
[
0.9336045750146226,
-0.030272294548972095,
0.35702392874218686,
0.24578587579011085
],
[
0.03939273206359127,
0.9990562173566045,
-0.018299924089432575,
-0.09641437399245856
],
[
-0.35613299506270396,
0.03114904081754622,
0.933915963609047,
1.1666444298140721
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 28,
"c2w": [
[
0.9336410902749337,
-0.028643319951831177,
0.3570628442898675,
0.25894027294951105
],
[
0.03914063855245981,
0.9989869345756834,
-0.022206191946951736,
-0.1017725660859943
],
[
-0.35606505720716103,
0.03470828098906942,
0.9338163686008321,
1.217861475740614
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 29,
"c2w": [
[
0.933613808182525,
-0.028327929824319146,
0.3571593279795333,
0.27188051842041916
],
[
0.0395377701379864,
0.9989268656661845,
-0.024122225909904697,
-0.10951289657836902
],
[
-0.3560927153192538,
0.036642126605877776,
0.933731938328319,
1.257168165040489
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 30,
"c2w": [
[
0.9335800361935251,
-0.028103518727951988,
0.35726531913411913,
0.2867554719560465
],
[
0.039830811660656926,
0.9988807934691144,
-0.025508172826877847,
-0.11139153495557513
],
[
-0.3561485960429293,
0.0380440885502629,
0.9336545532813677,
1.2981484524161262
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 31,
"c2w": [
[
0.9335358253136449,
-0.027925032358356097,
0.3573948172872078,
0.3054137400522371
],
[
0.04007654013166122,
0.9988414786554748,
-0.026637782348009818,
-0.10851424271652332
],
[
-0.35623690682893483,
0.039190471866633096,
0.9335734428141277,
1.3464175791960793
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 32,
"c2w": [
[
0.9332676860428554,
-0.028861029793862927,
0.358020204943034,
0.32339871914336155
],
[
0.040894161079660325,
0.9988229870951608,
-0.026082715347352015,
-0.11489795944836997
],
[
-0.3568460365168781,
0.03898309132865112,
0.9333494655340286,
1.3951021347309194
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 33,
"c2w": [
[
0.9328798888407813,
-0.030139306663316018,
0.3589244143134684,
0.341764134996819
],
[
0.041766885325804234,
0.9988224216212871,
-0.02468394937543697,
-0.1199510524134225
],
[
-0.3577577955636925,
0.038018314802771194,
0.9330401746189522,
1.447667853054781
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 34,
"c2w": [
[
0.9324220269237755,
-0.031563327418670746,
0.3599901666290622,
0.3546418068363456
],
[
0.04243908421954099,
0.998849140743803,
-0.022345428301399677,
-0.12110207477880061
],
[
-0.3588705725438697,
0.03611302254904834,
0.9326884591139782,
1.489180269919058
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 35,
"c2w": [
[
0.9320786443754895,
-0.032383351694182744,
0.36080565299368683,
0.3674407355338513
],
[
0.042538191526504426,
0.9988898716845238,
-0.02023676129547763,
-0.12423756059192662
],
[
-0.359749778263732,
0.03421027300573011,
0.9324214466967549,
1.5313497452554115
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 36,
"c2w": [
[
0.9317376460049295,
-0.033043366557719514,
0.36162562816222654,
0.3824135824456165
],
[
0.0423945238971144,
0.9989396358522407,
-0.017952945912296393,
-0.12931681395608774
],
[
-0.3606489475386414,
0.03205838189810938,
0.9321505226031604,
1.5796687856383527
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 37,
"c2w": [
[
0.9314325660112979,
-0.03361035732923601,
0.3623585501320629,
0.39785149074309156
],
[
0.042303908420033356,
0.9989753551643179,
-0.016081638806871402,
-0.13736668915963976
],
[
-0.3614467516882662,
0.030308145019553947,
0.9319000279211687,
1.6208759772426535
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 38,
"c2w": [
[
0.9313303336650498,
-0.03430726189094354,
0.36255595620109987,
0.41344992401319935
],
[
0.04235569591669396,
0.9990006622964106,
-0.01427136134873205,
-0.1413499448495605
],
[
-0.3617040290330759,
0.02864766156040911,
0.9318527281005087,
1.6602570103135015
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 39,
"c2w": [
[
0.9315228518395564,
-0.03529926509527663,
0.361965659123118,
0.4315213143754296
],
[
0.04263455328369675,
0.9990150722551026,
-0.012295538761347312,
-0.1397054835220318
],
[
-0.3611751256205215,
0.026885819512627043,
0.9321103375363535,
1.7024811874863521
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 40,
"c2w": [
[
0.9312746637248098,
-0.03559884720485054,
0.3625744375737594,
0.44816861678918696
],
[
0.04266541740331527,
0.9990232436287333,
-0.011498732422551112,
-0.1452269657040195
],
[
-0.36181094906324096,
0.026177867888929576,
0.9318838749386892,
1.7441381843706183
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 41,
"c2w": [
[
0.9309331911347731,
-0.03579218971282701,
0.3634313040991225,
0.46491371067878584
],
[
0.04265776079393847,
0.9990305034495478,
-0.010879734435642437,
-0.15137113592802265
],
[
-0.36268954918452634,
0.025631471532160974,
0.9315574692843276,
1.7866343308476544
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 42,
"c2w": [
[
0.9303819920487933,
-0.0359311808109784,
0.3648263958608915,
0.4837674328477486
],
[
0.04263191496900948,
0.9990374786737558,
-0.010326472353134252,
-0.15470817893661742
],
[
-0.3641042003292385,
0.02516081180553755,
0.9310182945849625,
1.8355717047626654
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 43,
"c2w": [
[
0.9298673116862854,
-0.03638647843364666,
0.3660912548047524,
0.500071176281583
],
[
0.0429315574711682,
0.9990304377406322,
-0.009750171324682517,
-0.15707983389662494
],
[
-0.36538153214197916,
0.024783233343505545,
0.9305278756247022,
1.8776297526494365
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 44,
"c2w": [
[
0.9293275584081481,
-0.03709209143533359,
0.3673887123144952,
0.5162299721174115
],
[
0.04347254516933927,
0.9990131395447579,
-0.009104110798191758,
-0.15904029560224778
],
[
-0.36668846041244585,
0.02443202345035809,
0.9300229294111362,
1.9191161848195597
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 45,
"c2w": [
[
0.9284449505925689,
-0.03770118345885395,
0.3695518833465255,
0.5369661921772579
],
[
0.044003453952617906,
0.9989940500140664,
-0.008636207311827489,
-0.16691191643377132
],
[
-0.3688545373984194,
0.024279802352878917,
0.9291699636978711,
1.9674099703628214
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 46,
"c2w": [
[
0.9276600509320182,
-0.0382175271109195,
0.3714650057896863,
0.5554745257859991
],
[
0.044494486432800184,
0.9989748307079023,
-0.008338362501079326,
-0.17185039934638333
],
[
-0.37076551967771615,
0.02426331044281011,
0.9284095115758287,
2.0089714990752854
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 47,
"c2w": [
[
0.9269334137292624,
-0.038753412148511295,
0.37321926472124073,
0.5741841417797728
],
[
0.04508045588070871,
0.9989494074494358,
-0.008236131009672017,
-0.17015620235658177
],
[
-0.3725079851624706,
0.024459239629813157,
0.9277066058765173,
2.0485189686286565
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 48,
"c2w": [
[
0.9256048722919655,
-0.03911279121025812,
0.3764648854184373,
0.5950502012905468
],
[
0.045599700024342014,
0.9989250480759342,
-0.008331607538922788,
-0.17430775737611776
],
[
-0.3757343313393979,
0.024878462376830432,
0.926393423099873,
2.0946992293764373
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 49,
"c2w": [
[
0.9241711653293349,
-0.039293037145495785,
0.37995225279724565,
0.6130369150093662
],
[
0.04597577115612615,
0.9989061707450588,
-0.008525873212942984,
-0.1811364525973491
],
[
-0.37920164245480126,
0.025347964007516433,
0.924966807555955,
2.135623112691308
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 50,
"c2w": [
[
0.9221967507278404,
-0.03990053968900335,
0.3846571198867111,
0.6282301525729059
],
[
0.046902799468522285,
0.9988603835381491,
-0.008835247593427206,
-0.186190150335189
],
[
-0.38386622715345636,
0.026189332380720284,
0.9230172471413647,
2.1770548728023
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 51,
"c2w": [
[
0.9202871419428067,
-0.040332004292858735,
0.38915922937078307,
0.6417690175090243
],
[
0.04763145091659366,
0.9988233210829589,
-0.009122397951696304,
-0.18872705147964794
],
[
-0.38833338931686145,
0.02693144427114537,
0.9211253313481015,
2.2152768730928623
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 52,
"c2w": [
[
0.9181366119214864,
-0.04063085908535325,
0.39417546237598333,
0.6556342585358375
],
[
0.048249970812213085,
0.9987907463156778,
-0.00943320681382774,
-0.188750506789239
],
[
-0.3933155249490601,
0.02767992709813427,
0.9189867896057525,
2.256124486974683
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 53,
"c2w": [
[
0.9154154464560529,
-0.04083817248614707,
0.40043327041800275,
0.674008059608989
],
[
0.04894534321302846,
0.9987510509597499,
-0.010034519647405399,
-0.19708407264404715
],
[
-0.3995233582250535,
0.02878509813752622,
0.9162709775812987,
2.3058928320834005
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 54,
"c2w": [
[
0.9129809400616311,
-0.04097860819445174,
0.4059391047369375,
0.6908323000257939
],
[
0.04951246879243119,
0.9987179089322809,
-0.010538207248449595,
-0.20516721988395928
],
[
-0.40498681277081017,
0.029720229615168875,
0.9138393674127652,
2.34960889058505
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 55,
"c2w": [
[
0.9108136587565132,
-0.04113485712043492,
0.4107631952259784,
0.7077158574849933
],
[
0.049835131524106166,
0.9987023644447992,
-0.01049032498745478,
-0.203461200198869
],
[
-0.40979865627957934,
0.030025169142717294,
0.9116817155835705,
2.3889381120992215
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 56,
"c2w": [
[
0.9085106208906945,
-0.04155239623815488,
0.4157906325251598,
0.7273245574614619
],
[
0.05032902093105931,
0.9986809526742246,
-0.01016584565219682,
-0.205256880003177
],
[
-0.41481976975660895,
0.030162114192653456,
0.9094035438057757,
2.435276771899052
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 57,
"c2w": [
[
0.9066536498613418,
-0.042128321616160654,
0.4197670350455274,
0.7447562249610824
],
[
0.050869066083392665,
0.9986587530295449,
-0.009645367451696165,
-0.21010533934580625
],
[
-0.41879768063936457,
0.030098164649694854,
0.907580631776488,
2.4770402050345837
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 58,
"c2w": [
[
0.9049385691558203,
-0.04307619664524099,
0.4233563833660682,
0.7584435458159069
],
[
0.05157480559919448,
0.998631820748865,
-0.008632845140051366,
-0.21516848428877725
],
[
-0.4224052858116504,
0.029646717700064877,
0.9059220974498804,
2.5186081657646877
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 59,
"c2w": [
[
0.9033061922034413,
-0.04402654523695479,
0.42673128130173205,
0.7721872563922324
],
[
0.05219465232299288,
0.9986090829759494,
-0.007457725311073183,
-0.21939621041677784
],
[
-0.4258093956171018,
0.029009700316133914,
0.9043477184644007,
2.56498144053627
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 60,
"c2w": [
[
0.9026984104776026,
-0.04431880772439714,
0.4279853069944083,
0.7811004541672966
],
[
0.05217377473665022,
0.998615978757266,
-0.006635073503525253,
-0.21889647423569603
],
[
-0.4270989076911099,
0.028319079302756643,
0.9037613361925289,
2.602681756249211
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 61,
"c2w": [
[
0.9025732850483842,
-0.04468147363297581,
0.4282114326252328,
0.7924785411124462
],
[
0.052303284303626574,
0.9986129571785856,
-0.006043856889000656,
-0.22384599400290806
],
[
-0.427347436599335,
0.02785188806932841,
0.9036583650710878,
2.642579199801129
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 62,
"c2w": [
[
0.9028446684146274,
-0.04515552630066967,
0.427589152294339,
0.8075948311955476
],
[
0.052581151675280574,
0.9986011388687003,
-0.005566681115018443,
-0.23417337883540226
],
[
-0.42673964803353237,
0.027508978436952075,
0.9039560436777735,
2.6900595305795876
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 63,
"c2w": [
[
0.9039075538704594,
-0.04487765158909599,
0.42536705378269524,
0.8220678558853951
],
[
0.05230433297047426,
0.9986144072502852,
-0.00578985186989976,
-0.23512085559155796
],
[
-0.4245178333220365,
0.027482030856713115,
0.905002401749053,
2.726761489388953
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 64,
"c2w": [
[
0.9051415424024485,
-0.04457753891959928,
0.4227666392245115,
0.8375167800708775
],
[
0.05207568169816854,
0.9986239166836859,
-0.006196483115921492,
-0.2369197823749628
],
[
-0.4219086531383158,
0.027624555221876027,
0.9062173979547103,
2.765272062294515
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 65,
"c2w": [
[
0.9070428414543217,
-0.04417298957823941,
0.4187147367339625,
0.8579609776989575
],
[
0.05195055010084085,
0.9986237989009252,
-0.007186696939833991,
-0.24140841306242306
],
[
-0.41782104316404506,
0.0282711029216362,
0.9080893792071923,
2.8144516144614316
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 66,
"c2w": [
[
0.9084092387943373,
-0.04376588772254974,
0.4157850429548304,
0.8730949999394028
],
[
0.05192497380827082,
0.9986162404860656,
-0.008330746214301923,
-0.24588044312751556
],
[
-0.4148450939424298,
0.029157354292423138,
0.9094247614412987,
2.854302281636399
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 67,
"c2w": [
[
0.9096538443433655,
-0.04333947223540935,
0.413099955964283,
0.887127161906198
],
[
0.051930704539982414,
0.9986046820652467,
-0.009585973260380356,
-0.250570264478034
],
[
-0.4121080991649126,
0.03017248918673862,
0.9106352373475116,
2.892880372422933
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 68,
"c2w": [
[
0.9109172583571135,
-0.042045307242799375,
0.41044115359697864,
0.9001806591109067
],
[
0.051250560058908205,
0.9986202378622688,
-0.011445550469686977,
-0.24975375786088833
],
[
-0.40939361074741776,
0.03146128844730475,
0.9118152547574686,
2.937564846876378
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 69,
"c2w": [
[
0.9119568615729677,
-0.041026287820823966,
0.408229747002379,
0.9124299831114178
],
[
0.05078693098413039,
0.9986236603624352,
-0.01309475488679978,
-0.25290586471448623
],
[
-0.4071306550374175,
0.032674587556312036,
0.9127852984447267,
2.975394300264118
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 70,
"c2w": [
[
0.9129127755964266,
-0.04015729851973243,
0.4061744151573627,
0.9257826590404502
],
[
0.050500735590269144,
0.9986147327940484,
-0.014774679404746423,
-0.2612133717595512
],
[
-0.4050184438487589,
0.0340001003273286,
0.9136761205810631,
3.0115311379731593
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 71,
"c2w": [
[
0.9139505481065977,
-0.03914503393300465,
0.40393323945181037,
0.9429198677353333
],
[
0.05021261192444285,
0.9985965896050166,
-0.016838789533558052,
-0.26425018623749297
],
[
-0.40270720035700247,
0.03567236391962382,
0.9146334748045313,
3.0540551686261175
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 72,
"c2w": [
[
0.9148496004151815,
-0.03830687382511746,
0.40197362107224105,
0.9585855643850943
],
[
0.04998631883802692,
0.9985766491333481,
-0.01860225079493759,
-0.2651891840321788
],
[
-0.40068887749625176,
0.037111443293964895,
0.9154622680522846,
3.0921370364973493
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 73,
"c2w": [
[
0.9159395875403993,
-0.037700870241481284,
0.39954138253672605,
0.97733387014762
],
[
0.049842612869223236,
0.9985560346447657,
-0.020038952489848223,
-0.2673952380977085
],
[
-0.39820897267476557,
0.0382686563333055,
0.9164961123887823,
3.13919822043563
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 74,
"c2w": [
[
0.9169244418792761,
-0.03727868330501624,
0.3973158285991416,
0.9924952246961315
],
[
0.04967200280572154,
0.9985459839119789,
-0.020943021523330104,
-0.27224512157349456
],
[
-0.39595739672551455,
0.038938641274479255,
0.9174429258510042,
3.1812927035879706
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 75,
"c2w": [
[
0.917931031613046,
-0.036936970162347406,
0.3950168115878552,
1.0067240194993694
],
[
0.049468229858207764,
0.9985424916111075,
-0.02158209169141735,
-0.2792846946756164
],
[
-0.3936438941943654,
0.039351654124154443,
0.918420345964302,
3.2240741471450693
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 76,
"c2w": [
[
0.9196357594045136,
-0.03645554925779293,
0.391076799302639,
1.0192243725629608
],
[
0.04911914481920389,
0.9985411815194482,
-0.02242361304462246,
-0.27742335323738504
],
[
-0.3896888241106153,
0.03983091435126139,
0.920084843166775,
3.271186313692002
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 77,
"c2w": [
[
0.921370302358554,
-0.03603841025746836,
0.38701162633417274,
1.0292155636018727
],
[
0.04882400979121679,
0.9985366781514209,
-0.023253353612610165,
-0.27727208530241093
],
[
-0.3856072898683506,
0.040320408882355385,
0.9217815807597513,
3.3127076202558805
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 78,
"c2w": [
[
0.9235495964492155,
-0.035659001259099064,
0.38181746755183243,
1.038015562008814
],
[
0.04859324464125749,
0.9985234101607352,
-0.02428365574231129,
-0.2839101343763377
],
[
-0.380387748848101,
0.040980910070174854,
0.9239186790708879,
3.3555308638468047
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 79,
"c2w": [
[
0.9265036203930971,
-0.03471022326525482,
0.37468152049355224,
1.0484049150744374
],
[
0.04789471974723867,
0.9985157338069496,
-0.02593116195435001,
-0.28890830121643896
],
[
-0.3732253169585599,
0.04197058185021296,
0.9267908788072622,
3.401541014752665
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 80,
"c2w": [
[
0.9292996372275423,
-0.033614265396334775,
0.367793781092915,
1.0576700103221452
],
[
0.047046945506790866,
0.9985108991141679,
-0.027614656773118175,
-0.2919229053482247
],
[
-0.3663178526460857,
0.04296586449823676,
0.9294972648268954,
3.440261279866315
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 684.5960489908854,
"fy": 684.5958137512207,
"cx": 416.0,
"cy": 240.0
}
}
]
}