HugMinjun's picture
Add files using upload-large-folder tool
80f048c 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": [
[
0.9999999985306522,
-5.162415825425737e-05,
1.6542124440697447e-05,
-6.51563270890995e-05
],
[
5.1628059793003645e-05,
0.9999999708331477,
-0.0002359411945484448,
0.00024522976187131123
],
[
-1.652994369264968e-05,
0.00023594204823955485,
0.9999999720290551,
0.00017900957765191973
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 1,
"c2w": [
[
0.9996171100243533,
0.006953927249734344,
-0.026782013411344646,
-0.01566585712521061
],
[
-0.006984185394940486,
0.9999750731873461,
-0.0010364160993350132,
0.0023181059940889223
],
[
0.02677413865895862,
0.0012230698129145924,
0.9996407602730611,
-0.0020952711717285594
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 2,
"c2w": [
[
0.9984706089315392,
0.014312689586058394,
-0.05340028105445666,
-0.0244488562806
],
[
-0.01438434822988058,
0.999896081174476,
-0.0009577984796276188,
0.0018290943623300018
],
[
0.053381023087641914,
0.0017244618694482897,
0.9985727277496506,
0.0040511738653206935
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 3,
"c2w": [
[
0.9965026258892229,
0.02188029846547135,
-0.08064594927797332,
-0.028655708226417314
],
[
-0.02192670949526581,
0.9997595326925861,
0.00031016287978939195,
0.0025448802732705657
],
[
0.08063334302007931,
0.0014592221776245705,
0.9967427625340666,
0.02066987780538283
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 4,
"c2w": [
[
0.9936187513609566,
0.02995879939991924,
-0.10873935480040794,
-0.03153360301436067
],
[
-0.029890115833797925,
0.9995506314313174,
0.0022618975876052723,
0.00035056759553710095
],
[
0.10875825448827203,
0.0010027680539739332,
0.9940677223091464,
0.04538639605252548
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 5,
"c2w": [
[
0.9892413625197324,
0.039184775613231075,
-0.14094708241125192,
-0.03493161965002086
],
[
-0.03880815179395227,
0.9992319759849266,
0.005420841594887179,
-0.004830476836751024
],
[
0.14105124612863607,
0.0001073750438007324,
0.9900022901166234,
0.0742041159792836
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 6,
"c2w": [
[
0.9840501865235242,
0.04787383132833408,
-0.17132812576154435,
-0.04022703789056492
],
[
-0.04696359223134899,
0.9988527069572961,
0.009364337072611112,
-0.009049678368162143
],
[
0.1715798688883545,
-0.0011687934069456703,
0.9851695196839105,
0.09696110766952197
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 7,
"c2w": [
[
0.9778194256566339,
0.0569174775377553,
-0.20156778403125258,
-0.04618132209422135
],
[
-0.05519905737660614,
0.9983752338185987,
0.014140599788995824,
-0.012926109758302868
],
[
0.20204513078335917,
-0.0027006014880997485,
0.9793724888306481,
0.11498300999022323
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 8,
"c2w": [
[
0.9705568906713433,
0.0663488848569532,
-0.23155376794302654,
-0.05043122385227314
],
[
-0.06353624078615663,
0.9977872074497216,
0.019591701213778952,
-0.017024131064675253
],
[
0.23234127501831817,
-0.0043028046580373125,
0.9726248083382086,
0.13097315368055673
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 9,
"c2w": [
[
0.9622485993881796,
0.07603947899321495,
-0.2613343272705047,
-0.05247397341808553
],
[
-0.0718733363237812,
0.9970883296767051,
0.025477173081153895,
-0.022281826475161314
],
[
0.26251067883264384,
-0.005732404116848474,
0.9649120597452733,
0.14567589247673998
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 10,
"c2w": [
[
0.9531088647936644,
0.0856916407889922,
-0.29024202754015993,
-0.05396296772425552
],
[
-0.08003397960122859,
0.9962996316761626,
0.03133059257551686,
-0.029565462572201388
],
[
0.29185279501989136,
-0.006632241011395304,
0.9564402539721153,
0.15518179846766034
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 11,
"c2w": [
[
0.9435592203759121,
0.09471268135720491,
-0.3173728180448504,
-0.05712659494787559
],
[
-0.08757865999932006,
0.9954811658606908,
0.036704587306814446,
-0.036068678584372946
],
[
0.31941505280171856,
-0.006837865658861412,
0.9475902424766239,
0.15783694081896996
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 12,
"c2w": [
[
0.9338424435537895,
0.10276110418196359,
-0.34260537953276704,
-0.06163333123370247
],
[
-0.09408140534451469,
0.9946821234523029,
0.041906591997191794,
-0.040554694591328315
],
[
0.3450898140859693,
-0.006901358686635706,
0.9385442938201637,
0.15736658549682003
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 13,
"c2w": [
[
0.9244019114385684,
0.10945083078329483,
-0.3653787374349634,
-0.07041925795584564
],
[
-0.09933102035614523,
0.9939700461776263,
0.04644239115996066,
-0.04326408644142765
],
[
0.3682586788165738,
-0.006637992354190318,
0.9296996732998122,
0.15598250114222176
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 14,
"c2w": [
[
0.9154422939820668,
0.11559791707157704,
-0.38548998425064734,
-0.08048370149917454
],
[
-0.10411946086256757,
0.9932768432712364,
0.05059891788186863,
-0.04600647126081798
],
[
0.38874740418238135,
-0.006183380130690964,
0.9213236247658148,
0.15507812949055186
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 15,
"c2w": [
[
0.9071159585374883,
0.12117346063158202,
-0.40306033072628283,
-0.09186544554316244
],
[
-0.10842401338349841,
0.992615305200256,
0.05439751100940002,
-0.049621093065891006
],
[
0.4066753878567389,
-0.005643431648321689,
0.913555296952955,
0.1530536695787904
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 16,
"c2w": [
[
0.898573202290104,
0.12623206053558433,
-0.42027570357926797,
-0.10368365792764407
],
[
-0.11222856588934661,
0.9919883966043036,
0.05799801721475961,
-0.05595359761627288
],
[
0.42422983054534097,
-0.004948524564305737,
0.9055410332945205,
0.14496513799425723
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 17,
"c2w": [
[
0.8913040365193604,
0.1307149836826359,
-0.4341551652636912,
-0.11450413861254469
],
[
-0.11561282648235978,
0.9914106452906293,
0.06114414736651418,
-0.05865702216906582
],
[
0.4384185087756384,
-0.004304119569257352,
0.8987606387229468,
0.13475319855792614
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 18,
"c2w": [
[
0.8843180466842285,
0.13513044147863032,
-0.446901953558475,
-0.12553541821080264
],
[
-0.11900433666579444,
0.9908215878948301,
0.06411356187501926,
-0.058056807879219886
],
[
0.45146379717904866,
-0.003513509265411465,
0.8922825197712421,
0.12612245237349498
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 19,
"c2w": [
[
0.8774307809363749,
0.1393630009339961,
-0.45901326629636163,
-0.13472317944882894
],
[
-0.12222670580409664,
0.9902377072794813,
0.06700683151854961,
-0.05817398062476009
],
[
0.46387051755167885,
-0.0026901770476102163,
0.8858989253260162,
0.1160892247016036
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 20,
"c2w": [
[
0.8703135683618808,
0.1438567360736002,
-0.4710196728497237,
-0.14264960522377707
],
[
-0.125714010772172,
0.989597118756053,
0.069953770772509,
-0.05850449525052248
],
[
0.47618303226887915,
-0.001667943634856256,
0.8793446069336224,
0.10451497199904292
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 21,
"c2w": [
[
0.862629602938829,
0.14882314876547598,
-0.4834478653641235,
-0.14916528061135356
],
[
-0.12961974094992906,
0.9888637408827098,
0.0731247203312709,
-0.05704275654679744
],
[
0.48894671579802224,
-0.00041516139308327843,
0.8723135541485906,
0.09484262077264456
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 22,
"c2w": [
[
0.8542065596816532,
0.15417519346604489,
-0.4965492554787917,
-0.1532832892974188
],
[
-0.13365637934125066,
0.9880432652638768,
0.07685361558238232,
-0.053755617939801534
],
[
0.502461068798591,
0.0007181130861658516,
0.8645995365805914,
0.09002467921864832
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 23,
"c2w": [
[
0.845176023208968,
0.15977752733076397,
-0.5100476757644731,
-0.1550529562313031
],
[
-0.13755892320464005,
0.9871519766720068,
0.08129278934401105,
-0.049632129516568334
],
[
0.5164833321990691,
0.001454892647854679,
0.8562960065584384,
0.09107143614753407
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 24,
"c2w": [
[
0.8358054085644242,
0.16536670143544452,
-0.5235295340960399,
-0.15411364007439413
],
[
-0.14116074079995206,
0.9862303397500986,
0.08615893577113103,
-0.04530591046049559
],
[
0.5305685292884085,
0.0018897123499845986,
0.8476399381317338,
0.0975667268390305
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 25,
"c2w": [
[
0.8247217029839463,
0.17207021919306148,
-0.5387262313031649,
-0.1496510786093977
],
[
-0.14505641209974235,
0.9850830465145434,
0.0925744499220798,
-0.041572250158619546
],
[
0.5466193830591897,
0.0017975362243133064,
0.8373792563274499,
0.10645796956769876
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 26,
"c2w": [
[
0.8143781417720354,
0.17873952902852935,
-0.552123557699349,
-0.14218556676507477
],
[
-0.14852798976909787,
0.9838958949130403,
0.09943995287819825,
-0.04038051997271218
],
[
0.5610059522492409,
0.0010240780864009674,
0.8278111335352983,
0.11572695637747119
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 27,
"c2w": [
[
0.8038272763396146,
0.1862228393041543,
-0.5649626217139823,
-0.14100075796149436
],
[
-0.15219736424695368,
0.9825074964508864,
0.10730788290750909,
-0.040432726803301254
],
[
0.5750631896832878,
-0.00027118132439646336,
0.8181089501600458,
0.12754081269475817
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 28,
"c2w": [
[
0.7931729648736213,
0.19443278341746717,
-0.5771243718005031,
-0.15606079491277136
],
[
-0.15575544017377896,
0.9809128100224482,
0.11640576441970846,
-0.042717030251874455
],
[
0.5887417860572336,
-0.0024396447283574346,
0.8083174855734212,
0.1411144473653346
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 29,
"c2w": [
[
0.7826615754822636,
0.20322784201297778,
-0.5883360455508135,
-0.17820799845868487
],
[
-0.15896929567190105,
0.979115084646498,
0.12673757947531022,
-0.0452617942793459
],
[
0.6018053018187863,
-0.0056652668453505625,
0.7986227416336015,
0.15516949737930802
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 30,
"c2w": [
[
0.7723902348539267,
0.21257258850162492,
-0.5985200244937632,
-0.20745301095581847
],
[
-0.1617494493471034,
0.9770940658041352,
0.13829064395776458,
-0.047033857057664864
],
[
0.6142071643494602,
-0.010004058579557523,
0.7890814140972603,
0.17070707189633932
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 31,
"c2w": [
[
0.7628040487071057,
0.22229830754616203,
-0.6072177910257239,
-0.24149021853190797
],
[
-0.1640514649271535,
0.9748567878854772,
0.15080238714577748,
-0.05121668207518857
],
[
0.6254735007426795,
-0.015417703321895307,
0.7800930677124209,
0.1896155649472747
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 32,
"c2w": [
[
0.754182479819346,
0.23202295023055156,
-0.6143078525461423,
-0.27497488701638256
],
[
-0.1656988081819162,
0.9724660253349179,
0.1638710912162349,
-0.054823621078500015
],
[
0.6354153697390663,
-0.0217986269204742,
0.7718627648512058,
0.2106685037518676
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 33,
"c2w": [
[
0.7468323649391366,
0.2416332460577909,
-0.6195601609843805,
-0.30618773447161973
],
[
-0.16672445716818246,
0.9699305367529901,
0.17730682236177933,
-0.0552118062125332
],
[
0.643773542529818,
-0.029122641941138477,
0.7646616883726928,
0.23079024880846197
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 34,
"c2w": [
[
0.7407310829550541,
0.25125312624418294,
-0.6230484164948641,
-0.3340681746359006
],
[
-0.1673880140752018,
0.9672057377193715,
0.19103484935133347,
-0.05231163676443643
],
[
0.6506141064319103,
-0.03721461373239436,
0.7584961153734117,
0.24679642567541363
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 35,
"c2w": [
[
0.7358501490623727,
0.2606227319843233,
-0.6249802794472091,
-0.35463425267987886
],
[
-0.16768180662841428,
0.9643517388515784,
0.20471574316541546,
-0.04848805240738133
],
[
0.6560543954968331,
-0.045842287758846134,
0.7533200613300566,
0.25727308181932934
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 36,
"c2w": [
[
0.7321605694409832,
0.2698371632455362,
-0.6254029148376729,
-0.36466200756756356
],
[
-0.16738482709191413,
0.9613040611827042,
0.2188077274984821,
-0.04686751983505337
],
[
0.6602448183933484,
-0.05551943160049315,
0.748995575754285,
0.2643368277423251
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 37,
"c2w": [
[
0.7301895227287382,
0.2770324163790272,
-0.6245608866814946,
-0.36440982523706483
],
[
-0.16673598399613232,
0.9587240843520043,
0.23031986827942655,
-0.04813485094822678
],
[
0.6625876338553406,
-0.06404038068756443,
0.7462415541253199,
0.27014958705682746
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 38,
"c2w": [
[
0.7297288248755582,
0.28244237723205223,
-0.6226733860454002,
-0.35578473713546943
],
[
-0.1655853159969986,
0.9565845136701214,
0.2398490594783967,
-0.05146541999091703
],
[
0.6633832567015171,
-0.0719192029294296,
0.744815603339568,
0.27625892910920835
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 39,
"c2w": [
[
0.7307260227101687,
0.2858068871735462,
-0.6199628238679686,
-0.34023826483119546
],
[
-0.16402111449028875,
0.9550443147768122,
0.24695633382007626,
-0.05812080071953378
],
[
0.6626737913449887,
-0.07877042628205823,
0.7447540978120236,
0.28318442879608574
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 40,
"c2w": [
[
0.7329660803642186,
0.2868977931277029,
-0.6168065996193359,
-0.3181578932521838
],
[
-0.16201608456699748,
0.9542465692973912,
0.2513250352148366,
-0.06314984184931277
],
[
0.6606901795676197,
-0.08428013575340952,
0.7459124247123744,
0.2865920368595139
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 41,
"c2w": [
[
0.7364126602377209,
0.2857287681289463,
-0.6132336136458257,
-0.2935923771182075
],
[
-0.15972464205981945,
0.9542409351268714,
0.2528087744661103,
-0.06991930481711957
],
[
0.6574073566370137,
-0.08822306269739716,
0.748353030760099,
0.28099880773744784
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 42,
"c2w": [
[
0.7406615525164029,
0.2829992363823912,
-0.609370081995314,
-0.26769371016936333
],
[
-0.158250459423863,
0.9549283542127481,
0.2511346858016009,
-0.0739962158775866
],
[
0.6529756938172572,
-0.08957271084161726,
0.7520634765472632,
0.26795025270045775
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 43,
"c2w": [
[
0.7443036903277814,
0.27879016065455986,
-0.6068674178819052,
-0.24247085328617157
],
[
-0.15670414989782774,
0.9562363460395383,
0.24709483992538514,
-0.07355263496149034
],
[
0.6491962923255535,
-0.0888149583975428,
0.7554178163080333,
0.2508240624197905
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 44,
"c2w": [
[
0.7471155108161909,
0.27434090890930657,
-0.6054382538266622,
-0.219553754567874
],
[
-0.15602486085594508,
0.9577848570984784,
0.24146306199443926,
-0.06888160511196557
],
[
0.6461227873189005,
-0.08593737959504574,
0.75837992490281,
0.23279991245239254
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 45,
"c2w": [
[
0.7489597394186179,
0.2692331914435653,
-0.6054525558250696,
-0.20187453322117455
],
[
-0.15620705842049432,
0.9597187134998707,
0.2335366049632686,
-0.05969692673834091
],
[
0.6439399534348003,
-0.08033355203939412,
0.7608468024425954,
0.21212741440842384
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 46,
"c2w": [
[
0.7493315787005224,
0.26513306352755167,
-0.6068003327180022,
-0.19360488014821672
],
[
-0.15770686465807787,
0.961432798922502,
0.22533423618208231,
-0.051943495062258975
],
[
0.6431412986287707,
-0.07315348098716151,
0.7622452611971815,
0.19097989508598417
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 47,
"c2w": [
[
0.7483110791810147,
0.26155542858081565,
-0.6096058452433437,
-0.19024948024623733
],
[
-0.16004213383237414,
0.9630227122135994,
0.21673433313424062,
-0.04827961867642394
],
[
0.643752315858612,
-0.06462208245382838,
0.762500453957901,
0.16656055937441708
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 48,
"c2w": [
[
0.7459016904672877,
0.2583742012718225,
-0.6139001875510305,
-0.19009656311594658
],
[
-0.16279586591116768,
0.9644612066025475,
0.20811556165023204,
-0.04752715308264748
],
[
0.6458546076326125,
-0.055293336632058876,
0.7614554962201128,
0.1400295082541844
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 49,
"c2w": [
[
0.742427127170015,
0.255460591555758,
-0.6193075544542153,
-0.19121925164821726
],
[
-0.1656675662903937,
0.9657384493828236,
0.19975861649270008,
-0.04587987472941133
],
[
0.6491195716672673,
-0.04570704043844678,
0.7593119570590614,
0.11526064193761333
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 50,
"c2w": [
[
0.7383470687196386,
0.25255946144391345,
-0.6253457639964293,
-0.1918760490583115
],
[
-0.16824565955120727,
0.9668948472237447,
0.1918534660993927,
-0.04149317503818603
],
[
0.6530980050155542,
-0.036442733807056274,
0.7563960093743035,
0.09445235566208446
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 51,
"c2w": [
[
0.7339506549100734,
0.25011722359622124,
-0.6314727314917028,
-0.19342096382353197
],
[
-0.17074001488146803,
0.9678140280064731,
0.18488876253618483,
-0.03654080316595648
],
[
0.6573920318009265,
-0.027881564776811307,
0.7530327581654374,
0.0761817694561268
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 52,
"c2w": [
[
0.7294328156484531,
0.2475445510751889,
-0.6376907265188614,
-0.19388159136815605
],
[
-0.17286981362946569,
0.9686739257866882,
0.17828867893593137,
-0.03271146992733389
],
[
0.6618487704837743,
-0.019812136027925323,
0.7493755295411823,
0.06474624732603247
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 53,
"c2w": [
[
0.7252766402562615,
0.2440439600630089,
-0.6437517694386202,
-0.1923035978141735
],
[
-0.1741437197693347,
0.969687268071265,
0.17140760486450518,
-0.03055372121848113
],
[
0.6660688852990276,
-0.012212604032368693,
0.7457902468786111,
0.05587209854070667
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 54,
"c2w": [
[
0.7213637014341346,
0.24026420755415942,
-0.6495440868960446,
-0.19148922553344272
],
[
-0.17501906702009531,
0.970694050762384,
0.16468571885239303,
-0.030025864887648985
],
[
0.670076664593433,
-0.005115699647738045,
0.7422742708624988,
0.04205170235031286
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 55,
"c2w": [
[
0.7179680912970584,
0.23552039733246063,
-0.6550205816000126,
-0.18972427728690644
],
[
-0.1758001047121924,
0.9718659008800216,
0.15675137603812772,
-0.03297101889419356
],
[
0.6735103139985618,
0.002610200571641394,
0.7391732163644289,
0.025657434569502258
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 56,
"c2w": [
[
0.7145144299597248,
0.22852364780274295,
-0.661245848209467,
-0.18580687172900018
],
[
-0.1762536837626775,
0.9734613111664812,
0.14597162266043895,
-0.037119281029181085
],
[
0.6770552180874287,
0.012248185864175296,
0.7358302885880827,
0.012607306057331888
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 57,
"c2w": [
[
0.7120607509960437,
0.22118379339851924,
-0.6663686790574652,
-0.18319127019484846
],
[
-0.17675067944874195,
0.9749877902741134,
0.13475164611539703,
-0.0427769095116432
],
[
0.6795062061566164,
0.02182975845588489,
0.733344923920797,
0.0033918490674022667
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 58,
"c2w": [
[
0.7101706686028388,
0.21300311088148377,
-0.6710344970349941,
-0.18329135234217248
],
[
-0.17727874116669712,
0.9765251605621765,
0.1223554605212486,
-0.049991286899595325
],
[
0.6813441636842194,
0.03206689170820815,
0.7312604495455952,
-0.008958536798388919
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 59,
"c2w": [
[
0.7090323615387684,
0.20391150439657008,
-0.6750505230465976,
-0.1851804167051317
],
[
-0.17736740739233325,
0.9780732473819422,
0.10914909780050572,
-0.05518002290062817
],
[
0.6825056139590938,
0.042341718558294994,
0.7296528392214003,
-0.022823804762672945
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 60,
"c2w": [
[
0.7087395696376675,
0.19380705949960655,
-0.6783266514872683,
-0.18572555730607593
],
[
-0.17681256612441973,
0.9796340687866548,
0.09515465166244541,
-0.05814718198041825
],
[
0.6829535407993077,
0.05249680905178508,
0.7285729518374044,
-0.03391851836362368
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 61,
"c2w": [
[
0.7094256630312306,
0.1830505064205704,
-0.6805936678605468,
-0.18486741438226337
],
[
-0.17560683094703666,
0.9811358498648077,
0.08083739873846156,
-0.059852464693053685
],
[
0.682552173505761,
0.06216877197785756,
0.7281878701498175,
-0.04012414768216852
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 62,
"c2w": [
[
0.7113535778548521,
0.17231456719656932,
-0.681383722439097,
-0.1859482389207109
],
[
-0.17380343207815105,
0.9824975088442508,
0.06701501408413894,
-0.05952902576973378
],
[
0.6810054730110154,
0.07075545948335575,
0.7288519813256618,
-0.041714509031773477
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 63,
"c2w": [
[
0.7147204669741615,
0.16215925621220062,
-0.6803521365535222,
-0.19002119845306015
],
[
-0.17146601818298984,
0.983690771722096,
0.05433111665756664,
-0.056994533230442256
],
[
0.6780664117154803,
0.07782571074839857,
0.730868729697611,
-0.0398816449850144
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 64,
"c2w": [
[
0.7195446205684678,
0.1530863972026785,
-0.6773626015676415,
-0.19425689663091467
],
[
-0.16866633030065728,
0.9847181539959382,
0.043380020905263925,
-0.05471093280427217
],
[
0.6736521417125378,
0.08303440360679,
0.734369171319014,
-0.035019039210417775
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 65,
"c2w": [
[
0.7264829856373536,
0.14483743913340408,
-0.6717474136941013,
-0.20162882664463813
],
[
-0.16547416513535246,
0.9856429515023547,
0.033559988475635086,
-0.0521902365597524
],
[
0.6669638462856848,
0.08677608183712908,
0.7400196885007865,
-0.021861701385737033
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 66,
"c2w": [
[
0.7340418988827865,
0.13896647771453094,
-0.6647336374489935,
-0.21049129734898506
],
[
-0.16224891525398763,
0.9863792301592936,
0.027042629481312582,
-0.05124151045241532
],
[
0.6594374725350823,
0.08800188851369037,
0.7465908433905191,
-0.0071321245202103185
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 67,
"c2w": [
[
0.7418446751535993,
0.13514187426271365,
-0.6568128742396968,
-0.22013788698814732
],
[
-0.15948001167071715,
0.9869346060750823,
0.022939250400359427,
-0.05349920678914991
],
[
0.651331408596084,
0.0877311640877024,
0.753704609926235,
0.010096426125896563
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 68,
"c2w": [
[
0.7498635415659016,
0.1331764137112853,
-0.6480499300680804,
-0.23171255262336152
],
[
-0.15740306355042827,
0.9873161161299212,
0.020764450752856857,
-0.05766684807990487
],
[
0.6425954750970342,
0.08643453974614868,
0.7613147349970892,
0.034243087049831866
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 69,
"c2w": [
[
0.7575866346954525,
0.13207367274037643,
-0.6392331623904435,
-0.2411738365564376
],
[
-0.15537924147512502,
0.9876541461558148,
0.01991428883599062,
-0.062288366118073056
],
[
0.6339714364617968,
0.08423676483636117,
0.7687550879184278,
0.05209988405915317
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 70,
"c2w": [
[
0.7645050102284804,
0.13223425479029557,
-0.6309090197450075,
-0.24986732624983113
],
[
-0.15424961049984207,
0.9878268354908052,
0.020129598725969314,
-0.06568738815484303
],
[
0.625890682944073,
0.08192829147661221,
0.7755956472670054,
0.06144256388346886
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 71,
"c2w": [
[
0.77030258616677,
0.13307094741002456,
-0.6236393578825701,
-0.25488664202918115
],
[
-0.1534397652000452,
0.98792889402974,
0.021277659564194935,
-0.06853368043059092
],
[
0.6189427794232201,
0.07930084045313307,
0.7814225569455274,
0.06387586370252016
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 72,
"c2w": [
[
0.7751513920744738,
0.13429163635750557,
-0.6173378943248413,
-0.2557691181908195
],
[
-0.1529989503852519,
0.9879632044748407,
0.022804117716224554,
-0.06976853874056067
],
[
0.6129695266047217,
0.07677540627198064,
0.7863675326752471,
0.06293259943746582
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 73,
"c2w": [
[
0.7789001869424036,
0.13551147477527753,
-0.6123325395447464,
-0.25524021813924264
],
[
-0.15266837331212446,
0.9879751030220664,
0.024445114006025705,
-0.06946772947016452
],
[
0.6082818972904905,
0.07444350886925674,
0.7902223088573964,
0.06119309500992633
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 74,
"c2w": [
[
0.781690127989182,
0.13666803532902125,
-0.6085083334873583,
-0.2579103510161729
],
[
-0.15230381812888907,
0.9879851391568966,
0.0262471291475947,
-0.06858637448573607
],
[
0.6047843341122677,
0.0721610208106401,
0.7931132934757479,
0.0616016068793956
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 75,
"c2w": [
[
0.7838372672549508,
0.1379997734422401,
-0.6054380240719782,
-0.2642575206435465
],
[
-0.1521504968866105,
0.987954812070806,
0.028204886159955322,
-0.0683992099548166
],
[
0.6020376771925894,
0.07000965530574275,
0.7953925341644356,
0.06335810820669248
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 76,
"c2w": [
[
0.7855365565895054,
0.1396312320234246,
-0.6028560668228558,
-0.27087636418983246
],
[
-0.15220190211104057,
0.9878791371241422,
0.03048592181059067,
-0.06969222195992687
],
[
0.5998057179247995,
0.06780803402607094,
0.7972673148111837,
0.061606179025562854
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 77,
"c2w": [
[
0.7866790855824736,
0.14113578369395513,
-0.6010130671359957,
-0.2765877733606069
],
[
-0.15203047276747733,
0.9878255875354626,
0.032974898943227984,
-0.07064169171046988
],
[
0.5983500243646867,
0.06543163738828393,
0.7985586698367676,
0.05807930086053788
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 78,
"c2w": [
[
0.7874805957329799,
0.1430868907569706,
-0.5995001693390372,
-0.28410244187341044
],
[
-0.1518666251551595,
0.9877355341007974,
0.03626351939063751,
-0.07025488306920338
],
[
0.5973364541931236,
0.06248724964435249,
0.799552690023535,
0.057502215085988594
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 79,
"c2w": [
[
0.7880773267978779,
0.14599799621607193,
-0.598012300950409,
-0.2965459683171294
],
[
-0.151764687796108,
0.9875616818669982,
0.04110236059127925,
-0.06999433613303122
],
[
0.5965748959898167,
0.0583653116921132,
0.8004323106083499,
0.06369593363896768
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 80,
"c2w": [
[
0.7889631303247971,
0.1506978935155806,
-0.5956738401827495,
-0.3141626515114457
],
[
-0.15198034124080134,
0.9871952276718988,
0.04845160821022652,
-0.07498264824727285
],
[
0.595347927572127,
0.052304181016381894,
0.80176375434649,
0.07669689235071014
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 680.1050821940104,
"fy": 680.1052093505859,
"cx": 416.0,
"cy": 240.0
}
}
]
}