HugMinjun's picture
Add files using upload-large-folder tool
116e377 verified
Raw History Blame Contribute Delete
58.1 kB
{
"format_version": "1.0",
"camera_model": "opencv_pinhole",
"pose_type": "c2w",
"coordinate_system": "opencv",
"image_hw": [
480,
832
],
"num_frames": 81,
"frames": [
{
"frame_index": 0,
"c2w": [
[
0.9999999755008188,
-0.0002198320912991082,
-2.592708844443234e-05,
-0.00016600281001606768
],
[
0.00021982904934223676,
0.9999999689612438,
-0.00011727191022597567,
0.0002378761507749253
],
[
2.5952867768963377e-05,
0.00011726620782570491,
0.9999999927875427,
-0.00012196656193358196
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 1,
"c2w": [
[
0.9999193958989772,
0.0015487508177259696,
-0.012601709246348755,
-0.0036150494850677594
],
[
-0.0015277790172310542,
0.9999974323744473,
0.0016736594000609666,
-0.007297909737727612
],
[
0.012604268971242524,
-0.0016542718692817877,
0.9999191946293877,
0.0384003440987101
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 2,
"c2w": [
[
0.999867178823477,
0.0014875230936507737,
-0.01622997186157244,
-0.0036886176329318085
],
[
-0.0014454659076812567,
0.9999955681469119,
0.0026027513989842596,
-0.007471286129602014
],
[
0.016233771585534545,
-0.00257894582747272,
0.9998648977229514,
0.0963406685578186
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 3,
"c2w": [
[
0.9998392678267999,
0.0007234149642081765,
-0.01791410568123629,
-0.004574663733517488
],
[
-0.0007082569405261478,
0.9999993858246825,
0.0008524801252927747,
-0.010852919331355935
],
[
0.01791471137571407,
-0.000839655314627572,
0.9998391661138694,
0.15021200876596894
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 4,
"c2w": [
[
0.9998048496793057,
0.0002276169135815048,
-0.01975375276452047,
-0.011463244835809771
],
[
-0.0002531065600150866,
0.9999991386516583,
-0.0012878792687113826,
-0.02051442215083303
],
[
0.019753442606554077,
0.001292627743068694,
0.9998040461103903,
0.2157917502317797
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 5,
"c2w": [
[
0.999770795614562,
0.0007937864890595683,
-0.02139453526571165,
-0.01990880928857059
],
[
-0.0008350677346542449,
0.9999978068649603,
-0.001920657998801006,
-0.02965365299712919
],
[
0.021392963752237145,
0.0019380836616630722,
0.9997692658476836,
0.26667263280832476
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 6,
"c2w": [
[
0.9997244715471563,
0.002162406405346935,
-0.023373168127094064,
-0.02815929554169371
],
[
-0.0022719527314939334,
0.9999865551535706,
-0.004661302702122772,
-0.03724393952088574
],
[
0.023362774247617693,
0.004713121113771038,
0.9997159432903038,
0.3268787223480826
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 7,
"c2w": [
[
0.9996879708216732,
0.0027438126123493015,
-0.02482805845800338,
-0.03200989254070671
],
[
-0.0029181682635620633,
0.9999713185362425,
-0.006989019879374658,
-0.04432364061764667
],
[
0.024808169792051554,
0.007059291553482395,
0.9996673052142557,
0.37556453746913687
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 8,
"c2w": [
[
0.9996306683801034,
0.002377351083800865,
-0.027071664813456773,
-0.03790025096157548
],
[
-0.002608259253799728,
0.9999604948048214,
-0.008497400388459786,
-0.05304533238463886
],
[
0.02705039403803151,
0.00856487195007487,
0.9995973785234064,
0.43373687508690306
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 9,
"c2w": [
[
0.9995903693048334,
0.002185877147710907,
-0.02853621443223344,
-0.04337825296748315
],
[
-0.0024738956737404413,
0.9999463196984918,
-0.010061687812555705,
-0.05911710583509706
],
[
0.028512688986181943,
0.010128161853811329,
0.9995421186244433,
0.4808620146703968
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 10,
"c2w": [
[
0.9995412051486668,
0.0017351399638618524,
-0.030238526737545658,
-0.05063585422510929
],
[
-0.0020529632739361902,
0.9999429478868898,
-0.010482667269043294,
-0.05845946482052072
],
[
0.030218612670791546,
0.010539936460122133,
0.9994877413893929,
0.5270471470082829
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 11,
"c2w": [
[
0.9995542170352911,
0.0024878581304352606,
-0.02975193722917837,
-0.06153154432835023
],
[
-0.002880126770343646,
0.999909399387215,
-0.013149064106838587,
-0.06374413538218564
],
[
0.029716528679388052,
0.013228891828941233,
0.9994708221575183,
0.5849322768545613
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 12,
"c2w": [
[
0.9995931506374437,
0.0029534745952809155,
-0.028369176698030765,
-0.06634747734549183
],
[
-0.003326097130736625,
0.9999087042773254,
-0.013096571624570147,
-0.0731792513328829
],
[
0.028327906321963987,
0.013185601929969697,
0.9995117156017526,
0.6262536736922826
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 13,
"c2w": [
[
0.9996390714883756,
0.002630782474418637,
-0.02673585116338651,
-0.07160586361181723
],
[
-0.0029964231928683556,
0.9999024102589179,
-0.01364519719374561,
-0.07534501839759372
],
[
0.026697344472956568,
0.013720384177538696,
0.9995493999078351,
0.6780470853887471
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 14,
"c2w": [
[
0.9996751094854832,
0.0023768488878354245,
-0.02537766861931298,
-0.07719257637941047
],
[
-0.0027359560060793825,
0.999896491494144,
-0.014125184686731762,
-0.07990116085566087
],
[
0.025341468385238954,
0.014190027733090546,
0.9995781375625491,
0.7211078176229573
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 15,
"c2w": [
[
0.9997187502212108,
0.0018670041769457508,
-0.023641800936977334,
-0.08604452027689206
],
[
-0.002205588746083912,
0.9998952675817923,
-0.014303469712604542,
-0.08633512841279058
],
[
0.023612620236296164,
0.014351590954995707,
0.999618165102374,
0.7711038876727805
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 16,
"c2w": [
[
0.9997519144655164,
0.0018028574061306187,
-0.022200433052261992,
-0.09426628805977158
],
[
-0.0021210608514525948,
0.9998952423055727,
-0.014318013673153626,
-0.08452027885036104
],
[
0.022172294049088423,
0.014361550050511226,
0.9996510067302226,
0.8122797601070602
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 17,
"c2w": [
[
0.9997895586743395,
0.0025141185015119523,
-0.020359704662152634,
-0.1035892577188097
],
[
-0.0028035680219923712,
0.9998952339680572,
-0.014200742737982336,
-0.08965519115584752
],
[
0.020321869306630876,
0.014254834131783209,
0.9996918631917335,
0.8644652856500186
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 18,
"c2w": [
[
0.9998155994901098,
0.002357338641613192,
-0.01905806839009686,
-0.10534785192701819
],
[
-0.0026301978533226416,
0.9998942205049949,
-0.01430488937257221,
-0.09555525642747453
],
[
0.019022330968764812,
0.014352378034246091,
0.999716039767932,
0.9033173023017514
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 19,
"c2w": [
[
0.9998492669299993,
0.0013746334183024846,
-0.017307622670616404,
-0.10713486070773812
],
[
-0.0016315792030442502,
0.9998885431521212,
-0.0148404589697579,
-0.09389874842642312
],
[
0.017285293426706483,
0.014866460779020683,
0.9997400697056503,
0.9542749675285499
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 20,
"c2w": [
[
0.9998742209790239,
0.0006661308133245048,
-0.0158460875717005,
-0.10853053068487112
],
[
-0.0009222125018210257,
0.9998690136029085,
-0.01615874874018893,
-0.09824368957688566
],
[
0.015833248109340878,
0.016171329768655762,
0.9997438653714369,
0.9962833705956712
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 21,
"c2w": [
[
0.999895444333237,
0.0003366809949940779,
-0.014456384317895808,
-0.11133496735346604
],
[
-0.000582135425657188,
0.9998556919576379,
-0.01697811468507967,
-0.1026329759682376
],
[
0.014448581936829958,
0.01698475510041675,
0.9997513473730326,
1.0364574218252918
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 22,
"c2w": [
[
0.999918246086625,
0.00028638167532959595,
-0.012783549138782496,
-0.11700141534755673
],
[
-0.0005032023920334466,
0.9998560265528544,
-0.016960924305308288,
-0.10044736264182552
],
[
0.012776851349228539,
0.016965970395877182,
0.9997744285178162,
1.0862297993982284
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 23,
"c2w": [
[
0.999934526033463,
0.0006218338567941264,
-0.011426152847227315,
-0.12188841804053946
],
[
-0.0008158950245306878,
0.9998553752035404,
-0.016987141957854873,
-0.10382772945113913
],
[
0.011413937162197907,
0.016995352283548346,
0.9997904180573124,
1.1251908534649147
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 24,
"c2w": [
[
0.9999531228968654,
0.0008804979313370292,
-0.009642444306267825,
-0.12532562049058668
],
[
-0.0010460601032969562,
0.9998518900247196,
-0.017178584698876828,
-0.10943439956336126
],
[
0.009625890455789323,
0.017187865992877242,
0.9998059409183085,
1.173048016976182
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 25,
"c2w": [
[
0.9999661822918992,
0.0005603605991569754,
-0.008204892964774823,
-0.12712547225090073
],
[
-0.0007022339073492378,
0.9998501206085002,
-0.01729864696175016,
-0.10769493578005929
],
[
0.008193969740233847,
0.0173038237152027,
0.9998167014731898,
1.2123591406127059
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 26,
"c2w": [
[
0.9999786984702508,
0.00013962251307405552,
-0.006525573637408475,
-0.12752877458115713
],
[
-0.00025054533338052004,
0.9998554505752413,
-0.017000446524054136,
-0.11102296962512528
],
[
0.006522256724425897,
0.01700171934055924,
0.999834187106385,
1.2639081524132147
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 27,
"c2w": [
[
0.9999854063454001,
-0.0007015203416160514,
-0.005356768189453268,
-0.12885866008343136
],
[
0.000612089642975152,
0.999860719703475,
-0.01667832546505116,
-0.11971281812282625
],
[
0.005367722281769251,
0.016674803245001434,
0.999846557474819,
1.301262354977224
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 28,
"c2w": [
[
0.9999933153197262,
-0.001027075523548833,
-0.0035091924614777275,
-0.13491626921529673
],
[
0.0009671550935833235,
0.9998544343768132,
-0.017034514024422475,
-0.12034968047106498
],
[
0.0035261773761002227,
0.017031006220779122,
0.999848744010923,
1.3482761247042776
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 29,
"c2w": [
[
0.9999983358448645,
-0.0007597772552072035,
-0.0016586277533007275,
-0.1389229413193277
],
[
0.0007301977081271175,
0.9998419749671372,
-0.01776209180028576,
-0.12307283088855475
],
[
0.0016718608819502644,
0.017760851115225375,
0.9998408658625904,
1.3887361509503848
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 30,
"c2w": [
[
0.9999952845260027,
-0.0007020016162752823,
0.0029896687926529615,
-0.13951757138217416
],
[
0.0007595873116962658,
0.9998133682544682,
-0.019304188321999653,
-0.12916719156974776
],
[
-0.0029755592541447,
0.019306368208082656,
0.9998091868920486,
1.4382102283695737
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 31,
"c2w": [
[
0.9999794685629181,
-0.001258565581523185,
0.0062831891027509326,
-0.13740807441280395
],
[
0.0013779667142898467,
0.9998178636569894,
-0.019035249410185567,
-0.1306992112767994
],
[
-0.0062580875959219445,
0.01904351661460314,
0.9997990702209074,
1.4782185667248318
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 32,
"c2w": [
[
0.999963108205158,
-0.001987573567857316,
0.0083565411500051,
-0.13395430936307884
],
[
0.002143228914605613,
0.9998236037223799,
-0.018659260687736868,
-0.1354520853462997
],
[
-0.008317980433913755,
0.018676482294738454,
0.9997909782602538,
1.5189635827715244
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 33,
"c2w": [
[
0.9999457540287494,
-0.002766507354167767,
0.010041684964957354,
-0.13188531781935675
],
[
0.0029367127291913906,
0.9998516032115848,
-0.016974901283069076,
-0.1456146577009962
],
[
-0.009993233621922394,
0.017003470007121213,
0.9998054897276244,
1.5657294760624296
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 34,
"c2w": [
[
0.9999309644604072,
-0.0028826429871467696,
0.011391079083607604,
-0.13221904722788455
],
[
0.0030713656531304863,
0.9998577426157291,
-0.016584970437223245,
-0.14826499756053843
],
[
-0.011341650069770245,
0.016618811653889464,
0.9997975705476123,
1.6003848534190226
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 35,
"c2w": [
[
0.9999120569280813,
-0.0024585894154528273,
0.013032027775434489,
-0.1328601047459967
],
[
0.0026848605508993494,
0.9998454605232887,
-0.01737373289753953,
-0.1530663209024571
],
[
-0.012987298936872789,
0.017407194175370316,
0.9997641320117787,
1.6435535167692121
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 36,
"c2w": [
[
0.9998937912214274,
-0.0019826327415763878,
0.014438678757178285,
-0.13196569888122126
],
[
0.0022406052542741804,
0.9998377624262794,
-0.01787256317672077,
-0.16062903113981752
],
[
-0.014400901532038927,
0.01790301633310392,
0.9997360131760992,
1.6753005035921542
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 37,
"c2w": [
[
0.9998684352659823,
-0.002291211319189149,
0.0160580979398781,
-0.12745919402982647
],
[
0.002585552959719247,
0.9998285920727583,
-0.01833306820197372,
-0.1612865857376746
],
[
-0.016013340521214954,
0.018372175279387917,
0.9997029739381869,
1.713787913741149
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 38,
"c2w": [
[
0.9998460157293018,
-0.002785539507991857,
0.017325865054601222,
-0.1225795895769457
],
[
0.003106732564623493,
0.999823308413387,
-0.01853915224817911,
-0.16207621549282147
],
[
-0.0172711621789833,
0.01859012433951621,
0.9996780052767134,
1.7457540545547698
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 39,
"c2w": [
[
0.999834793375508,
-0.0033375366211821455,
0.017867478978801365,
-0.11682057122057078
],
[
0.0036672810394870066,
0.999822981796889,
-0.018454162689093716,
-0.17054878184444658
],
[
-0.01780272466599031,
0.01851663900605041,
0.9996700441017461,
1.7872154020476603
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 40,
"c2w": [
[
0.999857240314545,
-0.003577957067093599,
0.016513546372849113,
-0.11349225984828434
],
[
0.0038825482935766187,
0.9998222480812033,
-0.018449879690582042,
-0.17398671212820638
],
[
-0.01644459818086926,
0.018511360432851533,
0.9996934053626616,
1.8204126565084062
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 41,
"c2w": [
[
0.9998859844609845,
-0.00361418185620302,
0.014661369922294009,
-0.11155732837866295
],
[
0.0038813893035928087,
0.9998261409654495,
-0.018237945586368643,
-0.17378293540104342
],
[
-0.014592905658641457,
0.018292772661564486,
0.9997261732958633,
1.8549623324341076
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 42,
"c2w": [
[
0.9999165425387379,
-0.003067866943907046,
0.01254974700109062,
-0.10908454338210814
],
[
0.0032913696608074285,
0.9998356577977879,
-0.01782762692623427,
-0.1795543072158809
],
[
-0.012492991760695953,
0.01786744493428087,
0.9997623115362911,
1.899142389172831
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 43,
"c2w": [
[
0.9999106697947777,
-0.002749699269452827,
0.013080198182225595,
-0.10421322726121979
],
[
0.0029821628200128155,
0.9998373693199193,
-0.01778599494934373,
-0.18484799684938752
],
[
-0.013029164803380929,
0.017823413403462256,
0.9997562536934568,
1.9329515413471279
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 44,
"c2w": [
[
0.9998868968211176,
-0.003202281155520018,
0.014694861715468724,
-0.09684488377084069
],
[
0.0034628878583750048,
0.999836574840697,
-0.017743506375673894,
-0.183523414880373
],
[
-0.014635640509252269,
0.017792386186913284,
0.9997345792862522,
1.9758501089146372
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 45,
"c2w": [
[
0.9999021030038917,
-0.0034784505241418117,
0.013553036203954791,
-0.09075888314601226
],
[
0.0037206483713151436,
0.9998331039699871,
-0.0178863350476806,
-0.1867743369916381
],
[
-0.01348855752449615,
0.01793501011128666,
0.9997481654037762,
2.0129703365345994
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 46,
"c2w": [
[
0.9999296353376627,
-0.0038258031027149477,
0.011228873679411165,
-0.08655828498919069
],
[
0.0040234280603016785,
0.9998364804240042,
-0.01763021383827781,
-0.19583144368834612
],
[
-0.011159587811944186,
0.017674151859681474,
0.9997815201112232,
2.0573992792703737
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 47,
"c2w": [
[
0.9999492351301961,
-0.0035423174096900698,
0.00943287601452426,
-0.08550011480476363
],
[
0.0037080444972276937,
0.9998380568681707,
-0.017609952983690485,
-0.1966201833487122
],
[
-0.009368968382002359,
0.017644036540718697,
0.999800435289967,
2.0925828138318976
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 48,
"c2w": [
[
0.9999778554168947,
-0.002568535026188094,
0.006139324364100839,
-0.08712496015487596
],
[
0.0026765388249576825,
0.9998406592897112,
-0.017649140801585226,
-0.19996983676398689
],
[
-0.0060930136834649725,
0.01766518210873953,
0.9998253930188602,
2.138793279606242
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 49,
"c2w": [
[
0.9999943704455764,
-0.0017483149808415676,
0.0028639957896932893,
-0.08634365042652763
],
[
0.0017987483785684168,
0.9998416793507962,
-0.017702563013602332,
-0.20753838784870549
],
[
-0.0028325927039045745,
0.017707614963843342,
0.9998391954663841,
2.174250832776928
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 50,
"c2w": [
[
0.9999986481522626,
-0.0015063308439607695,
0.0006592882798986433,
-0.0829117200295533
],
[
0.0015178728286172867,
0.9998391463138685,
-0.01787113763673184,
-0.20967975231092617
],
[
-0.0006322623851097209,
0.017872114193441143,
0.9998400811022397,
2.210244497729347
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 51,
"c2w": [
[
0.9999971022667229,
-0.0018086907653648936,
-0.001588740341591123,
-0.07695882597472349
],
[
0.0017798396749222204,
0.9998368130203086,
-0.01797719388904525,
-0.20979836061869275
],
[
0.001620996264427555,
0.017974314092839172,
0.9998371349394876,
2.2588236535866977
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 52,
"c2w": [
[
0.9999923894038892,
-0.0021266613812680876,
-0.0032708478518201946,
-0.0733582077355385
],
[
0.002068541055672994,
0.9998417143221187,
-0.017671090495720635,
-0.21627640905454495
],
[
0.003307910549172865,
0.017664190125119685,
0.9998385040170349,
2.2981305713130395
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 53,
"c2w": [
[
0.9999815212269496,
-0.00251733254332812,
-0.005533555954566739,
-0.07112430272618046
],
[
0.002421440822370031,
0.9998479639170826,
-0.017268053602196545,
-0.2206308511012431
],
[
0.005576184087687546,
0.017254335331471745,
0.9998355835252563,
2.3445151615919424
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 54,
"c2w": [
[
0.9999715318424743,
-0.0021012967163993633,
-0.007247072286459664,
-0.07209231934400859
],
[
0.0019759187927622527,
0.9998490054439799,
-0.017264473858439208,
-0.21871572006320966
],
[
0.0072822558002264256,
0.017249662744354483,
0.999824693576662,
2.3834196116008064
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 55,
"c2w": [
[
0.9999545943735283,
-0.0012185253099462042,
-0.009451157989456518,
-0.07166363931183425
],
[
0.0010539946794511812,
0.9998481573617298,
-0.017394002287261873,
-0.2278627468790763
],
[
0.009470917932720983,
0.017383251031455625,
0.9998040429489616,
2.430098865943606
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 56,
"c2w": [
[
0.9999369908915714,
-0.0009868386484743002,
-0.011182146314172301,
-0.06792512940927632
],
[
0.0007873555633008081,
0.9998407263304431,
-0.01782980768907122,
-0.23146933891620342
],
[
0.011197960436017758,
0.017819879923675168,
0.9997785042506062,
2.4642775098311334
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 57,
"c2w": [
[
0.9999097432552595,
-0.0014765067475892406,
-0.013353848547346215,
-0.06132436418679157
],
[
0.0012298858751950191,
0.999828888608179,
-0.018457542774370315,
-0.2311228219145144
],
[
0.013378816238185386,
0.01843945314693572,
0.9997404632421891,
2.5113660391606
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 58,
"c2w": [
[
0.999883444961478,
-0.0020258091768474646,
-0.015132501086934877,
-0.056010348008875915
],
[
0.0017459459715758968,
0.9998276216537227,
-0.018484551683083432,
-0.23759269372879904
],
[
0.015167338745851975,
0.018455976686137347,
0.999714623660137,
2.5504831686822587
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 59,
"c2w": [
[
0.999821118703292,
-0.0022874951168031493,
-0.018774929054145562,
-0.05141298041361107
],
[
0.001947272482229516,
0.9998339333309987,
-0.01811943403486676,
-0.24394268968991079
],
[
0.0188132592810908,
0.018079632904308036,
0.999659536116806,
2.5973925725368074
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 60,
"c2w": [
[
0.9997158790827299,
-0.0018536423810248657,
-0.02376394579543118,
-0.049513315644035466
],
[
0.0014226232072921674,
0.9998344152037782,
-0.01814161837678656,
-0.24436941322873934
],
[
0.02379363891999281,
0.018102656822747164,
0.9995529783672814,
2.6361152626313418
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 61,
"c2w": [
[
0.9995373330947787,
-0.0011383627368229568,
-0.030394471208713695,
-0.04776076857915869
],
[
0.0005509081951555274,
0.9998130244740012,
-0.019329060823312517,
-0.2507232163829345
],
[
0.030410791669051026,
0.019303373343284254,
0.9993510712095284,
2.674683220830733
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 62,
"c2w": [
[
0.9992312091318711,
-0.00028219474374714757,
-0.03920345728358105,
-0.04383838994515807
],
[
-0.0005007488888334672,
0.9998006532432107,
-0.019960035696352414,
-0.2582466713367034
],
[
0.03920127481867516,
0.019964321690854714,
0.9990318743223435,
2.7190768019840084
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 63,
"c2w": [
[
0.9989550883761686,
-0.00020241933385372674,
-0.045702192877087815,
-0.03874829864251972
],
[
-0.0007615731495472266,
0.9997776176190466,
-0.02107451812786085,
-0.2556349950055299
],
[
0.04569629540454174,
0.021087302681873022,
0.9987327842080204,
2.7561987623346345
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 64,
"c2w": [
[
0.9986014612128589,
-0.0004833136511398653,
-0.05286670097006115,
-0.03136196538009687
],
[
-0.0007930351069083551,
0.9997087768887207,
-0.024119131555202105,
-0.25907757011876864
],
[
0.052862962070455856,
0.02412732516406568,
0.9983102621037034,
2.8074097508590405
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 65,
"c2w": [
[
0.9983285518235718,
-0.0005851193381610244,
-0.05779065884042264,
-0.028051430662230266
],
[
-0.0007915722520210132,
0.999716515075935,
-0.02379627907463533,
-0.2652774844182214
],
[
0.05778819972295243,
0.023802250309334347,
0.9980450775656339,
2.8461816270675295
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 66,
"c2w": [
[
0.9977123904251132,
-0.0003374516949518995,
-0.06760082927420837,
-0.025815347681218556
],
[
-0.0012685660445808376,
0.9997180016767978,
-0.023713031513094722,
-0.2646622903713003
],
[
0.06758976795638248,
0.023744541471758536,
0.9974306091242131,
2.8943052312536244
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 67,
"c2w": [
[
0.9969925521635313,
0.0005581100619461881,
-0.0774954156296165,
-0.0248436106206167
],
[
-0.0024181101619846577,
0.9997111987776742,
-0.02390965875436157,
-0.26647485713348334
],
[
0.07745969063772952,
0.02402514415491126,
0.9967059690674291,
2.9336684836792823
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 68,
"c2w": [
[
0.9961652662719439,
0.0016415378734078625,
-0.0874760974595753,
-0.021826558364613717
],
[
-0.0037657388986349497,
0.9997018879884784,
-0.024123730284082056,
-0.27193336848662
],
[
0.08741041976729236,
0.024360634344819467,
0.9958744790436311,
2.9801970014759935
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 69,
"c2w": [
[
0.9957009574875786,
0.0018276746789325639,
-0.09260811445865506,
-0.01805882812384465
],
[
-0.0041140549549594525,
0.9996912695739203,
-0.024503879070689343,
-0.27093275690530727
],
[
0.09253473839670669,
0.024779530725003295,
0.9954010734607943,
3.018459005228225
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 70,
"c2w": [
[
0.995181097551811,
0.0018826738052487642,
-0.09803590472330025,
-0.012259079911426496
],
[
-0.0043338981010643445,
0.9996831280564082,
-0.024796386966745833,
-0.2729444872610355
],
[
0.09795815638742168,
0.02510177321820197,
0.9948739118996334,
3.070000674839218
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 71,
"c2w": [
[
0.9946133222557811,
0.0016135618488005282,
-0.10364234467377492,
-0.011426484840924622
],
[
-0.004155845237219647,
0.999695632362999,
-0.024318132837612166,
-0.2808865861653913
],
[
0.10357156048685248,
0.02461786043716163,
0.9943172998624809,
3.111814274253752
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 72,
"c2w": [
[
0.9938524020498474,
0.002257607821665836,
-0.11069013572433731,
-0.01291112668811839
],
[
-0.004796851185430969,
0.9997312865284268,
-0.02267917447619184,
-0.2808340180594228
],
[
0.11060919111201153,
0.02307071613843565,
0.9935961699294167,
3.151229548392804
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 73,
"c2w": [
[
0.9924865840017482,
0.003520107183548351,
-0.12230285941856557,
-0.01731281687734422
],
[
-0.006338490643670466,
0.99972307044382,
-0.022662876223926525,
-0.28226787272828324
],
[
0.12218921438859152,
0.023267816137257997,
0.9922340472989736,
3.2011602834401356
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 74,
"c2w": [
[
0.9912583586609638,
0.004521196603385367,
-0.13185759426762467,
-0.021476401813796994
],
[
-0.007596126390365388,
0.9997105850255652,
-0.022826411275181712,
-0.28960546742683596
],
[
0.13171623001222582,
0.02362847792634314,
0.9910058172292686,
3.239683746560001
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 75,
"c2w": [
[
0.9893201009271031,
0.005734910872887596,
-0.14564631371533868,
-0.026623330226198783
],
[
-0.009252887500632426,
0.9996812911013292,
-0.023488301234452738,
-0.2922428746871524
],
[
0.14546519162496388,
0.02458509750356483,
0.9890578602924366,
3.286046180445479
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 76,
"c2w": [
[
0.9874889020206424,
0.005975629392250468,
-0.15757525262373226,
-0.03147838433121053
],
[
-0.009928939412626608,
0.9996550842096115,
-0.024313139986751667,
-0.2941907687144101
],
[
0.1573756161170051,
0.025573511046421946,
0.9872076331676899,
3.3264639501257482
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 77,
"c2w": [
[
0.984220300129452,
0.0062752607075667825,
-0.17683614425830282,
-0.041820016214478034
],
[
-0.01093320192085625,
0.9996181285428636,
-0.025378380252112143,
-0.3033363866012945
],
[
0.17660935962980276,
0.026911302300614864,
0.9839130631817203,
3.374434941894968
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 78,
"c2w": [
[
0.9801986224801554,
0.007235287327236911,
-0.19788459036847175,
-0.05383417029931806
],
[
-0.012751303091762464,
0.9995644314589134,
-0.02661487613499485,
-0.30509141773321585
],
[
0.19760583179012595,
0.02861115131397956,
0.9798639381378523,
3.4107181977198593
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 79,
"c2w": [
[
0.9738912824493655,
0.008599998577941515,
-0.22685195611585504,
-0.07255584295659667
],
[
-0.01580157009427515,
0.9994265253378414,
-0.029948803543465956,
-0.30578609716811744
],
[
0.2264643025990766,
0.03275149577635827,
0.9734686739555235,
3.4589288574686314
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
},
{
"frame_index": 80,
"c2w": [
[
0.9689504672912345,
0.00964607627024854,
-0.2470666815835092,
-0.08818579479948796
],
[
-0.018339073684931935,
0.9992901250023657,
-0.03290781744715367,
-0.3118072548454794
],
[
0.2465738638065219,
0.036417019171605766,
0.9684395336840488,
3.495584810314245
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 640.948486328125,
"fy": 640.9485054016113,
"cx": 416.0,
"cy": 240.0
}
}
]
}