| { |
| "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": [ |
| [ |
| 0.9999999338508407, |
| 0.00019961784298534372, |
| 0.00030405761120211913, |
| -0.0003976628906801419 |
| ], |
| [ |
| -0.00019963421787358302, |
| 0.9999999786245154, |
| 5.382515986706017e-05, |
| -4.443893852957339e-05 |
| ], |
| [ |
| -0.00030404686024042933, |
| -5.3885856609971944e-05, |
| 0.9999999523259094, |
| 0.00011753119610155636 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 1, |
| "c2w": [ |
| [ |
| 0.9999398377552383, |
| -2.7897187487191527e-05, |
| -0.01096905154398623, |
| 0.03340965360604701 |
| ], |
| [ |
| 2.2703431535505605e-05, |
| 0.9999998875861963, |
| -0.00047361603546390015, |
| -0.004178053145048575 |
| ], |
| [ |
| 0.01096906352346876, |
| 0.0004733385065493132, |
| 0.9999397259815596, |
| 0.05025577947454913 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 2, |
| "c2w": [ |
| [ |
| 0.9997541328769429, |
| -0.0002183710505768581, |
| -0.022172643269494547, |
| 0.05867783364718329 |
| ], |
| [ |
| 0.00020410979477373799, |
| 0.9999997708650575, |
| -0.000645452573279821, |
| -0.0051343959265021 |
| ], |
| [ |
| 0.02217277913712373, |
| 0.0006407682240452312, |
| 0.9997539483700074, |
| 0.09905795403837515 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 3, |
| "c2w": [ |
| [ |
| 0.9994436021224907, |
| -2.894928565935212e-05, |
| -0.03335394037231151, |
| 0.08044953647201654 |
| ], |
| [ |
| 1.115095822927002e-05, |
| 0.9999998574634884, |
| -0.0005338058254737167, |
| -0.001151847836968447 |
| ], |
| [ |
| 0.03335395107145452, |
| 0.0005331368886495477, |
| 0.9994434599880982, |
| 0.1524511042200913 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 4, |
| "c2w": [ |
| [ |
| 0.9989564424665169, |
| 0.00010042099999674977, |
| -0.045672923819959986, |
| 0.10169937046432377 |
| ], |
| [ |
| -0.0001408063739685208, |
| 0.9999996019940801, |
| -0.0008810137609368724, |
| -0.0060812281628782215 |
| ], |
| [ |
| 0.045672817169583026, |
| 0.0008865254111811732, |
| 0.9989560590158557, |
| 0.21239857070355364 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 5, |
| "c2w": [ |
| [ |
| 0.9984638564137533, |
| 0.0007384244560417506, |
| -0.05540200506027214, |
| 0.12163787607768257 |
| ], |
| [ |
| -0.0008306279882273816, |
| 0.9999983081681597, |
| -0.0016412549964580326, |
| -0.005732750321803934 |
| ], |
| [ |
| 0.055400699386567984, |
| 0.0016847522491288053, |
| 0.9984627805368301, |
| 0.26520593340106113 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 6, |
| "c2w": [ |
| [ |
| 0.9979427035521697, |
| 0.001392454188511247, |
| -0.06409696949403595, |
| 0.14320258786870685 |
| ], |
| [ |
| -0.001486797335525856, |
| 0.9999978805326334, |
| -0.0014242064191083825, |
| -0.0005544620696101591 |
| ], |
| [ |
| 0.06409485050040722, |
| 0.0015165756077603885, |
| 0.9979426587423531, |
| 0.3221499772963284 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 7, |
| "c2w": [ |
| [ |
| 0.9974209106853562, |
| 0.0010361221017424261, |
| -0.07176665924079996, |
| 0.1625753044950077 |
| ], |
| [ |
| -0.0011627289197948167, |
| 0.9999978407124048, |
| -0.001722391357111523, |
| -0.004376736469881369 |
| ], |
| [ |
| 0.07176471966818997, |
| 0.0018013943261430997, |
| 0.9974199616958886, |
| 0.37988848272151376 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 8, |
| "c2w": [ |
| [ |
| 0.9968771454095755, |
| 0.0007740037533491098, |
| -0.07896428229424972, |
| 0.17526257144331744 |
| ], |
| [ |
| -0.0009962347453926904, |
| 0.9999956535284119, |
| -0.002774966777568882, |
| -0.004812748269337701 |
| ], |
| [ |
| 0.07896179124353898, |
| 0.0028449679214958036, |
| 0.9968735836008182, |
| 0.43638216524054063 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 9, |
| "c2w": [ |
| [ |
| 0.9962257719554162, |
| 0.00028607454344795085, |
| -0.08679936320728877, |
| 0.18388913835252912 |
| ], |
| [ |
| -0.0005446130115673699, |
| 0.9999954859429723, |
| -0.002954909532711661, |
| -0.0018481020772975927 |
| ], |
| [ |
| 0.08679812606561778, |
| 0.002991029092882544, |
| 0.9962214307353877, |
| 0.4943467015722024 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 10, |
| "c2w": [ |
| [ |
| 0.9955897956547379, |
| 0.00037409526470382707, |
| -0.0938126795315543, |
| 0.192128649208347 |
| ], |
| [ |
| -0.0007296979456779264, |
| 0.9999926788994774, |
| -0.0037562865112903293, |
| -0.007116221456665835 |
| ], |
| [ |
| 0.0938105875105004, |
| 0.0038081754397289043, |
| 0.9955827798183108, |
| 0.5532358057162672 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 11, |
| "c2w": [ |
| [ |
| 0.9949531980423517, |
| 0.0005755432585260882, |
| -0.1003384395695623, |
| 0.20568479836237394 |
| ], |
| [ |
| -0.0010518449270188854, |
| 0.9999884294003768, |
| -0.004694112015864596, |
| -0.005745992488276236 |
| ], |
| [ |
| 0.10033457692912572, |
| 0.004775962240799745, |
| 0.9949422912195099, |
| 0.6133332920894035 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 12, |
| "c2w": [ |
| [ |
| 0.9943173684965925, |
| 0.00029577870194328004, |
| -0.10645601542877371, |
| 0.2192385301547438 |
| ], |
| [ |
| -0.0007906074125391912, |
| 0.9999890796710585, |
| -0.004606026329581888, |
| -0.0026080939658728766 |
| ], |
| [ |
| 0.10645349052957855, |
| 0.0046640168941632565, |
| 0.9943067440686904, |
| 0.6719437670905407 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 13, |
| "c2w": [ |
| [ |
| 0.9936639483955181, |
| 6.408136047792763e-05, |
| -0.11239196391472495, |
| 0.2311743248114405 |
| ], |
| [ |
| -0.000663573837480757, |
| 0.9999857530456462, |
| -0.0052965437310184185, |
| -0.00625731921934138 |
| ], |
| [ |
| 0.11239002326181718, |
| 0.005337564923410183, |
| 0.9936498342333163, |
| 0.7321506192026287 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 14, |
| "c2w": [ |
| [ |
| 0.9929978282529703, |
| 0.00031403823882495194, |
| -0.11813219063773121, |
| 0.23864919923066116 |
| ], |
| [ |
| -0.0011178578773732729, |
| 0.9999766731865027, |
| -0.006738210194159987, |
| -0.004627387438415389 |
| ], |
| [ |
| 0.11812731893448995, |
| 0.006823083088988641, |
| 0.9929750158279465, |
| 0.7930307000325797 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 15, |
| "c2w": [ |
| [ |
| 0.9922095947222962, |
| 0.0002085732785906004, |
| -0.12457959960685488, |
| 0.24546661910644438 |
| ], |
| [ |
| -0.0011503065561310794, |
| 0.9999713073695161, |
| -0.007487404926121661, |
| -0.0015023707867332565 |
| ], |
| [ |
| 0.12457446341784395, |
| 0.007572379737456847, |
| 0.992181365542242, |
| 0.8543712971512465 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 16, |
| "c2w": [ |
| [ |
| 0.9914738121911727, |
| 0.0006607720876174872, |
| -0.13030442478807694, |
| 0.2534353563886096 |
| ], |
| [ |
| -0.0018664553148238774, |
| 0.9999565704564635, |
| -0.009130911537506234, |
| -0.003939205712334093 |
| ], |
| [ |
| 0.1302927322749091, |
| 0.00929626705706244, |
| 0.9914319862376556, |
| 0.9149110778983721 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 17, |
| "c2w": [ |
| [ |
| 0.9907928354632873, |
| 0.0007820170735967016, |
| -0.13538443649074391, |
| 0.2637696389172295 |
| ], |
| [ |
| -0.002235399794706799, |
| 0.9999414941087924, |
| -0.010583541337107021, |
| -0.0008992026035578554 |
| ], |
| [ |
| 0.1353682391936066, |
| 0.01078873527217308, |
| 0.990736616366252, |
| 0.9726553207229415 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 18, |
| "c2w": [ |
| [ |
| 0.9902871292435593, |
| 0.00041970400739735467, |
| -0.13903677751982255, |
| 0.2746485652362223 |
| ], |
| [ |
| -0.0019759958347917617, |
| 0.9999369333247827, |
| -0.01105553316174192, |
| 0.0026118082603295385 |
| ], |
| [ |
| 0.13902336888095954, |
| 0.011222888290260412, |
| 0.9902255044601777, |
| 1.0337185906047703 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 19, |
| "c2w": [ |
| [ |
| 0.9899428495235782, |
| 0.0001310279027264056, |
| -0.14146779672005622, |
| 0.2861349299074907 |
| ], |
| [ |
| -0.0018974990594524694, |
| 0.9999219118191239, |
| -0.012351913265071136, |
| -0.0018430544541787948 |
| ], |
| [ |
| 0.141455131311868, |
| 0.012496123225911723, |
| 0.9898657953126097, |
| 1.099391873666337 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 20, |
| "c2w": [ |
| [ |
| 0.989683204702452, |
| -0.00020232758917105057, |
| -0.14327286342302048, |
| 0.2933374159757402 |
| ], |
| [ |
| -0.001697953687542796, |
| 0.9999122119234467, |
| -0.013140981684619225, |
| 0.0006855942319364918 |
| ], |
| [ |
| 0.14326294455706184, |
| 0.013248679553344113, |
| 0.9895959787746378, |
| 1.1588948275455417 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 21, |
| "c2w": [ |
| [ |
| 0.9894558793112521, |
| -0.0004812582475936301, |
| -0.14483380574609067, |
| 0.3007777438253232 |
| ], |
| [ |
| -0.0014720333831437066, |
| 0.9999094140741619, |
| -0.013378967209221325, |
| 0.0013655513659875348 |
| ], |
| [ |
| 0.14482712458001823, |
| 0.013451097961342489, |
| 0.9893655401061422, |
| 1.2211230165990212 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 22, |
| "c2w": [ |
| [ |
| 0.9894281764566966, |
| -0.00037970730301348417, |
| -0.14502323764121391, |
| 0.311379346162996 |
| ], |
| [ |
| -0.00167989055932953, |
| 0.9998994730608994, |
| -0.014079124271216374, |
| -0.0023461789050546 |
| ], |
| [ |
| 0.1450140048453412, |
| 0.014173905421573714, |
| 0.9893280744039439, |
| 1.2810527636776636 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 23, |
| "c2w": [ |
| [ |
| 0.9896517371665637, |
| -0.00025568050135231545, |
| -0.14348997787540435, |
| 0.3250932638357039 |
| ], |
| [ |
| -0.0017761158287295433, |
| 0.9998999750911572, |
| -0.014031579571313143, |
| 0.0014211125392985134 |
| ], |
| [ |
| 0.14347921290474708, |
| 0.014141231918909475, |
| 0.989552293223582, |
| 1.339289327079418 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 24, |
| "c2w": [ |
| [ |
| 0.9901009516994871, |
| 3.6625646848740894e-05, |
| -0.1403570593248962, |
| 0.3385978955705827 |
| ], |
| [ |
| -0.0018948341694452978, |
| 0.9999123234039444, |
| -0.013105537318118502, |
| 0.001527871987749267 |
| ], |
| [ |
| 0.1403442732969206, |
| 0.013241758323133944, |
| 0.9900142124178175, |
| 1.4013563832035603 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 25, |
| "c2w": [ |
| [ |
| 0.9907032102806025, |
| 0.0003978239611162487, |
| -0.136040401630561, |
| 0.3464729686147699 |
| ], |
| [ |
| -0.0021221544674565095, |
| 0.9999192401737194, |
| -0.012530346796001283, |
| -0.002097049263268317 |
| ], |
| [ |
| 0.13602443015916163, |
| 0.012702553542802607, |
| 0.9906240455053409, |
| 1.4636664752967363 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 26, |
| "c2w": [ |
| [ |
| 0.9914804893154326, |
| 0.0011030705503314838, |
| -0.13025061436396976, |
| 0.3492927288507808 |
| ], |
| [ |
| -0.002637580892740768, |
| 0.9999291312239736, |
| -0.011609293548869637, |
| 0.002092793558184573 |
| ], |
| [ |
| 0.1302285777925292, |
| 0.011853934580153914, |
| 0.9914131337445076, |
| 1.5314299826111768 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 27, |
| "c2w": [ |
| [ |
| 0.9922479781802926, |
| 0.0015779090973910793, |
| -0.1242636712800723, |
| 0.3508755393381733 |
| ], |
| [ |
| -0.0030536102831280445, |
| 0.9999270538326027, |
| -0.011685994946515833, |
| 0.0021972790336241485 |
| ], |
| [ |
| 0.12423616728376753, |
| 0.011974857683145525, |
| 0.9921804158126224, |
| 1.5966275102222458 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 28, |
| "c2w": [ |
| [ |
| 0.9931296287380713, |
| 0.0022277570217908694, |
| -0.1169981949486091, |
| 0.355609205672148 |
| ], |
| [ |
| -0.0037329436900057707, |
| 0.999913049266149, |
| -0.012647491398671069, |
| 0.002227569403983817 |
| ], |
| [ |
| 0.11695984633192762, |
| 0.012997346110805622, |
| 0.9930515914795606, |
| 1.658399989113506 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 29, |
| "c2w": [ |
| [ |
| 0.9943851621019227, |
| 0.0024733678940167887, |
| -0.10579239974021733, |
| 0.3642878030301925 |
| ], |
| [ |
| -0.0038939297006353765, |
| 0.9999049852617693, |
| -0.013223379301360156, |
| 0.00680251685512749 |
| ], |
| [ |
| 0.1057496416212348, |
| 0.01356108033756815, |
| 0.9943003119767481, |
| 1.7190376731639443 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 30, |
| "c2w": [ |
| [ |
| 0.9961823996940552, |
| 0.002652999575264774, |
| -0.08725587735532289, |
| 0.37291396703229157 |
| ], |
| [ |
| -0.00391309787467942, |
| 0.9998904708652622, |
| -0.014273539780561721, |
| 0.006318036015734234 |
| ], |
| [ |
| 0.08720845259960003, |
| 0.014560489898960936, |
| 0.9960836701447753, |
| 1.7811600276440458 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 31, |
| "c2w": [ |
| [ |
| 0.9974561085111279, |
| 0.002849160743801461, |
| -0.07122635661672896, |
| 0.37945284265231394 |
| ], |
| [ |
| -0.003985352305685069, |
| 0.9998669953280188, |
| -0.01581482281656681, |
| 0.004067676706303097 |
| ], |
| [ |
| 0.07117182420619159, |
| 0.01605845374797375, |
| 0.9973347970979392, |
| 1.8416254982508058 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 32, |
| "c2w": [ |
| [ |
| 0.9980231363451961, |
| 0.0028835595347361615, |
| -0.06278140173736085, |
| 0.38520377883658913 |
| ], |
| [ |
| -0.00393943447735446, |
| 0.9998527680007029, |
| -0.016700993303737647, |
| 0.0041383364489463075 |
| ], |
| [ |
| 0.06272399999758382, |
| 0.016915300935617165, |
| 0.9978875549973357, |
| 1.9046169015223713 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 33, |
| "c2w": [ |
| [ |
| 0.9989546529418741, |
| 0.003454699356035193, |
| -0.045581426240738236, |
| 0.39287366934065093 |
| ], |
| [ |
| -0.004359307539999626, |
| 0.9997952182466375, |
| -0.019761528506943644, |
| -0.00048393719545057265 |
| ], |
| [ |
| 0.045503821856544675, |
| 0.01993957430635002, |
| 0.9987651453534659, |
| 1.9733484149989888 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 34, |
| "c2w": [ |
| [ |
| 0.9997849193994693, |
| 0.0040395389444791464, |
| -0.020342002519731225, |
| 0.4033731303460144 |
| ], |
| [ |
| -0.004506167182885514, |
| 0.9997265548380966, |
| -0.022945805910235283, |
| -0.0014801993933322112 |
| ], |
| [ |
| 0.02024374962097192, |
| 0.023032535176709036, |
| 0.9995297358881411, |
| 2.032856657951092 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 35, |
| "c2w": [ |
| [ |
| 0.9999777373404865, |
| 0.0040751164796388835, |
| 0.005283772239480526, |
| 0.41661679357783343 |
| ], |
| [ |
| -0.00394626359887331, |
| 0.9997000303788917, |
| -0.024171807215258172, |
| -0.00024646950581967697 |
| ], |
| [ |
| -0.005380690198249378, |
| 0.024150417928490913, |
| 0.9996938558813243, |
| 2.0944773509119803 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 36, |
| "c2w": [ |
| [ |
| 0.9996139928728944, |
| 0.00434478764793179, |
| 0.027440628145208326, |
| 0.4282379548165012 |
| ], |
| [ |
| -0.0036331623681702227, |
| 0.999657156354126, |
| -0.025930096050519758, |
| -0.0034632508696863067 |
| ], |
| [ |
| -0.02754388106123993, |
| 0.0258203905911016, |
| 0.9992870668860913, |
| 2.1558579375654765 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 37, |
| "c2w": [ |
| [ |
| 0.9991655453110807, |
| 0.0045214507195907435, |
| 0.04059272775512379, |
| 0.43654766964518726 |
| ], |
| [ |
| -0.003416019172445011, |
| 0.9996225285560729, |
| -0.02726043316195157, |
| -0.003922606617886053 |
| ], |
| [ |
| -0.04070066186470157, |
| 0.027099020029404258, |
| 0.998803834212315, |
| 2.2166601184999917 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 38, |
| "c2w": [ |
| [ |
| 0.998832744126314, |
| 0.004783225554972426, |
| 0.04806526827541865, |
| 0.4437808087476423 |
| ], |
| [ |
| -0.0034562478089756733, |
| 0.9996116044247603, |
| -0.02765311285262336, |
| -0.0046069221327157146 |
| ], |
| [ |
| -0.048178871013968956, |
| 0.027454709116055687, |
| 0.9984613339209347, |
| 2.279147678864733 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 39, |
| "c2w": [ |
| [ |
| 0.9984407444001805, |
| 0.005530473803836727, |
| 0.05554722118269424, |
| 0.45302091623166785 |
| ], |
| [ |
| -0.0039154263397608215, |
| 0.9995676109639198, |
| -0.029142075225701416, |
| -0.007828035706590826 |
| ], |
| [ |
| -0.055684372656895284, |
| 0.028879144228796127, |
| 0.9980306837319286, |
| 2.338679756471907 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 40, |
| "c2w": [ |
| [ |
| 0.9979443505434992, |
| 0.006279229027930655, |
| 0.06377808793879622, |
| 0.4666875130005067 |
| ], |
| [ |
| -0.004322964927797185, |
| 0.9995173032622947, |
| -0.030764792433940688, |
| -0.004876691049597024 |
| ], |
| [ |
| -0.06394048164150054, |
| 0.030425840367773113, |
| 0.9974897909479415, |
| 2.401091379105562 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 41, |
| "c2w": [ |
| [ |
| 0.9974133110368163, |
| 0.0064596039769734435, |
| 0.07158882931740206, |
| 0.4809781709971943 |
| ], |
| [ |
| -0.004226057480979252, |
| 0.9995008717594889, |
| -0.031307312088225236, |
| -0.004498135703210169 |
| ], |
| [ |
| -0.07175533014865805, |
| 0.03092379130188832, |
| 0.996942772543527, |
| 2.4621780010250527 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 42, |
| "c2w": [ |
| [ |
| 0.9968476721721813, |
| 0.006316570947789822, |
| 0.07908741629592575, |
| 0.492132022357321 |
| ], |
| [ |
| -0.003829255144809849, |
| 0.9994944461334897, |
| -0.03156246114207206, |
| -0.006483986402329306 |
| ], |
| [ |
| -0.0792467998719158, |
| 0.031160120021758567, |
| 0.9963678997389922, |
| 2.524839648808652 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 43, |
| "c2w": [ |
| [ |
| 0.9963181352324663, |
| 0.0060356164075459975, |
| 0.08552043464273502, |
| 0.4991391260967859 |
| ], |
| [ |
| -0.003369620624191532, |
| 0.9995048586577561, |
| -0.03128391242137596, |
| -0.004041215878880605 |
| ], |
| [ |
| -0.08566690763503941, |
| 0.030880557866079097, |
| 0.9958451546712117, |
| 2.587699256978355 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 44, |
| "c2w": [ |
| [ |
| 0.9957458667385969, |
| 0.0060195265119702066, |
| 0.09194527814723485, |
| 0.506409826831691 |
| ], |
| [ |
| -0.003164597438498392, |
| 0.9995092561572063, |
| -0.031164598170371337, |
| -0.005557717580098643 |
| ], |
| [ |
| -0.09208775269303157, |
| 0.03074105002500973, |
| 0.9952762599636883, |
| 2.649707223534783 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 45, |
| "c2w": [ |
| [ |
| 0.9950905542512559, |
| 0.0063227931593204546, |
| 0.09876644737254185, |
| 0.5130969752507136 |
| ], |
| [ |
| -0.0032142209218454488, |
| 0.9994953816558027, |
| -0.03160143719179924, |
| -0.005627283007746333 |
| ], |
| [ |
| -0.09891641736230745, |
| 0.031128834468802578, |
| 0.9946087361575002, |
| 2.711627179357078 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 46, |
| "c2w": [ |
| [ |
| 0.9943419664162289, |
| 0.006241530967881416, |
| 0.10604290223623745, |
| 0.5200737675271844 |
| ], |
| [ |
| -0.002964377450091971, |
| 0.9995139461394453, |
| -0.031033593718540753, |
| 0.0003651447044330401 |
| ], |
| [ |
| -0.10618505681046002, |
| 0.03054365341492473, |
| 0.993877164918396, |
| 2.776721933402783 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 47, |
| "c2w": [ |
| [ |
| 0.9935155059454752, |
| 0.005929873614207981, |
| 0.11354195720008652, |
| 0.5259844034656823 |
| ], |
| [ |
| -0.0025242605177259866, |
| 0.9995432644838055, |
| -0.030114623256754118, |
| 0.0016735621785390164 |
| ], |
| [ |
| -0.11366867446550703, |
| 0.029632735681625923, |
| 0.9930767006738592, |
| 2.8425989640422107 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 48, |
| "c2w": [ |
| [ |
| 0.9925259927098935, |
| 0.005833583187426007, |
| 0.12189390100589793, |
| 0.5282871978799369 |
| ], |
| [ |
| -0.0021959838602739427, |
| 0.9995488241531818, |
| -0.029955396656978443, |
| 0.002454410239814489 |
| ], |
| [ |
| -0.12201365272020047, |
| 0.029463832764711376, |
| 0.9920909994091708, |
| 2.9111820920238123 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 49, |
| "c2w": [ |
| [ |
| 0.9915702168800606, |
| 0.005435364871904203, |
| 0.12945640889944032, |
| 0.5284400002380437 |
| ], |
| [ |
| -0.0016257422534636458, |
| 0.9995630048674085, |
| -0.029515356385494608, |
| 0.004809416399192789 |
| ], |
| [ |
| -0.1295602638101479, |
| 0.02905608557852768, |
| 0.9911457420239964, |
| 2.9751657239983604 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 50, |
| "c2w": [ |
| [ |
| 0.9905505367209664, |
| 0.005454619442713712, |
| 0.13703970712366892, |
| 0.5307466164367848 |
| ], |
| [ |
| -0.0014061525138351614, |
| 0.9995601907492004, |
| -0.029621745467311684, |
| 0.0023187510976398497 |
| ], |
| [ |
| -0.13714101114150218, |
| 0.029149137142590254, |
| 0.9901225534583732, |
| 3.0392472232483327 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 51, |
| "c2w": [ |
| [ |
| 0.989496626239299, |
| 0.00587254802587403, |
| 0.14443662915178176, |
| 0.5371004106884232 |
| ], |
| [ |
| -0.001530917673221666, |
| 0.9995441568825308, |
| -0.030151861187476002, |
| 0.002726583258183503 |
| ], |
| [ |
| -0.14454785696136538, |
| 0.02961404433161413, |
| 0.9890545614000282, |
| 3.0984267157505787 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 52, |
| "c2w": [ |
| [ |
| 0.988478172868164, |
| 0.005788613556138094, |
| 0.15125274779756695, |
| 0.5485217133623197 |
| ], |
| [ |
| -0.001366188566084875, |
| 0.9995689603741762, |
| -0.029326216689011555, |
| 0.004686718516335988 |
| ], |
| [ |
| -0.1513573100052277, |
| 0.028781685315260038, |
| 0.9880600079440496, |
| 3.157933695796517 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 53, |
| "c2w": [ |
| [ |
| 0.9875100184993366, |
| 0.005851167186400218, |
| 0.1574475379483502, |
| 0.5616507184050611 |
| ], |
| [ |
| -0.0013844752501498128, |
| 0.999593855716897, |
| -0.02846413254096633, |
| 0.0023085489768278067 |
| ], |
| [ |
| -0.15755013992923683, |
| 0.027890633832610708, |
| 0.98711704774697, |
| 3.220233984937459 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 54, |
| "c2w": [ |
| [ |
| 0.9866064574200271, |
| 0.006005132713318538, |
| 0.16300808740120873, |
| 0.5726859064173356 |
| ], |
| [ |
| -0.0014673531206929624, |
| 0.9996084160904386, |
| -0.0279438965783997, |
| 0.00329993574867492 |
| ], |
| [ |
| -0.16311206286453453, |
| 0.027330438383980186, |
| 0.9862289298564588, |
| 3.282487153487436 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 55, |
| "c2w": [ |
| [ |
| 0.9857686151049455, |
| 0.005614937334572866, |
| 0.16801401713192443, |
| 0.5835941840810636 |
| ], |
| [ |
| -0.0011096421786997252, |
| 0.9996375977341911, |
| -0.026896875105683747, |
| 0.005553404145766291 |
| ], |
| [ |
| -0.1681041527396424, |
| 0.026327659883558188, |
| 0.9854176008965654, |
| 3.3507413472493375 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 56, |
| "c2w": [ |
| [ |
| 0.985016393843865, |
| 0.005352121526085253, |
| 0.1723776628626756, |
| 0.5948657255881812 |
| ], |
| [ |
| -0.0008027515438967562, |
| 0.9996497945739753, |
| -0.026450780672183923, |
| 0.0027387787300505524 |
| ], |
| [ |
| -0.172458863062433, |
| 0.025916076157073278, |
| 0.9846757321818356, |
| 3.4114820134759904 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 57, |
| "c2w": [ |
| [ |
| 0.9842376911051277, |
| 0.0047014809946469335, |
| 0.1767881881928316, |
| 0.6080595738712594 |
| ], |
| [ |
| -4.117886320528308e-05, |
| 0.999652636062001, |
| -0.026355369824643232, |
| 0.0059489482878187 |
| ], |
| [ |
| -0.17685068762192668, |
| 0.025932668407810708, |
| 0.9838959960264612, |
| 3.4687771331499855 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 58, |
| "c2w": [ |
| [ |
| 0.98335407332207, |
| 0.004048270016562373, |
| 0.18165455675750664, |
| 0.6244562143508958 |
| ], |
| [ |
| 0.0005990622577614507, |
| 0.9996741018110804, |
| -0.025521193009364885, |
| 0.008279288540406328 |
| ], |
| [ |
| -0.18169867254689703, |
| 0.025205191490701506, |
| 0.9830311748447313, |
| 3.5282013350063526 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 59, |
| "c2w": [ |
| [ |
| 0.982421816299006, |
| 0.0033010465861894275, |
| 0.1866453266256558, |
| 0.638197241735566 |
| ], |
| [ |
| 0.0013992636702147274, |
| 0.9996853263484631, |
| -0.025045765006243958, |
| 0.004480206153480212 |
| ], |
| [ |
| -0.18666927149625656, |
| 0.024866671972794917, |
| 0.98210805500416, |
| 3.5867402208966004 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 60, |
| "c2w": [ |
| [ |
| 0.9815510743049094, |
| 0.0027536801304950662, |
| 0.19118029651775614, |
| 0.6469364707250953 |
| ], |
| [ |
| 0.002112071579438052, |
| 0.9996791216994492, |
| -0.025242677985137484, |
| 0.006066774290482291 |
| ], |
| [ |
| -0.1911884611699189, |
| 0.025180764165468272, |
| 0.9812302998947401, |
| 3.64251338175752 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 61, |
| "c2w": [ |
| [ |
| 0.9807663643973453, |
| 0.0019852018266203553, |
| 0.1951752992581828, |
| 0.6534820730376856 |
| ], |
| [ |
| 0.002920980008499203, |
| 0.9996870162327146, |
| -0.02484627641160702, |
| 0.009182769921369455 |
| ], |
| [ |
| -0.195163537431057, |
| 0.024938495332309338, |
| 0.9804536017109411, |
| 3.6990016406880506 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 62, |
| "c2w": [ |
| [ |
| 0.9798449145103414, |
| 0.0017907521815334164, |
| 0.1997516876395455, |
| 0.6601779477502934 |
| ], |
| [ |
| 0.003174046874910052, |
| 0.9996940101299829, |
| -0.024531847396187346, |
| 0.007358765705932255 |
| ], |
| [ |
| -0.19973449610585073, |
| 0.024671427134608234, |
| 0.9795394079609477, |
| 3.758767952871802 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 63, |
| "c2w": [ |
| [ |
| 0.9789476835702943, |
| 0.0017764637820488097, |
| 0.20410359381643958, |
| 0.6677096681693989 |
| ], |
| [ |
| 0.003203548986448136, |
| 0.9997052284133309, |
| -0.024066440470941083, |
| 0.010596136144161206 |
| ], |
| [ |
| -0.2040861830361049, |
| 0.024213642011911233, |
| 0.9786534266195936, |
| 3.8122537760090616 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 64, |
| "c2w": [ |
| [ |
| 0.9779872069683464, |
| 0.0011816448481436093, |
| 0.20866151231529506, |
| 0.6783909210519391 |
| ], |
| [ |
| 0.003628956903735437, |
| 0.9997364106790309, |
| -0.02267024116323553, |
| 0.01428117914791788 |
| ], |
| [ |
| -0.20863329954262816, |
| 0.022928429472192015, |
| 0.9777251318463155, |
| 3.8678386455511693 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 65, |
| "c2w": [ |
| [ |
| 0.9770259111368587, |
| 0.0007755353395504966, |
| 0.21311913924405876, |
| 0.6882856344907583 |
| ], |
| [ |
| 0.004007762007916988, |
| 0.999749689009493, |
| -0.022011296397759058, |
| 0.013003904729403253 |
| ], |
| [ |
| -0.21308286371944438, |
| 0.022359737707746307, |
| 0.9767782426522212, |
| 3.92347894229654 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 66, |
| "c2w": [ |
| [ |
| 0.9762514828824732, |
| 0.00018119470664019468, |
| 0.2166402763528772, |
| 0.6938693587300778 |
| ], |
| [ |
| 0.00456851015188336, |
| 0.9997600550567092, |
| -0.021423375737697675, |
| 0.014582920457859937 |
| ], |
| [ |
| -0.21659217641633516, |
| 0.021904325634100684, |
| 0.9760164084859184, |
| 3.9734799870171735 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 67, |
| "c2w": [ |
| [ |
| 0.9756268399829251, |
| -0.0002503966282101388, |
| 0.21943611007867503, |
| 0.6990556545195609 |
| ], |
| [ |
| 0.004832799607103894, |
| 0.9997813163963654, |
| -0.020346091337362936, |
| 0.018330102163448644 |
| ], |
| [ |
| -0.21938302840668733, |
| 0.020910683544047997, |
| 0.9754146965064814, |
| 4.025019566379527 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 68, |
| "c2w": [ |
| [ |
| 0.9751487803356198, |
| -0.00035013193732094184, |
| 0.2215507472738013, |
| 0.7051236070456594 |
| ], |
| [ |
| 0.004760868280122003, |
| 0.9998009565866693, |
| -0.019374760426917704, |
| 0.016765627137242636 |
| ], |
| [ |
| -0.22149986533443455, |
| 0.019948047924736794, |
| 0.9749563503259108, |
| 4.075300468099955 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 69, |
| "c2w": [ |
| [ |
| 0.9745727466479894, |
| -0.0005798651658117135, |
| 0.22407058095025137, |
| 0.7136197616386172 |
| ], |
| [ |
| 0.004781843488705813, |
| 0.9998227356783106, |
| -0.018210743905414176, |
| 0.017771767934817776 |
| ], |
| [ |
| -0.22402030145467441, |
| 0.018819165154930116, |
| 0.9744027624955854, |
| 4.122186177961413 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 70, |
| "c2w": [ |
| [ |
| 0.9738773994376297, |
| -0.0017100529330043262, |
| 0.2270680219307993, |
| 0.7272071771103965 |
| ], |
| [ |
| 0.005570392385094906, |
| 0.9998506314748472, |
| -0.016361096174325292, |
| 0.02237261091226075 |
| ], |
| [ |
| -0.22700612677475404, |
| 0.017198559774462756, |
| 0.9737414584726322, |
| 4.176446725648316 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 71, |
| "c2w": [ |
| [ |
| 0.9734060292874468, |
| -0.0027783424632438374, |
| 0.2290698211463118, |
| 0.741159275625128 |
| ], |
| [ |
| 0.006216601535574316, |
| 0.9998785759593083, |
| -0.01428940876781584, |
| 0.020242838822576565 |
| ], |
| [ |
| -0.2290023056918734, |
| 0.015333432451436741, |
| 0.9733051062421604, |
| 4.228271066642065 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 72, |
| "c2w": [ |
| [ |
| 0.973042418341871, |
| -0.003296043002619037, |
| 0.23060266305471974, |
| 0.7499988354707967 |
| ], |
| [ |
| 0.006413662583529694, |
| 0.9998978762176722, |
| -0.012771141987058393, |
| 0.019010035021570927 |
| ], |
| [ |
| -0.23053701880537178, |
| 0.013905870555771065, |
| 0.972964187277424, |
| 4.275597943446069 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 73, |
| "c2w": [ |
| [ |
| 0.9731215109763426, |
| -0.003882029695745443, |
| 0.23025953774070107, |
| 0.755743518197398 |
| ], |
| [ |
| 0.006723187823756697, |
| 0.9999106289906163, |
| -0.011555638324068697, |
| 0.021975370438269175 |
| ], |
| [ |
| -0.23019409988226563, |
| 0.01279311834665599, |
| 0.9730606417394355, |
| 4.3207575056292935 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 74, |
| "c2w": [ |
| [ |
| 0.9734943600139135, |
| -0.004776538707584659, |
| 0.228661137273206, |
| 0.759937222003821 |
| ], |
| [ |
| 0.007207232125534196, |
| 0.9999260422227768, |
| -0.009796218136723506, |
| 0.02197058080453165 |
| ], |
| [ |
| -0.22859743398863794, |
| 0.011184576999982977, |
| 0.9734567881581297, |
| 4.3663390362316 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 75, |
| "c2w": [ |
| [ |
| 0.9740990189249967, |
| -0.005860267003151019, |
| 0.22604592144077823, |
| 0.7617249036736959 |
| ], |
| [ |
| 0.007828635474987891, |
| 0.9999388376903097, |
| -0.007812384088885629, |
| 0.01979803670293386 |
| ], |
| [ |
| -0.22598631329343477, |
| 0.009379666796016348, |
| 0.974085318673286, |
| 4.4086728020435615 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 76, |
| "c2w": [ |
| [ |
| 0.9747022289688652, |
| -0.006205063776751981, |
| 0.2234212658335208, |
| 0.7633728974627421 |
| ], |
| [ |
| 0.007922996633931262, |
| 0.9999455350191917, |
| -0.006793608725966778, |
| 0.02392942556376218 |
| ], |
| [ |
| -0.22336694242314603, |
| 0.008391911505089795, |
| 0.9746983045300869, |
| 4.451466566539913 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 77, |
| "c2w": [ |
| [ |
| 0.9753743221797763, |
| -0.007044693922807949, |
| 0.22044342566716826, |
| 0.7672970593315583 |
| ], |
| [ |
| 0.008357942590458087, |
| 0.9999524451462368, |
| -0.005025160864808138, |
| 0.0260174523324849 |
| ], |
| [ |
| -0.22039754179209212, |
| 0.006743866368526682, |
| 0.9753868175438947, |
| 4.498588290757118 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 78, |
| "c2w": [ |
| [ |
| 0.9758719649176162, |
| -0.006916050925667206, |
| 0.21823399443584543, |
| 0.7696036735421667 |
| ], |
| [ |
| 0.007965852837283828, |
| 0.999960545497204, |
| -0.0039309842926433065, |
| 0.022751404575483667 |
| ], |
| [ |
| -0.21819819723454584, |
| 0.005574557249490671, |
| 0.9758885546183368, |
| 4.543099227197101 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 79, |
| "c2w": [ |
| [ |
| 0.9762756700763772, |
| -0.0073597084939229914, |
| 0.21640621688806794, |
| 0.7671382551966136 |
| ], |
| [ |
| 0.008147152952974628, |
| 0.9999630387332327, |
| -0.0027468283820768426, |
| 0.02397013199551214 |
| ], |
| [ |
| -0.21637800238398047, |
| 0.004444756268258571, |
| 0.9762995463616861, |
| 4.5866596158969815 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| }, |
| { |
| "frame_index": 80, |
| "c2w": [ |
| [ |
| 0.9768642216629921, |
| -0.00851074961452433, |
| 0.21369103765894254, |
| 0.7595796136808857 |
| ], |
| [ |
| 0.008950229999727792, |
| 0.999959352669168, |
| -0.0010892164204435047, |
| 0.027044716361905103 |
| ], |
| [ |
| -0.21367308164040855, |
| 0.002976600486707123, |
| 0.9769006879063162, |
| 4.631323790714846 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "intrinsics": { |
| "fx": 446.0691833496094, |
| "fy": 446.06926918029785, |
| "cx": 416.0, |
| "cy": 240.0 |
| } |
| } |
| ] |
| } |
|
|
