diff --git a/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00001.png b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00001.png new file mode 100644 index 0000000000000000000000000000000000000000..c4b203e96ecec38c64e8941435182bd0a7e44435 --- /dev/null +++ b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00001.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7fe9a01218b991592e0cc42d6f28f3c5e837f8feb8ac9ef991c8c10d08c92ee +size 572460 diff --git a/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00032.png b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00032.png new file mode 100644 index 0000000000000000000000000000000000000000..1535ec9f434529245d4f967766c301d28afa93b7 --- /dev/null +++ b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00032.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b0b00255945c422ed6da42112a6b44c567d44bd479204044bbc5a3c63d1fcd8 +size 606229 diff --git a/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00046.png b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00046.png new file mode 100644 index 0000000000000000000000000000000000000000..c97d8b2f12178a436ac70bd0f3056c1aae63c809 --- /dev/null +++ b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00046.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e380d66b5338746855477e22f6c82c88abd0bb95d13088734bf36c751d3c72ee +size 615757 diff --git a/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00113.png b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00113.png new file mode 100644 index 0000000000000000000000000000000000000000..ca7155ac1b79ce5a3eca8de90a16ab073b2ea821 --- /dev/null +++ b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00113.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a87ef7d09d2502cbf5631a28da3b12f69200d5b59a7b4d6518b9127c81b40116 +size 608145 diff --git a/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00121.png b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00121.png new file mode 100644 index 0000000000000000000000000000000000000000..309dabc12a089d6b9964083a9160652e3c6a7b5d --- /dev/null +++ b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00121.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22fd055b877c6a198a970016875018004cb8863b40d41c518f0578d4e0df5014 +size 614880 diff --git a/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00167.png b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00167.png new file mode 100644 index 0000000000000000000000000000000000000000..c49948372fa5c19b8027f06c5019947061eebc6e --- /dev/null +++ b/dycheck_eval/source/paper-windmill__camera_2/rgb_video/00167.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a85ba9c594700eecc2f71c4b79f7d40454eb5c3318a01673c254132f3d29128 +size 620146 diff --git a/dynpose_eval/camera_controls/41452f39-561f-4eac-8b88-dd4262727c5b/boom_down/transforms.json b/dynpose_eval/camera_controls/41452f39-561f-4eac-8b88-dd4262727c5b/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..32d467124d470127f4bdb9e06ca3627f3d8fbb6e --- /dev/null +++ b/dynpose_eval/camera_controls/41452f39-561f-4eac-8b88-dd4262727c5b/boom_down/transforms.json @@ -0,0 +1,7573 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 216, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.0001312803797191009, + 2.64021655311808e-05, + -3.054914122913033e-05 + ], + [ + -0.00013128032151143998, + 1.0, + -1.8736639049166115e-06, + -1.3077275980322156e-05 + ], + [ + -2.640241291373968e-05, + 1.8701978206081549e-06, + 1.0, + 0.00020201025472488254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999991059303284, + 0.00047332042595371604, + 0.001248704269528389, + 0.0006573115901339279 + ], + [ + -0.0004729317734017968, + 0.9999998211860657, + -0.00031153837335295975, + 0.000327937750316355 + ], + [ + -0.0012488514184951782, + 0.00031094756559468806, + 0.9999991655349731, + 0.0011889104888000157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999974370002747, + 0.0004651173949241638, + 0.002208874560892582, + 0.001404090270421706 + ], + [ + -0.00046441651647910476, + 0.9999998211860657, + -0.00031780885183252394, + 0.0005682857766433425 + ], + [ + -0.0022090221755206585, + 0.0003167821851093322, + 0.9999974966049194, + 0.0011487506902072753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999954104423523, + 0.0003091527905780822, + 0.00302365911193192, + 0.0022499665491645723 + ], + [ + -0.0003083803167100996, + 0.9999999403953552, + -0.0002559429267421365, + 0.000795674106366066 + ], + [ + -0.003023737808689475, + 0.0002550093340687454, + 0.9999954104423523, + 0.002056803383220117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999992311000824, + 0.000899025471881032, + 0.003811193397268653, + 0.003144855561211359 + ], + [ + -0.0008985192980617285, + 0.9999995827674866, + -0.00013452979328576475, + 0.0012715167239806507 + ], + [ + -0.0038113126065582037, + 0.0001311043306486681, + 0.9999927282333374, + 0.002300334071529336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999890327453613, + 0.0011430111480876803, + 0.004538079723715782, + 0.004075454253172718 + ], + [ + -0.0011442104587331414, + 0.9999992847442627, + 0.0002617148566059768, + 0.0015516692407017705 + ], + [ + -0.004537777043879032, + -0.00026690453523769975, + 0.9999896883964539, + 0.0024420002192464593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999846816062927, + 0.0011657803552225232, + 0.00541154807433486, + 0.0050784952452319655 + ], + [ + -0.0011687505757436156, + 0.9999991655349731, + 0.000545726390555501, + 0.0020220242423915065 + ], + [ + -0.005410907324403524, + -0.000552042736671865, + 0.9999852180480957, + 0.0024650937971810614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999786615371704, + 0.0012999138562008739, + 0.0064003486186265945, + 0.006087727261284843 + ], + [ + -0.0013057527830824256, + 0.9999987483024597, + 0.0009081980097107589, + 0.0024360385022212773 + ], + [ + -0.006399160251021385, + -0.0009165359078906476, + 0.9999790787696838, + 0.003198757887639235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999709129333496, + 0.0022110044956207275, + 0.007296702358871698, + 0.0070482792025215405 + ], + [ + -0.002219872083514929, + 0.9999967813491821, + 0.0012074377154931426, + 0.0027737505085289826 + ], + [ + -0.00729400897398591, + -0.001223600353114307, + 0.9999726414680481, + 0.0038359184535003677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999961256980896, + 0.003073018742725253, + 0.008246487006545067, + 0.00818401332890485 + ], + [ + -0.0030852879863232374, + 0.999994158744812, + 0.0014755002921447158, + 0.003139822475482212 + ], + [ + -0.008241904899477959, + -0.0015008860500529408, + 0.9999648928642273, + 0.003980629069373271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999474287033081, + 0.004033295903354883, + 0.009425090625882149, + 0.009336382035859103 + ], + [ + -0.004050493706017733, + 0.9999901652336121, + 0.0018062681192532182, + 0.0034897944678790697 + ], + [ + -0.009417712688446045, + -0.0018443494336679578, + 0.9999539256095886, + 0.004112965935776227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999293088912964, + 0.004641320556402206, + 0.010948502458631992, + 0.01029148826938729 + ], + [ + -0.0046648867428302765, + 0.9999868273735046, + 0.002127939136698842, + 0.003823774476362349 + ], + [ + -0.01093848142772913, + -0.002178861992433667, + 0.9999377727508545, + 0.005064442087679581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999107718467712, + 0.005180966574698687, + 0.012313765473663807, + 0.011270454541541809 + ], + [ + -0.005209208000451326, + 0.9999838471412659, + 0.0022625201381742954, + 0.004244710615467886 + ], + [ + -0.012301844544708729, + -0.0023264633491635323, + 0.9999216198921204, + 0.0060746162731287094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998922348022461, + 0.0059691909700632095, + 0.013410553336143494, + 0.012252527596645578 + ], + [ + -0.005997105501592159, + 0.9999799132347107, + 0.0020423096138983965, + 0.004616468924119376 + ], + [ + -0.013398094102740288, + -0.002122514182701707, + 0.9999079704284668, + -0.0007654299330897629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998425841331482, + 0.010174482129514217, + 0.014535662718117237, + 0.012509449401567148 + ], + [ + -0.010187379084527493, + 0.9999477863311768, + 0.0008134616655297577, + 0.005603446947074994 + ], + [ + -0.014526627026498318, + -0.0009614138980396092, + 0.9998940229415894, + -0.03941525334551887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9997983574867249, + 0.011911078356206417, + 0.016168298199772835, + 0.011260620814336594 + ], + [ + -0.011928512714803219, + 0.99992835521698, + 0.000982333323918283, + 0.0051949242557680535 + ], + [ + -0.016155438497662544, + -0.0011749990517273545, + 0.9998688101768494, + -0.11430658602973359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9998046159744263, + 0.012480534613132477, + 0.015327162109315395, + 0.012154078501774822 + ], + [ + -0.012485085055232048, + 0.9999220371246338, + 0.00020118628162890673, + 0.006173112878337677 + ], + [ + -0.015323455445468426, + -0.0003925078781321645, + 0.9998825192451477, + -0.23842352664834537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.999811589717865, + 0.01298664789646864, + 0.01442659366875887, + 0.012727923049743092 + ], + [ + -0.012948616407811642, + 0.999912440776825, + -0.0027264670934528112, + 0.011240218299722602 + ], + [ + -0.014460737816989422, + 0.002539148787036538, + 0.9998922348022461, + -0.37009794497461773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9997856616973877, + 0.011703946627676487, + 0.017077593132853508, + 0.005723084076632594 + ], + [ + -0.0117171136662364, + 0.9999311566352844, + 0.0006711108144372702, + 0.005165485030386684 + ], + [ + -0.017068563029170036, + -0.0008710670517757535, + 0.9998539686203003, + -0.5068482369445481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998112916946411, + 0.010014081373810768, + 0.016645343974232674, + 0.00406921834576615 + ], + [ + -0.010088611394166946, + 0.9999394416809082, + 0.0043995496816933155, + -0.0018508987457946293 + ], + [ + -0.01660027913749218, + -0.004566647578030825, + 0.9998517632484436, + -0.6479117315043803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9997638463973999, + 0.008613861165940762, + 0.019950343295931816, + -0.00602847729311433 + ], + [ + -0.008759749121963978, + 0.9999354481697083, + 0.0072367191314697266, + -0.00712494433445986 + ], + [ + -0.019886719062924385, + -0.007409770041704178, + 0.9997747540473938, + -0.7938644541210906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9997314810752869, + 0.007828989997506142, + 0.02181079611182213, + -0.01347016432950663 + ], + [ + -0.008066162467002869, + 0.9999090433120728, + 0.010807456448674202, + -0.014695934102285738 + ], + [ + -0.02172420173883438, + -0.010980483144521713, + 0.9997037053108215, + -0.9441049919762584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9996672868728638, + 0.006751015316694975, + 0.024893829599022865, + -0.024824095653846513 + ], + [ + -0.007118349429219961, + 0.9998666644096375, + 0.014697050675749779, + -0.02458755982476611 + ], + [ + -0.0247912909835577, + -0.014869363978505135, + 0.999582052230835, + -1.0986192632189324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.999548077583313, + 0.004354639910161495, + 0.029744045808911324, + -0.04299020418204194 + ], + [ + -0.0050328634679317474, + 0.9997281432151794, + 0.02276533655822277, + -0.047819545726443445 + ], + [ + -0.029636824503540993, + -0.022904744371771812, + 0.9992982745170593, + -1.2747544574295713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9995177388191223, + 0.005810554139316082, + 0.03050362505018711, + -0.050372048242147575 + ], + [ + -0.006484461948275566, + 0.9997360706329346, + 0.022040488198399544, + -0.049939461239548615 + ], + [ + -0.03036750666797161, + -0.022227657958865166, + 0.9992915987968445, + -1.4247839932455573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9993947744369507, + 0.006246914155781269, + 0.0342198982834816, + -0.06813088521837841 + ], + [ + -0.007112119346857071, + 0.999656617641449, + 0.025220602750778198, + -0.06511927136155062 + ], + [ + -0.0340505987405777, + -0.025448717176914215, + 0.9990960359573364, + -1.596957483003999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9991856217384338, + 0.007549797650426626, + 0.039636462926864624, + -0.09231433971026956 + ], + [ + -0.008608194068074226, + 0.999609112739563, + 0.026600198820233345, + -0.07627161847297535 + ], + [ + -0.03942014276981354, + -0.026919735595583916, + 0.9988600611686707, + -1.76513264605299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9990489482879639, + 0.008965104818344116, + 0.042670875787734985, + -0.11060418257186579 + ], + [ + -0.010218115523457527, + 0.9995202422142029, + 0.029237598180770874, + -0.09261946892322495 + ], + [ + -0.04238829016685486, + -0.029645808041095734, + 0.9986612796783447, + -1.9542913492717022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9991070032119751, + 0.012428483925759792, + 0.04038166627287865, + -0.11008777923188931 + ], + [ + -0.013543491251766682, + 0.9995312690734863, + 0.027456510812044144, + -0.09385178620039031 + ], + [ + -0.04002149775624275, + -0.02797890082001686, + 0.9988070130348206, + -2.135269714670126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9970685243606567, + 0.010539088398218155, + 0.07578473538160324, + -0.2498524357326502 + ], + [ + -0.013713005930185318, + 0.9990450739860535, + 0.041483037173748016, + -0.15168863625027412 + ], + [ + -0.07527517527341843, + -0.04240066558122635, + 0.996260941028595, + -2.292168567031622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.997037947177887, + 0.011421691626310349, + 0.07605864852666855, + -0.25212521398829857 + ], + [ + -0.014542777091264725, + 0.9990692734718323, + 0.04060864821076393, + -0.15132382186346277 + ], + [ + -0.07552403956651688, + -0.04159446433186531, + 0.9962760806083679, + -2.321101027293954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9969820976257324, + 0.011842455714941025, + 0.07672332972288132, + -0.25342781913661677 + ], + [ + -0.014957034960389137, + 0.9990817904472351, + 0.040148332715034485, + -0.15084325217923453 + ], + [ + -0.07617742568254471, + -0.04117472469806671, + 0.9962437748908997, + -2.321415682580582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9969303011894226, + 0.011004999279975891, + 0.07751666009426117, + -0.25491955698922625 + ], + [ + -0.014113711193203926, + 0.999113142490387, + 0.03967079520225525, + -0.15030692839345267 + ], + [ + -0.07701133191585541, + -0.04064306616783142, + 0.9962014555931091, + -2.3209944292556406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9968811869621277, + 0.008991987444460392, + 0.07840293645858765, + -0.2566220740380502 + ], + [ + -0.012082579545676708, + 0.9991648197174072, + 0.03903449699282646, + -0.14935383562431778 + ], + [ + -0.0779864639043808, + -0.039860066026449203, + 0.9961572885513306, + -2.320771717773967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.996823787689209, + 0.006865255068987608, + 0.07934244722127914, + -0.25855595177039503 + ], + [ + -0.009961500763893127, + 0.9992014169692993, + 0.03869415447115898, + -0.1487581885969916 + ], + [ + -0.07901344448328018, + -0.039361622184515, + 0.996096134185791, + -2.3187131401238052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9967659711837769, + 0.004045702517032623, + 0.08025716990232468, + -0.260549190519161 + ], + [ + -0.007141365669667721, + 0.9992399215698242, + 0.03832234814763069, + -0.14810352748216585 + ], + [ + -0.08004113286733627, + -0.03877155855298042, + 0.9960372447967529, + -2.3164633029682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.996706485748291, + 0.000626477412879467, + 0.08109114319086075, + -0.26254764255569424 + ], + [ + -0.0037281676195561886, + 0.9992668628692627, + 0.038103681057691574, + -0.1473204718495524 + ], + [ + -0.08100781589746475, + -0.03828050568699837, + 0.995978057384491, + -2.3142465228604716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9933019280433655, + -0.002606520662084222, + 0.11551819741725922, + -0.3942576089827344 + ], + [ + -0.00256866286508739, + 0.9990003705024719, + 0.044628243893384933, + -0.1721703371336294 + ], + [ + -0.11551904678344727, + -0.04462604597210884, + 0.9923022985458374, + -2.3212855230947564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9908322095870972, + -0.006664193235337734, + 0.13493362069129944, + -0.4677278171072519 + ], + [ + 0.00015367637388408184, + 0.9988375306129456, + 0.04820280894637108, + -0.18616380784400674 + ], + [ + -0.13509801030158997, + -0.047740157693624496, + 0.9896814823150635, + -2.317681567159503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9888266921043396, + -0.009884648025035858, + 0.14874149858951569, + -0.5190855982171935 + ], + [ + 0.002493253443390131, + 0.9987562298774719, + 0.049797527492046356, + -0.19304072098676547 + ], + [ + -0.14904873073101044, + -0.0488702729344368, + 0.9876214861869812, + -2.3128259619412033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9864851832389832, + -0.011942675337195396, + 0.16341473162174225, + -0.5738041232838187 + ], + [ + 0.003638964146375656, + 0.9986910223960876, + 0.05101902037858963, + -0.19833958599456522 + ], + [ + -0.1638101190328598, + -0.049734845757484436, + 0.9852373600006104, + -2.3080594509146932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9840664267539978, + -0.014092450961470604, + 0.17724193632602692, + -0.6250098171856168 + ], + [ + 0.004840463399887085, + 0.9986079335212708, + 0.05252423137426376, + -0.20448261600594186 + ], + [ + -0.17773540318012238, + -0.05082939565181732, + 0.982764720916748, + -2.3015180966396667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9814378619194031, + -0.016249321401119232, + 0.19109071791172028, + -0.6759286861572155 + ], + [ + 0.005980910267680883, + 0.9985126852989197, + 0.05419030413031578, + -0.2107335174222325 + ], + [ + -0.19168706238269806, + -0.052041519433259964, + 0.9800753593444824, + -2.293463715179715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9704259037971497, + -0.01861673593521118, + 0.24068033695220947, + -0.8660802686214447 + ], + [ + 0.004771826323121786, + 0.998306393623352, + 0.05797940865159035, + -0.22551129519939422 + ], + [ + -0.2413521111011505, + -0.055116232484579086, + 0.9688711762428284, + -2.2648254596441983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9699945449829102, + -0.01970161870121956, + 0.24232704937458038, + -0.8684004846215249 + ], + [ + 0.005836407653987408, + 0.9983109831809998, + 0.057802289724349976, + -0.224655553324278 + ], + [ + -0.2430565506219864, + -0.0546535849571228, + 0.9684712290763855, + -2.262291025006494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9696837663650513, + -0.019931767135858536, + 0.2435491383075714, + -0.8688629305726567 + ], + [ + 0.0061075566336512566, + 0.9983333945274353, + 0.05738534778356552, + -0.22289280281510465 + ], + [ + -0.24428704380989075, + -0.054158151149749756, + 0.9681894183158875, + -2.256933313053708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9694123864173889, + -0.020701617002487183, + 0.24456307291984558, + -0.87011760093445 + ], + [ + 0.006940907798707485, + 0.9983503222465515, + 0.0569949671626091, + -0.22168690086797227 + ], + [ + -0.2453395128250122, + -0.05355414003133774, + 0.9679568409919739, + -2.254539221144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9690943360328674, + -0.021474268287420273, + 0.24575400352478027, + -0.8720837148556183 + ], + [ + 0.007738098502159119, + 0.9983599185943604, + 0.056723810732364655, + -0.22072798117648723 + ], + [ + -0.24656903743743896, + -0.05306905508041382, + 0.9676710963249207, + -2.2524921588287796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9687413573265076, + -0.02237563580274582, + 0.24706169962882996, + -0.8736872698539911 + ], + [ + 0.00865259487181902, + 0.998365581035614, + 0.05649171024560928, + -0.21954006483388502 + ], + [ + -0.24792194366455078, + -0.05258813500404358, + 0.9673516750335693, + -2.2475703638653424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9684603810310364, + -0.02341645583510399, + 0.2480648159980774, + -0.8751066696903733 + ], + [ + 0.009713023900985718, + 0.9983654022216797, + 0.05632197484374046, + -0.2188008758079174 + ], + [ + -0.24897819757461548, + -0.0521361418068409, + 0.9671047925949097, + -2.2441155318967825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9681921005249023, + -0.025372115895152092, + 0.24891825020313263, + -0.8770480384227148 + ], + [ + 0.011725114658474922, + 0.9983531832695007, + 0.05615566670894623, + -0.21850165551485018 + ], + [ + -0.24993310868740082, + -0.051450878381729126, + 0.9668951630592346, + -2.244492678448211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9679674506187439, + -0.026965703815221786, + 0.24962344765663147, + -0.8775933130206757 + ], + [ + 0.01346498355269432, + 0.9983603954315186, + 0.05563510209321976, + -0.21707745463349098 + ], + [ + -0.25071439146995544, + -0.05049179494380951, + 0.9667434096336365, + -2.2426430153084356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9676423072814941, + -0.029080992564558983, + 0.25064441561698914, + -0.8796997860663159 + ], + [ + 0.015695324167609215, + 0.9983497262001038, + 0.055239781737327576, + -0.21679664329040882 + ], + [ + -0.25183722376823425, + -0.0495184063911438, + 0.9665018916130066, + -2.241272765869318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9673638343811035, + -0.03158644586801529, + 0.2514149248600006, + -0.8819858703259812 + ], + [ + 0.0184257123619318, + 0.9983420968055725, + 0.05453021824359894, + -0.2162220501483873 + ], + [ + -0.25272050499916077, + -0.04811806231737137, + 0.9663420915603638, + -2.2425639966927298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9656388759613037, + -0.033787574619054794, + 0.2576819956302643, + -0.906557467583307 + ], + [ + 0.020456893369555473, + 0.9983183145523071, + 0.05424043536186218, + -0.2175488407390062 + ], + [ + -0.25908133387565613, + -0.047105297446250916, + 0.9647061824798584, + -2.241958218133727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9620307087898254, + -0.035467714071273804, + 0.2706270217895508, + -0.9555420992679374 + ], + [ + 0.021526575088500977, + 0.9982920289039612, + 0.05431058630347252, + -0.2198351138552954 + ], + [ + -0.2720910906791687, + -0.04642277583479881, + 0.9611510634422302, + -2.2297601664222255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9672399759292603, + -0.03628513962030411, + 0.25125718116760254, + -0.8827353220484978 + ], + [ + 0.023753894492983818, + 0.9983262419700623, + 0.05272959545254707, + -0.21489743652731874 + ], + [ + -0.2527499198913574, + -0.04503383859992027, + 0.9664829969406128, + -2.256717636876328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9663768410682678, + -0.03598231077194214, + 0.254599928855896, + -0.8911919366758924 + ], + [ + 0.023358287289738655, + 0.9983510971069336, + 0.0524354912340641, + -0.21419495998426924 + ], + [ + -0.25606685876846313, + -0.04472542181611061, + 0.9656238555908203, + -2.244605152539389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9669559597969055, + -0.03545622527599335, + 0.2524659335613251, + -0.8855332910044249 + ], + [ + 0.02294374816119671, + 0.9983659982681274, + 0.05233457311987877, + -0.21388424195522487 + ], + [ + -0.2539089620113373, + -0.04481271281838417, + 0.966189444065094, + -2.2600022551244083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9639418721199036, + -0.035853445529937744, + 0.2636865973472595, + -0.924706688842108 + ], + [ + 0.023181144148111343, + 0.9984288215637207, + 0.0510144904255867, + -0.20839691740135813 + ], + [ + -0.2651013731956482, + -0.043062448501586914, + 0.9632585048675537, + -2.2390824476508207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9629004001617432, + -0.03787212818861008, + 0.2671862542629242, + -0.9379834403132283 + ], + [ + 0.02471482940018177, + 0.9983183145523071, + 0.052437275648117065, + -0.21343301181183305 + ], + [ + -0.26872286200523376, + -0.04388841241598129, + 0.9622171521186829, + -2.233820713467376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9664933681488037, + -0.03876522555947304, + 0.25374749302864075, + -0.885735954692544 + ], + [ + 0.026447664946317673, + 0.9983084201812744, + 0.05177650973200798, + -0.21025070351223613 + ], + [ + -0.25532540678977966, + -0.04333062842488289, + 0.965883731842041, + -2.2426854124197435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9631370306015015, + -0.03990250080823898, + 0.2660354673862457, + -0.9337293596669685 + ], + [ + 0.026698559522628784, + 0.99823397397995, + 0.053066857159137726, + -0.2154564606173094 + ], + [ + -0.26768311858177185, + -0.04400788992643356, + 0.9625014662742615, + -2.232716046162816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9662413001060486, + -0.04607490450143814, + 0.2534855008125305, + -0.8891038865093575 + ], + [ + 0.0340290367603302, + 0.9980825185775757, + 0.05170433223247528, + -0.21119449795678605 + ], + [ + -0.25538170337677, + -0.041332997381687164, + 0.9659563899040222, + -2.2548758849259034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9629502296447754, + -0.041181523352861404, + 0.26651641726493835, + -0.934251645942067 + ], + [ + 0.028151096776127815, + 0.9982224702835083, + 0.05253041908144951, + -0.2140448643440424 + ], + [ + -0.2682059705257416, + -0.04308145120739937, + 0.9623978137969971, + -2.234303922320521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9651674032211304, + -0.040833570063114166, + 0.25842708349227905, + -0.9020334200976893 + ], + [ + 0.028475545346736908, + 0.9982728362083435, + 0.05138540267944336, + -0.21001944784508195 + ], + [ + -0.26007896661758423, + -0.04223666340112686, + 0.9646631479263306, + -2.2396606923709084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9663307070732117, + -0.04493749886751175, + 0.2533486783504486, + -0.8865538703632909 + ], + [ + 0.03324393928050995, + 0.9981831312179565, + 0.050251733511686325, + -0.20683422458726305 + ], + [ + -0.2551465928554535, + -0.04013748839497566, + 0.9660689234733582, + -2.250017623308786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.961898148059845, + -0.03897017240524292, + 0.2706165909767151, + -0.9519517764657043 + ], + [ + 0.02624817192554474, + 0.9983804225921631, + 0.05047359690070152, + -0.20894683209962622 + ], + [ + -0.27214527130126953, + -0.041447270661592484, + 0.9613631367683411, + -2.229107955928112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9597882032394409, + -0.03584594279527664, + 0.2784270942211151, + -0.9827372949761014 + ], + [ + 0.022805657237768173, + 0.9984920620918274, + 0.04993511736392975, + -0.2087006674672282 + ], + [ + -0.279797226190567, + -0.04157742112874985, + 0.9591584205627441, + -2.2234510274681933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9666430950164795, + -0.03955729678273201, + 0.25305408239364624, + -0.8895690380296735 + ], + [ + 0.027974795550107956, + 0.9983966946601868, + 0.04920779541134834, + -0.20766915005306866 + ], + [ + -0.25459492206573486, + -0.04048724099993706, + 0.9661998748779297, + -2.2598738437457833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9626186490058899, + -0.03628845140337944, + 0.268418550491333, + -0.942425371411928 + ], + [ + 0.023699522018432617, + 0.998468279838562, + 0.04999382421374321, + -0.2108701014241507 + ], + [ + -0.2698215842247009, + -0.04176359996199608, + 0.9620042443275452, + -2.2306712113320826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9624018669128418, + -0.03733251616358757, + 0.2690519094467163, + -0.9453025247832371 + ], + [ + 0.024913521483540535, + 0.998466968536377, + 0.04942713677883148, + -0.20872371270213017 + ], + [ + -0.27048468589782715, + -0.04086574167013168, + 0.9618565440177917, + -2.2307968846483286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9663166999816895, + -0.044917862862348557, + 0.2534056305885315, + -0.8905991748737735 + ], + [ + 0.033670824021101, + 0.9982531070709229, + 0.04854949191212654, + -0.20579663366772408 + ], + [ + -0.2551437020301819, + -0.03838181123137474, + 0.9661410450935364, + -2.2573333084721896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9664261341094971, + -0.043587952852249146, + 0.25322040915489197, + -0.8905580437044764 + ], + [ + 0.03222956508398056, + 0.998286783695221, + 0.04883408173918724, + -0.20580790440703547 + ], + [ + -0.25491514801979065, + -0.039033349603414536, + 0.9661752581596375, + -2.262643763587572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9660642743110657, + -0.04842611774802208, + 0.2537217140197754, + -0.8935256947576999 + ], + [ + 0.03715502843260765, + 0.9981059432029724, + 0.049031082540750504, + -0.2062746349185012 + ], + [ + -0.2556155323982239, + -0.037940140813589096, + 0.9660337567329407, + -2.264378098980632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9662793874740601, + -0.044409867376089096, + 0.253637433052063, + -0.8910827607696139 + ], + [ + 0.032874349504709244, + 0.9982309341430664, + 0.049541182816028595, + -0.20590396987837414 + ], + [ + -0.25538885593414307, + -0.039532460272312164, + 0.9660298824310303, + -2.263062503362118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9582949280738831, + -0.03913617134094238, + 0.2830886244773865, + -0.9981652441690134 + ], + [ + 0.026491990312933922, + 0.9984787106513977, + 0.048357632011175156, + -0.1996126849152321 + ], + [ + -0.2845504879951477, + -0.03884129598736763, + 0.9578738808631897, + -2.220929326283377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9577516913414001, + -0.039269816130399704, + 0.28490278124809265, + -1.0042632579924755 + ], + [ + 0.026759926229715347, + 0.9985045790672302, + 0.04767143726348877, + -0.1961175860637842 + ], + [ + -0.28634878993034363, + -0.03803342580795288, + 0.9573702812194824, + -2.218181890526483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9572271704673767, + -0.038352884352207184, + 0.286784291267395, + -1.0113139113922451 + ], + [ + 0.02560935914516449, + 0.9985162615776062, + 0.04805704206228256, + -0.19693203598953957 + ], + [ + -0.2882019281387329, + -0.03865714371204376, + 0.9567890763282776, + -2.2162514404224796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9556601643562317, + -0.03779584541916847, + 0.2920360863208771, + -1.03133772738971 + ], + [ + 0.02477519027888775, + 0.9985324740409851, + 0.048157453536987305, + -0.19700670436371204 + ], + [ + -0.2934276759624481, + -0.038786910474300385, + 0.9551941156387329, + -2.209125684406175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.958517849445343, + -0.03861886262893677, + 0.28240421414375305, + -0.9951508366784384 + ], + [ + 0.0257759690284729, + 0.99846351146698, + 0.049053091555833817, + -0.20035840148149536 + ], + [ + -0.28386470675468445, + -0.03973902389407158, + 0.9580405354499817, + -2.2195680034715077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9656774401664734, + -0.05156450346112251, + 0.2545745074748993, + -0.8897913975441871 + ], + [ + 0.040209364145994186, + 0.9979588389396667, + 0.04961210489273071, + -0.20234665583732517 + ], + [ + -0.2566131055355072, + -0.03767301142215729, + 0.965779721736908, + -2.238570693156054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9615214467048645, + -0.039480552077293396, + 0.271878182888031, + -0.9552767054286114 + ], + [ + 0.027007250115275383, + 0.9984104037284851, + 0.04946974292397499, + -0.2012041913492735 + ], + [ + -0.27339911460876465, + -0.040223535150289536, + 0.9610593318939209, + -2.226544263553481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9661209583282471, + -0.04810231551527977, + 0.2535673677921295, + -0.8965753816951846 + ], + [ + 0.03669694438576698, + 0.9980986714363098, + 0.04952201992273331, + -0.20336977413920468 + ], + [ + -0.25546738505363464, + -0.03853911906480789, + 0.9660492539405823, + -2.273372707460509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.96617192029953, + -0.04704976826906204, + 0.2535707652568817, + -0.9004799290174662 + ], + [ + 0.03556031733751297, + 0.9981305599212646, + 0.04970774054527283, + -0.20416488985682643 + ], + [ + -0.25543543696403503, + -0.03900916874408722, + 0.9660388231277466, + -2.2842355850408245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9664039611816406, + -0.042280375957489014, + 0.2535266578197479, + -0.8918840856053109 + ], + [ + 0.030563779175281525, + 0.9982825517654419, + 0.04997818171977997, + -0.2017174288283947 + ], + [ + -0.25520434975624084, + -0.04055038094520569, + 0.9660364389419556, + -2.2614240927058598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9577798247337341, + -0.03614766150712967, + 0.2852211892604828, + -1.0083946159482002 + ], + [ + 0.023105043917894363, + 0.9985333681106567, + 0.04896235466003418, + -0.19618876874446867 + ], + [ + -0.28657272458076477, + -0.040305107831954956, + 0.9572103023529053, + -2.216089981794357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9662953615188599, + -0.04529174044728279, + 0.25342047214508057, + -0.893276882176829 + ], + [ + 0.033773746341466904, + 0.9981969594955444, + 0.04961976036429405, + -0.199301366417907 + ], + [ + -0.2552109360694885, + -0.03938838467001915, + 0.9660828113555908, + -2.263795880025556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9662567377090454, + -0.04717734083533287, + 0.2532235383987427, + -0.8948989785133407 + ], + [ + 0.03568854555487633, + 0.9981225728988647, + 0.04977606236934662, + -0.19951058136862376 + ], + [ + -0.255096435546875, + -0.03905927389860153, + 0.9661263823509216, + -2.270177234522132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.966060221195221, + -0.04554050415754318, + 0.2542710602283478, + -0.894392956574989 + ], + [ + 0.03388195484876633, + 0.9981720447540283, + 0.050046008080244064, + -0.19894503377204717 + ], + [ + -0.2560853660106659, + -0.03973225876688957, + 0.9658372402191162, + -2.2576447726734155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9662695527076721, + -0.04694489389657974, + 0.25321802496910095, + -0.8969793019253154 + ], + [ + 0.035414695739746094, + 0.9981259107589722, + 0.049904707819223404, + -0.19936557779478473 + ], + [ + -0.255086213350296, + -0.03925376012921333, + 0.9661211967468262, + -2.276070356178422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9637854695320129, + -0.04294818639755249, + 0.2631976902484894, + -0.9276040041446686 + ], + [ + 0.030635789036750793, + 0.998243510723114, + 0.05070871859788895, + -0.19980131811873858 + ], + [ + -0.2649132311344147, + -0.04080905765295029, + 0.963408350944519, + -2.2443846901107665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9652807116508484, + -0.044510357081890106, + 0.25739458203315735, + -0.9076466784504957 + ], + [ + 0.032563596963882446, + 0.9981933236122131, + 0.050494179129600525, + -0.19904507703559343 + ], + [ + -0.2591770589351654, + -0.040359362959861755, + 0.9649862051010132, + -2.255815407093181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.965173065662384, + -0.04330255091190338, + 0.2580036520957947, + -0.9102279655115549 + ], + [ + 0.03127467632293701, + 0.9982320666313171, + 0.05054392293095589, + -0.19874092201853907 + ], + [ + -0.25973618030548096, + -0.040714655071496964, + 0.964820921421051, + -2.2569574784764717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9643644690513611, + -0.04399767145514488, + 0.26089340448379517, + -0.9195988162485667 + ], + [ + 0.03177528455853462, + 0.998198926448822, + 0.050884656608104706, + -0.1989061907003092 + ], + [ + -0.26266229152679443, + -0.04078139364719391, + 0.964025616645813, + -2.249406444069951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9650723338127136, + -0.045494720339775085, + 0.2580030858516693, + -0.9094364698889643 + ], + [ + 0.033531010150909424, + 0.998156726360321, + 0.05058472603559494, + -0.19743824642758037 + ], + [ + -0.2598288357257843, + -0.04016681760549545, + 0.9648189544677734, + -2.2530517827806085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9658350944519043, + -0.046339672058820724, + 0.2549808919429779, + -0.8997856424575629 + ], + [ + 0.03462051972746849, + 0.9981358647346497, + 0.050260934978723526, + -0.19661393835101015 + ], + [ + -0.25683465600013733, + -0.0397162027657032, + 0.9656389355659485, + -2.2604255848707155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.965582549571991, + -0.04515466094017029, + 0.25614726543426514, + -0.903281671820685 + ], + [ + 0.03331819176673889, + 0.9981749653816223, + 0.050364743918180466, + -0.1964287821220797 + ], + [ + -0.2579540014266968, + -0.0400969572365284, + 0.9653248190879822, + -2.255537176833943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9634791016578674, + -0.04289556294679642, + 0.2643255293369293, + -0.9340292499855507 + ], + [ + 0.0305773988366127, + 0.9982536435127258, + 0.05054362118244171, + -0.1972726776572161 + ], + [ + -0.26603201031684875, + -0.04061533510684967, + 0.9631081819534302, + -2.244818670818972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9637033939361572, + -0.07131766527891159, + 0.2572733759880066, + -0.9065964935997198 + ], + [ + 0.060012735426425934, + 0.9968661665916443, + 0.05153929814696312, + -0.19936887716138085 + ], + [ + -0.26014280319213867, + -0.034228917211294174, + 0.9649632573127747, + -2.231492456386602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9645573496818542, + -0.07400461286306381, + 0.2532832622528076, + -0.8925782105950422 + ], + [ + 0.06310340017080307, + 0.9967077374458313, + 0.050907909870147705, + -0.19686321567657383 + ], + [ + -0.256216824054718, + -0.03312056511640549, + 0.9660517573356628, + -2.2354698870764222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9650304317474365, + -0.0682484582066536, + 0.25309765338897705, + -0.8931033176495585 + ], + [ + 0.05733530968427658, + 0.9970893263816833, + 0.05025525391101837, + -0.19437630660312122 + ], + [ + -0.2557908296585083, + -0.0339864119887352, + 0.9661345481872559, + -2.244267583860214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9657856225967407, + -0.04505440592765808, + 0.25539830327033997, + -0.9007821505845979 + ], + [ + 0.033426374197006226, + 0.9982051849365234, + 0.0496903620660305, + -0.19308212273342665 + ], + [ + -0.2571786940097809, + -0.03945319727063179, + 0.9655581712722778, + -2.2513731998309146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9660291075706482, + -0.04407773166894913, + 0.2546466886997223, + -0.8970256022901036 + ], + [ + 0.03237456828355789, + 0.9982258677482605, + 0.04997022822499275, + -0.19249923553577689 + ], + [ + -0.25639745593070984, + -0.04002862051129341, + 0.9657422304153442, + -2.2490184802700615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9658485054969788, + -0.04484160989522934, + 0.25519782304763794, + -0.897458384397418 + ], + [ + 0.03308486193418503, + 0.9981920719146729, + 0.05017901957035065, + -0.1914538991035417 + ], + [ + -0.2569865584373474, + -0.04002214968204498, + 0.9655858874320984, + -2.242690082649852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9663296341896057, + -0.04670257121324539, + 0.2530333399772644, + -0.889612845435392 + ], + [ + 0.03512755036354065, + 0.9981275796890259, + 0.05007374659180641, + -0.1900201000446497 + ], + [ + -0.2548981308937073, + -0.039499301463365555, + 0.9661608338356018, + -2.244271269310699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9664638042449951, + -0.046869922429323196, + 0.2524895668029785, + -0.8894885019403558 + ], + [ + 0.035300251096487045, + 0.9981170892715454, + 0.05016151815652847, + -0.18997077315352684 + ], + [ + -0.2543652057647705, + -0.039566345512866974, + 0.966298520565033, + -2.248634548831818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9659903049468994, + -0.04566816985607147, + 0.25451359152793884, + -0.8957999381422996 + ], + [ + 0.033914290368556976, + 0.9981540441513062, + 0.0503823459148407, + -0.19005587254845818 + ], + [ + -0.25634464621543884, + -0.040037207305431366, + 0.9657558798789978, + -2.2416754622133666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9659590721130371, + -0.04546833038330078, + 0.254667729139328, + -0.8961206676239191 + ], + [ + 0.033714309334754944, + 0.9981632828712463, + 0.050332918763160706, + -0.18946201730606166 + ], + [ + -0.25648853182792664, + -0.04003359377384186, + 0.9657178521156311, + -2.2405332810102507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9659768342971802, + -0.04539640620350838, + 0.25461339950561523, + -0.8955188174320515 + ], + [ + 0.033647213131189346, + 0.9981665015220642, + 0.05031449720263481, + -0.18878308992053186 + ], + [ + -0.2564306855201721, + -0.040035609155893326, + 0.9657331109046936, + -2.2394321513955675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9661353230476379, + -0.04680238291621208, + 0.253756046295166, + -0.8940000369278498 + ], + [ + 0.03510868176817894, + 0.998110830783844, + 0.05041942745447159, + -0.18908510589322378 + ], + [ + -0.25563639402389526, + -0.03980294615030289, + 0.9659532904624939, + -2.244744874398376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.965946614742279, + -0.04665297642350197, + 0.2545008659362793, + -0.8950793461449618 + ], + [ + 0.03488050773739815, + 0.998110830783844, + 0.050577957183122635, + -0.18832178709118866 + ], + [ + -0.2563796639442444, + -0.03997848555445671, + 0.9657490253448486, + -2.240440146127759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9659953713417053, + -0.04707019776105881, + 0.25423869490623474, + -0.8928626906040102 + ], + [ + 0.03528779000043869, + 0.9980897903442383, + 0.05070999264717102, + -0.18764090978822043 + ], + [ + -0.25613996386528015, + -0.040014103055000305, + 0.9658111333847046, + -2.239098987690238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9657677412033081, + -0.04818640649318695, + 0.25489357113838196, + -0.8950655921600585 + ], + [ + 0.036405742168426514, + 0.9980482459068298, + 0.05073831230401993, + -0.18704290728236353 + ], + [ + -0.2568409740924835, + -0.039721839129924774, + 0.9656370282173157, + -2.2389382060703844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9658360481262207, + -0.049941085278987885, + 0.2542963922023773, + -0.892441434936468 + ], + [ + 0.038255199790000916, + 0.9979811310768127, + 0.050696805119514465, + -0.18647508829139 + ], + [ + -0.25631484389305115, + -0.0392366424202919, + 0.9657966494560242, + -2.2396311900019645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9662685394287109, + -0.050949208438396454, + 0.25244656205177307, + -0.8855144444073355 + ], + [ + 0.03950318694114685, + 0.9979572892189026, + 0.050206463783979416, + -0.1846190469209538 + ], + [ + -0.25448885560035706, + -0.03854048624634743, + 0.9663074612617493, + -2.2426875645944544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9662388563156128, + -0.050397228449583054, + 0.2526710033416748, + -0.8868439813478048 + ], + [ + 0.03891303017735481, + 0.9979784488677979, + 0.0502474270761013, + -0.18469065774318785 + ], + [ + -0.25469255447387695, + -0.038718823343515396, + 0.9662466645240784, + -2.2454273620663687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9662030339241028, + -0.05064144358038902, + 0.2527591288089752, + -0.8862920562940282 + ], + [ + 0.03918285295367241, + 0.9979719519615173, + 0.050166938453912735, + -0.1841136460526045 + ], + [ + -0.25478705763816833, + -0.038567621260881424, + 0.9662277698516846, + -2.2445049259707677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9661133289337158, + -0.05177588015794754, + 0.2528722286224365, + -0.8864098802486131 + ], + [ + 0.04038970172405243, + 0.9979313611984253, + 0.0500163696706295, + -0.18358415386011434 + ], + [ + -0.2549387812614441, + -0.03810804709792137, + 0.9662060141563416, + -2.244691475563964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9660005569458008, + -0.05180422216653824, + 0.25329676270484924, + -0.8877133947298971 + ], + [ + 0.040359027683734894, + 0.9979245066642761, + 0.05017774924635887, + -0.18365178433961646 + ], + [ + -0.25537046790122986, + -0.03824892267584801, + 0.9660863876342773, + -2.2442787841880736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9659106731414795, + -0.05265595763921738, + 0.25346383452415466, + -0.8886686672998029 + ], + [ + 0.04122358560562134, + 0.9978875517845154, + 0.05021003261208534, + -0.1834260731242424 + ], + [ + -0.25557228922843933, + -0.038049716502428055, + 0.9660409092903137, + -2.246045700270076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.965997576713562, + -0.052629582583904266, + 0.2531379759311676, + -0.8869861467737098 + ], + [ + 0.04121832549571991, + 0.9978894591331482, + 0.05017698556184769, + -0.18246912514054497 + ], + [ + -0.25524452328681946, + -0.03803692013025284, + 0.9661280512809753, + -2.246508281969054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9659985303878784, + -0.052870433777570724, + 0.2530840039253235, + -0.8862261863607307 + ], + [ + 0.0414743609726429, + 0.9978798031806946, + 0.05015791207551956, + -0.1815526772377103 + ], + [ + -0.25519925355911255, + -0.03795596957206726, + 0.9661431908607483, + -2.245465185780858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9660013914108276, + -0.052682120352983475, + 0.2531125247478485, + -0.8861653193606194 + ], + [ + 0.041277188807725906, + 0.9978876709938049, + 0.050163522362709045, + -0.18076679814693541 + ], + [ + -0.25522056221961975, + -0.03801025450229645, + 0.9661354422569275, + -2.245685740092466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9659469127655029, + -0.053010422736406326, + 0.253251850605011, + -0.8866957868739616 + ], + [ + 0.041541483253240585, + 0.9978635311126709, + 0.05042529106140137, + -0.1808576049361118 + ], + [ + -0.25538384914398193, + -0.038187697529792786, + 0.9660853147506714, + -2.2464258094998293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9659280776977539, + -0.05386170372366905, + 0.25314396619796753, + -0.88547931659187 + ], + [ + 0.04239576682448387, + 0.9978219270706177, + 0.05053696408867836, + -0.18038323521614075 + ], + [ + -0.25531458854675293, + -0.03808284178376198, + 0.9661077260971069, + -2.245851680506454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9656713008880615, + -0.05461684241890907, + 0.25396043062210083, + -0.8893534856861414 + ], + [ + 0.043065059930086136, + 0.9977784156799316, + 0.050830014050006866, + -0.180885161244592 + ], + [ + -0.25617241859436035, + -0.038148269057273865, + 0.9658780694007874, + -2.2472653538820357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9656659364700317, + -0.054505039006471634, + 0.25400495529174805, + -0.8896881892843995 + ], + [ + 0.04295731708407402, + 0.9977848529815674, + 0.050793834030628204, + -0.18026758857937747 + ], + [ + -0.2562108039855957, + -0.0381385013461113, + 0.9658682346343994, + -2.2481222305221613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9656960964202881, + -0.05461644381284714, + 0.2538662254810333, + -0.889322729166164 + ], + [ + 0.04306820034980774, + 0.9977781772613525, + 0.05083112418651581, + -0.17966800144938536 + ], + [ + -0.2560783922672272, + -0.03815385699272156, + 0.9659027457237244, + -2.2484968424952307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9657167196273804, + -0.054854866117239, + 0.25373637676239014, + -0.8887835571914912 + ], + [ + 0.04333311691880226, + 0.997769296169281, + 0.0507810041308403, + -0.17870310187339783 + ], + [ + -0.25595593452453613, + -0.03804487735033035, + 0.9659395217895508, + -2.248383833616972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9656387567520142, + -0.055679112672805786, + 0.25385361909866333, + -0.889525110361188 + ], + [ + 0.04410523176193237, + 0.9977210760116577, + 0.051062893122434616, + -0.1790382717237916 + ], + [ + -0.2561182379722595, + -0.038112033158540726, + 0.9658938646316528, + -2.2493316072537457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9655241966247559, + -0.057459551841020584, + 0.2538924217224121, + -0.8899613877212585 + ], + [ + 0.04587070271372795, + 0.9976273775100708, + 0.05133650451898575, + -0.17906482316726863 + ], + [ + -0.2562398314476013, + -0.03792041540145874, + 0.965869128704071, + -2.2484965177192247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9658516645431519, + -0.05709841102361679, + 0.25272586941719055, + -0.8868943941731786 + ], + [ + 0.045448243618011475, + 0.9976277947425842, + 0.0517030730843544, + -0.17953718868798987 + ], + [ + -0.25507852435112, + -0.038451552391052246, + 0.966155469417572, + -2.2530762406282645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9657843708992004, + -0.06215852499008179, + 0.2517874538898468, + -0.8829566836634347 + ], + [ + 0.05062674731016159, + 0.9973615407943726, + 0.052028022706508636, + -0.1788637298484181 + ], + [ + -0.25435712933540344, + -0.03750067204236984, + 0.9663830399513245, + -2.2454781494688154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9654712677001953, + -0.0697474330663681, + 0.25099918246269226, + -0.8787080279200576 + ], + [ + 0.058391597121953964, + 0.9969165921211243, + 0.05241837725043297, + -0.17908827503060185 + ], + [ + -0.2538813054561615, + -0.035952191799879074, + 0.9665669798851013, + -2.2346456885372485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9652040600776672, + -0.07020273059606552, + 0.2518981695175171, + -0.8825978209979313 + ], + [ + 0.05881369858980179, + 0.996889054775238, + 0.05247005820274353, + -0.17896618766840114 + ], + [ + -0.2547980546951294, + -0.03582925349473953, + 0.9663302898406982, + -2.236506249790275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9652599692344666, + -0.06911653280258179, + 0.2519843876361847, + -0.8834580401487129 + ], + [ + 0.05767326429486275, + 0.9969526529312134, + 0.05252792686223984, + -0.17872724311296329 + ], + [ + -0.25484707951545715, + -0.036170341074466705, + 0.9663046598434448, + -2.2392359976713045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9655036926269531, + -0.06489434838294983, + 0.25217315554618835, + -0.8850275242190029 + ], + [ + 0.05336136370897293, + 0.9972039461135864, + 0.05231449380517006, + -0.17766216925410339 + ], + [ + -0.2548629939556122, + -0.037053536623716354, + 0.9662669897079468, + -2.2457714347142814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9653825759887695, + -0.05909786745905876, + 0.25405505299568176, + -0.8935233543328075 + ], + [ + 0.047280002385377884, + 0.9975073933601379, + 0.05237948149442673, + -0.1780613529543544 + ], + [ + -0.25651732087135315, + -0.038554511964321136, + 0.9657703638076782, + -2.254523154129816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9651573300361633, + -0.059341829270124435, + 0.2548525929450989, + -0.8965225276714841 + ], + [ + 0.04741567000746727, + 0.9974844455718994, + 0.05269310250878334, + -0.17874266295932062 + ], + [ + -0.25733840465545654, + -0.038773130625486374, + 0.9655431509017944, + -2.2530732105239184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9655713438987732, + -0.06011129915714264, + 0.2530979812145233, + -0.890814708693083 + ], + [ + 0.04839920252561569, + 0.9974602460861206, + 0.05225542560219765, + -0.17670212540515634 + ], + [ + -0.2555963099002838, + -0.03820660337805748, + 0.9660283327102661, + -2.2570678927524144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9654428958892822, + -0.05909588932991028, + 0.25382623076438904, + -0.8941147700160049 + ], + [ + 0.047249265015125275, + 0.9975013136863708, + 0.052523184567689896, + -0.17737996592078098 + ], + [ + -0.2562958896160126, + -0.03871503099799156, + 0.9658227562904358, + -2.2583156295068734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9653118252754211, + -0.058631159365177155, + 0.25443172454833984, + -0.8963056692619656 + ], + [ + 0.04677720367908478, + 0.9975301027297974, + 0.0523981899023056, + -0.17640076540237248 + ], + [ + -0.2568754553794861, + -0.03867898881435394, + 0.9656702280044556, + -2.2574193049724713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.965437650680542, + -0.05915897712111473, + 0.2538313567638397, + -0.8948689887707316 + ], + [ + 0.04736041650176048, + 0.9975051879882812, + 0.05234914645552635, + -0.17587156372014867 + ], + [ + -0.25629499554634094, + -0.038518276065588, + 0.9658308625221252, + -2.2600844962531053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9653313159942627, + -0.05880368873476982, + 0.25431787967681885, + -0.8965007497820743 + ], + [ + 0.04696233198046684, + 0.9975218176841736, + 0.052390165627002716, + -0.1754319601003514 + ], + [ + -0.2567683458328247, + -0.03863050788640976, + 0.965700626373291, + -2.258441713854324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9653967618942261, + -0.05839713662862778, + 0.2541630268096924, + -0.8956719983282477 + ], + [ + 0.04654543101787567, + 0.9975407123565674, + 0.052402254194021225, + -0.1747218513904616 + ], + [ + -0.2565981149673462, + -0.038758840411901474, + 0.9657407402992249, + -2.25698704188473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9657256007194519, + -0.058248165994882584, + 0.2529451549053192, + -0.8913799258477466 + ], + [ + 0.04645427688956261, + 0.9975473880767822, + 0.05235610902309418, + -0.17387920436471008 + ], + [ + -0.2553744614124298, + -0.038811251521110535, + 0.9660629034042358, + -2.258763389074525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9656965136528015, + -0.05927974730730057, + 0.25281640887260437, + -0.8909853342348752 + ], + [ + 0.047513604164123535, + 0.9974952340126038, + 0.05239984765648842, + -0.17355759903442028 + ], + [ + -0.2552894055843353, + -0.03859012946486473, + 0.9660942554473877, + -2.25849285613139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9657034873962402, + -0.05983496829867363, + 0.2526589632034302, + -0.8900135880223541 + ], + [ + 0.04810696467757225, + 0.997469425201416, + 0.052349187433719635, + -0.1727887137684711 + ], + [ + -0.2551519274711609, + -0.03839913755655289, + 0.9661381840705872, + -2.256554307840591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.96588534116745, + -0.059435006231069565, + 0.2520575225353241, + -0.888027673174822 + ], + [ + 0.04777263477444649, + 0.9974962472915649, + 0.05214408412575722, + -0.17164072560709576 + ], + [ + -0.25452563166618347, + -0.03832375630736351, + 0.9663063883781433, + -2.2587141415320855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9657220244407654, + -0.05952749028801918, + 0.2526606619358063, + -0.8905740459124709 + ], + [ + 0.04782414808869362, + 0.9974899291992188, + 0.052217237651348114, + -0.17178090540475624 + ], + [ + -0.25513485074043274, + -0.03834405541419983, + 0.9661449193954468, + -2.2577363162539728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9658102989196777, + -0.060035865753889084, + 0.252202570438385, + -0.8890057008713483 + ], + [ + 0.04838716611266136, + 0.9974666237831116, + 0.052144378423690796, + -0.17124353625053584 + ], + [ + -0.2546941637992859, + -0.03815820813179016, + 0.9662685394287109, + -2.2575258061913557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9658609628677368, + -0.059383682906627655, + 0.2521630525588989, + -0.8888094776452974 + ], + [ + 0.04775836318731308, + 0.9975054860115051, + 0.05198068171739578, + -0.17065251552781394 + ], + [ + -0.25462085008621216, + -0.038163214921951294, + 0.9662876129150391, + -2.257429228827011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.965938150882721, + -0.058671869337558746, + 0.25203394889831543, + -0.8880737505853176 + ], + [ + 0.0470946803689003, + 0.9975500702857971, + 0.05172945186495781, + -0.16977363786032035 + ], + [ + -0.25445157289505005, + -0.03809799626469612, + 0.9663348197937012, + -2.256618601827081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9661197066307068, + -0.05678517743945122, + 0.25177016854286194, + -0.8868968907310519 + ], + [ + 0.045249100774526596, + 0.9976535439491272, + 0.05137975886464119, + -0.16850202732307967 + ], + [ + -0.25409701466560364, + -0.038246627897024155, + 0.9664222002029419, + -2.256378031840851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9752683639526367, + -0.10881150513887405, + 0.19238416850566864, + -0.6674811074726803 + ], + [ + 0.10250893980264664, + 0.9938260316848755, + 0.04244622588157654, + -0.13353072501892269 + ], + [ + -0.1958150416612625, + -0.021675365045666695, + 0.9804012775421143, + -2.268139886401247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9750730395317078, + -0.10898783802986145, + 0.19327247142791748, + -0.6691360154817271 + ], + [ + 0.10271978378295898, + 0.9938151240348816, + 0.042191602289676666, + -0.13174116109692774 + ], + [ + -0.19667547941207886, + -0.021286986768245697, + 0.9802375435829163, + -2.260797092373981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.965949296951294, + -0.060273341834545135, + 0.25161290168762207, + -0.8885097202416076 + ], + [ + 0.048783399164676666, + 0.9974724650382996, + 0.05166151374578476, + -0.16829938383989557 + ], + [ + -0.25409072637557983, + -0.03762787580490112, + 0.966448187828064, + -2.259311850320461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9660554528236389, + -0.0593353696167469, + 0.2514282166957855, + -0.8885627016182556 + ], + [ + 0.047765959054231644, + 0.997510552406311, + 0.0518760159611702, + -0.16828400035237157 + ], + [ + -0.2538803517818451, + -0.038105398416519165, + 0.9664847254753113, + -2.26220663189888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9767786264419556, + -0.08279339969158173, + 0.1976076364517212, + -0.6830988262212554 + ], + [ + 0.07582323253154755, + 0.996211051940918, + 0.04259549081325531, + -0.1314318881617036 + ], + [ + -0.20038554072380066, + -0.026623114943504333, + 0.9793553352355957, + -2.288958084257536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9772824048995972, + -0.07028583437204361, + 0.1999475061893463, + -0.6887087503144907 + ], + [ + 0.06313259154558182, + 0.9971235990524292, + 0.041937507688999176, + -0.12886518468690472 + ], + [ + -0.20232000946998596, + -0.02836158312857151, + 0.9789087176322937, + -2.2867228082446163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.977491557598114, + -0.06794386357069016, + 0.19973449409008026, + -0.6874354254055854 + ], + [ + 0.06077384203672409, + 0.9972751140594482, + 0.041819557547569275, + -0.12813724716042363 + ], + [ + -0.20203162729740143, + -0.028739631175994873, + 0.9789572358131409, + -2.285230324185172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9778041243553162, + -0.07081394642591476, + 0.1971915066242218, + -0.6808274987617204 + ], + [ + 0.0637994185090065, + 0.997090756893158, + 0.04170867055654526, + -0.1280065765491752 + ], + [ + -0.1995714008808136, + -0.028202205896377563, + 0.9794773459434509, + -2.2972543025848475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9778483510017395, + -0.07249739021062851, + 0.196358785033226, + -0.680147340495226 + ], + [ + 0.06549198180437088, + 0.996971070766449, + 0.04194656386971474, + -0.12815960134184637 + ], + [ + -0.1988050490617752, + -0.02815745398402214, + 0.9796344637870789, + -2.303187059831134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9769061207771301, + -0.07915215194225311, + 0.1984676569700241, + -0.6834774613657663 + ], + [ + 0.07210943102836609, + 0.9964917898178101, + 0.042477063834667206, + -0.12739011369472325 + ], + [ + -0.20113353431224823, + -0.02718471549451351, + 0.9791865348815918, + -2.284131863792968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9779819250106812, + -0.0729418694972992, + 0.19552694261074066, + -0.7137725103040075 + ], + [ + 0.06555351614952087, + 0.9968783259391785, + 0.044004254043102264, + -0.14371551795061244 + ], + [ + -0.19812633097171783, + -0.030217885971069336, + 0.979710578918457, + -2.4418529959612116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9777749180793762, + -0.07543712854385376, + 0.1956157088279724, + -0.7135460390601047 + ], + [ + 0.06808172166347504, + 0.9967061281204224, + 0.04406622424721718, + -0.1429983435952386 + ], + [ + -0.19829559326171875, + -0.029768992215394974, + 0.9796900749206543, + -2.4388087675980357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9777148365974426, + -0.07701102644205093, + 0.19530229270458221, + -0.712216301418321 + ], + [ + 0.06968647986650467, + 0.996593177318573, + 0.04411192983388901, + -0.1424202256285867 + ], + [ + -0.19803403317928314, + -0.029518961906433105, + 0.9797505736351013, + -2.4351975885102917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9778808355331421, + -0.06686141341924667, + 0.19818837940692902, + -0.7126858172583026 + ], + [ + 0.05933329835534096, + 0.9972816705703735, + 0.04368960112333298, + -0.1370384560074917 + ], + [ + -0.20057077705860138, + -0.03096405416727066, + 0.9791897535324097, + -2.4102881405242655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9781144857406616, + -0.06113598123192787, + 0.19888313114643097, + -0.7082341985387165 + ], + [ + 0.05353521928191185, + 0.9976233243942261, + 0.04337780177593231, + -0.1332718921123549 + ], + [ + -0.2010623961687088, + -0.03178120404481888, + 0.9790627360343933, + -2.3899567133084285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9779218435287476, + -0.06655898690223694, + 0.19808781147003174, + -0.7141732092513594 + ], + [ + 0.0590553879737854, + 0.9973040223121643, + 0.043556395918130875, + -0.13670330269392145 + ], + [ + -0.20045283436775208, + -0.03089660033583641, + 0.9792160391807556, + -2.41629544023511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9780879616737366, + -0.06386586278676987, + 0.19815434515476227, + -0.7039158905696037 + ], + [ + 0.05648473650217056, + 0.9974905252456665, + 0.04268670454621315, + -0.13121452355107596 + ], + [ + -0.2003832906484604, + -0.03055865690112114, + 0.979240894317627, + -2.3807921811886303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9780043959617615, + -0.06898540258407593, + 0.19684632122516632, + -0.696241238117218 + ], + [ + 0.061908602714538574, + 0.997202455997467, + 0.04188814386725426, + -0.12836183726787564 + ], + [ + -0.1991852968931198, + -0.02878030762076378, + 0.979539155960083, + -2.3609008952975272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9776172637939453, + -0.06342104822397232, + 0.20060458779335022, + -0.6911555044075778 + ], + [ + 0.05601231008768082, + 0.9975293278694153, + 0.04240058735013008, + -0.1236331893954166 + ], + [ + -0.20279806852340698, + -0.030215222388505936, + 0.9787542819976807, + -2.3006423691001743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9776939153671265, + -0.06187169998884201, + 0.2007150650024414, + -0.6915794255636459 + ], + [ + 0.05440752953290939, + 0.9976139664649963, + 0.042498864233493805, + -0.12320931110271187 + ], + [ + -0.2028656303882599, + -0.03063046932220459, + 0.978727400302887, + -2.3017786479550737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.977670431137085, + -0.06274573504924774, + 0.20055793225765228, + -0.6913289893851724 + ], + [ + 0.05530343949794769, + 0.9975645542144775, + 0.042503319680690765, + -0.12273593039013618 + ], + [ + -0.20273639261722565, + -0.03046269528567791, + 0.9787594079971313, + -2.3005959672506813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9776833653450012, + -0.06321966648101807, + 0.20034602284431458, + -0.6912561835244645 + ], + [ + 0.05578763782978058, + 0.997536301612854, + 0.042532779276371, + -0.12241638692312462 + ], + [ + -0.20254135131835938, + -0.030406760051846504, + 0.9788015484809875, + -2.299933693505997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9776119589805603, + -0.06475691497325897, + 0.20020340383052826, + -0.6914662043091863 + ], + [ + 0.05739007890224457, + 0.9974514842033386, + 0.04239017516374588, + -0.12163315316965413 + ], + [ + -0.20243825018405914, + -0.02995145320892334, + 0.9788368940353394, + -2.2979286175550415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9776696562767029, + -0.06472916156053543, + 0.1999303102493286, + -0.6908246659192928 + ], + [ + 0.057362526655197144, + 0.9974514842033386, + 0.04242776706814766, + -0.1209901400915412 + ], + [ + -0.2021670937538147, + -0.03001183643937111, + 0.9788910746574402, + -2.2961005189009875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9777175784111023, + -0.06494972854852676, + 0.19962437450885773, + -0.6901404756966025 + ], + [ + 0.05759289860725403, + 0.9974372982978821, + 0.04244818538427353, + -0.12039792893930923 + ], + [ + -0.20186980068683624, + -0.03000538982450962, + 0.9789526462554932, + -2.295844766600707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9778199195861816, + -0.06427408009767532, + 0.1993415355682373, + -0.6895481728537138 + ], + [ + 0.05690629035234451, + 0.9974754452705383, + 0.04247841611504555, + -0.11987920819326889 + ], + [ + -0.20156854391098022, + -0.030192455276846886, + 0.9790089726448059, + -2.2963006763090923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9778782725334167, + -0.06430185586214066, + 0.19904614984989166, + -0.6888802899489569 + ], + [ + 0.056930672377347946, + 0.9974713325500488, + 0.04254285991191864, + -0.11941617860350497 + ], + [ + -0.20127840340137482, + -0.030269905924797058, + 0.9790662527084351, + -2.2954553032961003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9778967499732971, + -0.06540576368570328, + 0.19859524071216583, + -0.6888298377256061 + ], + [ + 0.058027464896440506, + 0.997399091720581, + 0.04275420308113098, + -0.11943304511003716 + ], + [ + -0.20087508857250214, + -0.030285216867923737, + 0.9791486263275146, + -2.298623048864132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9779525399208069, + -0.0656941682100296, + 0.19822487235069275, + -0.6875903132557869 + ], + [ + 0.058343686163425446, + 0.9973828196525574, + 0.04270339757204056, + -0.11848151216673296 + ], + [ + -0.20051142573356628, + -0.030196726322174072, + 0.9792258739471436, + -2.296936592695325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9779772758483887, + -0.06623075157403946, + 0.1979239583015442, + -0.6869825885184976 + ], + [ + 0.058880846947431564, + 0.9973471164703369, + 0.04279884696006775, + -0.11794905372830324 + ], + [ + -0.20023348927497864, + -0.03020237199962139, + 0.979282557964325, + -2.296719616408958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9779125452041626, + -0.07723663002252579, + 0.19422045350074768, + -0.6764663108732811 + ], + [ + 0.0701705738902092, + 0.99660724401474, + 0.04301246628165245, + -0.11748091529968173 + ], + [ + -0.1968836486339569, + -0.028433870524168015, + 0.980014443397522, + -2.2993833857826713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9775409698486328, + -0.0879848301410675, + 0.19150033593177795, + -0.6654343198343765 + ], + [ + 0.08118827641010284, + 0.9957678318023682, + 0.04306834936141968, + -0.1154599728417951 + ], + [ + -0.19447922706604004, + -0.026553496718406677, + 0.9805471897125244, + -2.2740910285434057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9772017598152161, + -0.08510918915271759, + 0.19450758397579193, + -0.6760675716330838 + ], + [ + 0.07808737456798553, + 0.9959969520568848, + 0.04350152611732483, + -0.11607451641282371 + ], + [ + -0.19743134081363678, + -0.027321182191371918, + 0.9799359440803528, + -2.2750327482091826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9774858355522156, + -0.08865402638912201, + 0.19147296249866486, + -0.6641520382914432 + ], + [ + 0.08182862401008606, + 0.9957062005996704, + 0.043280500918626785, + -0.11395540274852929 + ], + [ + -0.1944878250360489, + -0.026638109236955643, + 0.9805431365966797, + -2.2675649482912794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9776263236999512, + -0.0857531949877739, + 0.19207581877708435, + -0.6668460223945074 + ], + [ + 0.07880965620279312, + 0.9959394335746765, + 0.04351713880896568, + -0.11445032513418862 + ], + [ + -0.19502761960029602, + -0.02740607038140297, + 0.9804147481918335, + -2.276411021568401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9774695038795471, + -0.08648373186588287, + 0.19254593551158905, + -0.6702660346447036 + ], + [ + 0.07948483526706696, + 0.9958735108375549, + 0.0437965989112854, + -0.11555680008821707 + ], + [ + -0.19553910195827484, + -0.027505360543727875, + 0.9803101420402527, + -2.286754875439544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9776458740234375, + -0.08559632301330566, + 0.19204634428024292, + -0.6680931611948235 + ], + [ + 0.07859401404857635, + 0.9959439635276794, + 0.04380204901099205, + -0.11442987525185873 + ], + [ + -0.19501668214797974, + -0.027729202061891556, + 0.9804078936576843, + -2.281570955575552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9785211682319641, + -0.06848984211683273, + 0.19443614780902863, + -0.6781919910186945 + ], + [ + 0.06115003675222397, + 0.9971797466278076, + 0.04351084306836128, + -0.11409104009007298 + ], + [ + -0.19686783850193024, + -0.030686507001519203, + 0.9799497127532959, + -2.3061213426257288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9786137342453003, + -0.0691133365035057, + 0.19374844431877136, + -0.6754593244645485 + ], + [ + 0.06178406998515129, + 0.9971356391906738, + 0.043626818805933, + -0.11322194947752841 + ], + [ + -0.196208655834198, + -0.030723240226507187, + 0.9800807237625122, + -2.3001763026225706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9787886738777161, + -0.06618614494800568, + 0.19388675689697266, + -0.6769187432250311 + ], + [ + 0.05879952758550644, + 0.9973165988922119, + 0.04361427575349808, + -0.11282397220301073 + ], + [ + -0.19625315070152283, + -0.031288713216781616, + 0.9800539612770081, + -2.3047122033529504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9789416193962097, + -0.06473924219608307, + 0.19360297918319702, + -0.6761522744630658 + ], + [ + 0.05730398744344711, + 0.9973969459533691, + 0.043767206370830536, + -0.11219703998676565 + ], + [ + -0.19593247771263123, + -0.03175131976604462, + 0.9801031947135925, + -2.3035186849707783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.979080319404602, + -0.06323111802339554, + 0.19339986145496368, + -0.6759634213807971 + ], + [ + 0.05575735494494438, + 0.9974809288978577, + 0.04385162889957428, + -0.1116712678864945 + ], + [ + -0.1956854611635208, + -0.03215080499649048, + 0.9801395535469055, + -2.304205733565397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.979245126247406, + -0.061751190572977066, + 0.19304342567920685, + -0.6745674436400796 + ], + [ + 0.05424993112683296, + 0.9975614547729492, + 0.043910469859838486, + -0.11071729623994161 + ], + [ + -0.19528420269489288, + -0.032526519149541855, + 0.9802071452140808, + -2.301243171419862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9793841242790222, + -0.06052203103899956, + 0.19272717833518982, + -0.6743570830967537 + ], + [ + 0.052955787628889084, + 0.9976192712783813, + 0.04417584836483002, + -0.11056423701519189 + ], + [ + -0.19494196772575378, + -0.03305910527706146, + 0.9802574515342712, + -2.302267935955247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9795277714729309, + -0.05939614772796631, + 0.19234725832939148, + -0.6736968380905861 + ], + [ + 0.05179443955421448, + 0.9976740479469299, + 0.044315166771411896, + -0.11014331857825434 + ], + [ + -0.19453200697898865, + -0.03344541788101196, + 0.9803258180618286, + -2.3028571793922157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9796307682991028, + -0.05869908630847931, + 0.19203633069992065, + -0.6730139837708584 + ], + [ + 0.05106884241104126, + 0.9977055191993713, + 0.0444488562643528, + -0.10959432568661003 + ], + [ + -0.19420480728149414, + -0.033736396580934525, + 0.9803807139396667, + -2.301672662759936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9797388315200806, + -0.05794774740934372, + 0.19171303510665894, + -0.6731698853158674 + ], + [ + 0.0502939373254776, + 0.9977400898933411, + 0.04455550014972687, + -0.10945840177147888 + ], + [ + -0.19386166334152222, + -0.03401075303554535, + 0.9804391264915466, + -2.3035686613723287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9798692464828491, + -0.0569634810090065, + 0.19134125113487244, + -0.6733493375847506 + ], + [ + 0.049303874373435974, + 0.9977893233299255, + 0.04456020146608353, + -0.10920534566391346 + ], + [ + -0.19345656037330627, + -0.03422930836677551, + 0.9805115461349487, + -2.30682151941366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9800105094909668, + -0.055934756994247437, + 0.19092072546482086, + -0.6724662306281023 + ], + [ + 0.04828954488039017, + 0.9978430271148682, + 0.044467926025390625, + -0.10860158478104791 + ], + [ + -0.19299621880054474, + -0.034359559416770935, + 0.980597734451294, + -2.3068385324713794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9801058173179626, + -0.05539783462882042, + 0.19058765470981598, + -0.6721649148644403 + ], + [ + 0.04777058586478233, + 0.9978715777397156, + 0.044387441128492355, + -0.1080812824881354 + ], + [ + -0.1926409751176834, + -0.034399908035993576, + 0.9806661605834961, + -2.3081267289297527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9801747798919678, + -0.0554078184068203, + 0.19022992253303528, + -0.6720096006556305 + ], + [ + 0.047778528183698654, + 0.9978678226470947, + 0.044463932514190674, + -0.10794273205967836 + ], + [ + -0.19228795170783997, + -0.034493520855903625, + 0.9807321429252625, + -2.3096391482755196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9802677035331726, + -0.05515870451927185, + 0.18982291221618652, + -0.6716684188121973 + ], + [ + 0.047509849071502686, + 0.997873842716217, + 0.044615570455789566, + -0.10779731786528299 + ], + [ + -0.1918802559375763, + -0.03471674397587776, + 0.9808041453361511, + -2.3109244625062444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9803975224494934, + -0.054169654846191406, + 0.18943677842617035, + -0.6712809776705365 + ], + [ + 0.04648420214653015, + 0.9979146718978882, + 0.044783756136894226, + -0.10753255604311476 + ], + [ + -0.19146765768527985, + -0.0351000651717186, + 0.9808710813522339, + -2.311858710705541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9805276989936829, + -0.05310673639178276, + 0.1890636831521988, + -0.6708374883685001 + ], + [ + 0.04540189728140831, + 0.9979612231254578, + 0.044856030493974686, + -0.10712960534317548 + ], + [ + -0.1910603791475296, + -0.035398732870817184, + 0.9809398055076599, + -2.3125240574049397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9806368350982666, + -0.052364178001880646, + 0.18870437145233154, + -0.6705414542243924 + ], + [ + 0.04463249444961548, + 0.9979897141456604, + 0.04499439522624016, + -0.10694421027981958 + ], + [ + -0.1906810998916626, + -0.03570081666111946, + 0.9810026288032532, + -2.313742668276956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9807468056678772, + -0.05188604071736336, + 0.18826457858085632, + -0.6701887789333976 + ], + [ + 0.04415377601981163, + 0.9980090260505676, + 0.04503800719976425, + -0.10671747028827668 + ], + [ + -0.19022658467292786, + -0.035858288407325745, + 0.9810851216316223, + -2.3153806418180465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9808633923530579, + -0.0514361597597599, + 0.18777990341186523, + -0.6698335443454426 + ], + [ + 0.043709415942430496, + 0.998027503490448, + 0.045061975717544556, + -0.10648982565070307 + ], + [ + -0.18972733616828918, + -0.03599189221858978, + 0.9811769127845764, + -2.317174252555814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9809504747390747, + -0.05105467513203621, + 0.18742884695529938, + -0.6696808539504229 + ], + [ + 0.04332583770155907, + 0.9980422258377075, + 0.04510630667209625, + -0.10633581800516262 + ], + [ + -0.18936480581760406, + -0.03612654656171799, + 0.9812420010566711, + -2.318990740928539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.981022298336029, + -0.05090687796473503, + 0.18709301948547363, + -0.6691567945324405 + ], + [ + 0.04317737743258476, + 0.9980461597442627, + 0.045161742717027664, + -0.10599584099858306 + ], + [ + -0.18902650475502014, + -0.03622649237513542, + 0.9813035130500793, + -2.31888035489896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9810966849327087, + -0.050604499876499176, + 0.18678446114063263, + -0.6688187943433607 + ], + [ + 0.04285836219787598, + 0.9980545043945312, + 0.04528133198618889, + -0.1056869223644567 + ], + [ + -0.18871252238750458, + -0.03642008826136589, + 0.9813567996025085, + -2.319648419012164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9811745285987854, + -0.05037050321698189, + 0.1864386945962906, + -0.6682964969426394 + ], + [ + 0.04259815439581871, + 0.9980573058128357, + 0.045464932918548584, + -0.10540285408496856 + ], + [ + -0.1883665770292282, + -0.03666708618402481, + 0.9814140796661377, + -2.3197682596743108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/41452f39-561f-4eac-8b88-dd4262727c5b/boom_up/transforms.json b/dynpose_eval/camera_controls/41452f39-561f-4eac-8b88-dd4262727c5b/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..aa5e1f515172ba304a1c7d453a7c62a1da5d8b68 --- /dev/null +++ b/dynpose_eval/camera_controls/41452f39-561f-4eac-8b88-dd4262727c5b/boom_up/transforms.json @@ -0,0 +1,7573 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 216, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.0001312803797191009, + 2.64021655311808e-05, + -3.054914122913033e-05 + ], + [ + -0.00013128032151143998, + 1.0, + -1.8736639049166115e-06, + -1.3077275980322156e-05 + ], + [ + -2.640241291373968e-05, + 1.8701978206081549e-06, + 1.0, + 0.00020201025472488254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999991059303284, + 0.00047332042595371604, + 0.001248704269528389, + 0.0006568712920632734 + ], + [ + -0.0004729317734017968, + 0.9999998211860657, + -0.00031153837335295975, + -0.0006022946414846364 + ], + [ + -0.0012488514184951782, + 0.00031094756559468806, + 0.9999991655349731, + 0.0011886212352506254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999974370002747, + 0.0004651173949241638, + 0.002208874560892582, + 0.0014032249357334749 + ], + [ + -0.00046441651647910476, + 0.9999998211860657, + -0.00031780885183252394, + -0.0012921790069586403 + ], + [ + -0.0022090221755206585, + 0.0003167821851093322, + 0.9999974966049194, + 0.0011481613280024206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999954104423523, + 0.0003091527905780822, + 0.00302365911193192, + 0.002249103797190866 + ], + [ + -0.0003083803167100996, + 0.9999999403953552, + -0.0002559429267421365, + -0.001995023401713995 + ], + [ + -0.003023737808689475, + 0.0002550093340687454, + 0.9999954104423523, + 0.0020560917292645766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999992311000824, + 0.000899025471881032, + 0.003811193397268653, + 0.0031415103501531965 + ], + [ + -0.0008985192980617285, + 0.9999995827674866, + -0.00013452979328576475, + -0.002449411956084416 + ], + [ + -0.0038113126065582037, + 0.0001311043306486681, + 0.9999927282333374, + 0.002299846241461806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999890327453613, + 0.0011430111480876803, + 0.004538079723715782, + 0.004070137922251381 + ], + [ + -0.0011442104587331414, + 0.9999992847442627, + 0.0002617148566059768, + -0.003099490223225033 + ], + [ + -0.004537777043879032, + -0.00026690453523769975, + 0.9999896883964539, + 0.0024432416356894252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999846816062927, + 0.0011657803552225232, + 0.00541154807433486, + 0.00507198856417956 + ], + [ + -0.0011687505757436156, + 0.9999991655349731, + 0.000545726390555501, + -0.003559366448966483 + ], + [ + -0.005410907324403524, + -0.000552042736671865, + 0.9999852180480957, + 0.0024681749659438814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999786615371704, + 0.0012999138562008739, + 0.0064003486186265945, + 0.006079262705942139 + ], + [ + -0.0013057527830824256, + 0.9999987483024597, + 0.0009081980097107589, + -0.0040755812541668325 + ], + [ + -0.006399160251021385, + -0.0009165359078906476, + 0.9999790787696838, + 0.0032047260284348024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999709129333496, + 0.0022110044956207275, + 0.007296702358871698, + 0.007031825215577386 + ], + [ + -0.002219872083514929, + 0.9999967813491821, + 0.0012074377154931426, + -0.0046680860038370246 + ], + [ + -0.00729400897398591, + -0.001223600353114307, + 0.9999726414680481, + 0.0038450243165933117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999961256980896, + 0.003073018742725253, + 0.008246487006545067, + 0.008158285730128544 + ], + [ + -0.0030852879863232374, + 0.999994158744812, + 0.0014755002921447158, + -0.005232221644241797 + ], + [ + -0.008241904899477959, + -0.0015008860500529408, + 0.9999648928642273, + 0.003993194627001622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999474287033081, + 0.004033295903354883, + 0.009425090625882149, + 0.009298863004199987 + ], + [ + -0.004050493706017733, + 0.9999901652336121, + 0.0018062681192532182, + -0.005812439627317322 + ], + [ + -0.009417712688446045, + -0.0018443494336679578, + 0.9999539256095886, + 0.004130122674694068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999293088912964, + 0.004641320556402206, + 0.010948502458631992, + 0.010243995686949685 + ], + [ + -0.0046648867428302765, + 0.9999868273735046, + 0.002127939136698842, + -0.006408648873506071 + ], + [ + -0.01093848142772913, + -0.002178861992433667, + 0.9999377727508545, + 0.005086737419695182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999107718467712, + 0.005180966574698687, + 0.012313765473663807, + 0.011212620496056801 + ], + [ + -0.005209208000451326, + 0.9999838471412659, + 0.0022625201381742954, + -0.006917899771225314 + ], + [ + -0.012301844544708729, + -0.0023264633491635323, + 0.9999216198921204, + 0.006100586096561232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998922348022461, + 0.0059691909700632095, + 0.013410553336143494, + 0.012180342031426207 + ], + [ + -0.005997105501592159, + 0.9999799132347107, + 0.0020423096138983965, + -0.007476311421974801 + ], + [ + -0.013398094102740288, + -0.002122514182701707, + 0.9999079704284668, + -0.0007397623197175563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998425841331482, + 0.010174482129514217, + 0.014535662718117237, + 0.012376944518019987 + ], + [ + -0.010187379084527493, + 0.9999477863311768, + 0.0008134616655297577, + -0.007419128874912425 + ], + [ + -0.014526627026498318, + -0.0009614138980396092, + 0.9998940229415894, + -0.039402732606381614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9997983574867249, + 0.011911078356206417, + 0.016168298199772835, + 0.011094419720994179 + ], + [ + -0.011928512714803219, + 0.99992835521698, + 0.000982333323918283, + -0.008757564421678177 + ], + [ + -0.016155438497662544, + -0.0011749990517273545, + 0.9998688101768494, + -0.1142901906941281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9998046159744263, + 0.012480534613132477, + 0.015327162109315395, + 0.011968321707532849 + ], + [ + -0.012485085055232048, + 0.9999220371246338, + 0.00020118628162890673, + -0.008709447674215014 + ], + [ + -0.015323455445468426, + -0.0003925078781321645, + 0.9998825192451477, + -0.23841768467062435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.999811589717865, + 0.01298664789646864, + 0.01442659366875887, + 0.012522552803938472 + ], + [ + -0.012948616407811642, + 0.999912440776825, + -0.0027264670934528112, + -0.004572350531166723 + ], + [ + -0.014460737816989422, + 0.002539148787036538, + 0.9998922348022461, + -0.370138098955436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9997856616973877, + 0.011703946627676487, + 0.017077593132853508, + 0.005527111016820336 + ], + [ + -0.0117171136662364, + 0.9999311566352844, + 0.0006711108144372702, + -0.011577548290018079 + ], + [ + -0.017068563029170036, + -0.0008710670517757535, + 0.9998539686203003, + -0.5068336516357742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998112916946411, + 0.010014081373810768, + 0.016645343974232674, + 0.003892225279624379 + ], + [ + -0.010088611394166946, + 0.9999394416809082, + 0.0043995496816933155, + -0.019524247017364167 + ], + [ + -0.01660027913749218, + -0.004566647578030825, + 0.9998517632484436, + -0.6478310186634664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9997638463973999, + 0.008613861165940762, + 0.019950343295931816, + -0.006188735175271367 + ], + [ + -0.008759749121963978, + 0.9999354481697083, + 0.0072367191314697266, + -0.02572839453296606 + ], + [ + -0.019886719062924385, + -0.007409770041704178, + 0.9997747540473938, + -0.7937265979342683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9997314810752869, + 0.007828989997506142, + 0.02181079611182213, + -0.013623102738760239 + ], + [ + -0.008066162467002869, + 0.9999090433120728, + 0.010807456448674202, + -0.03422904099489368 + ], + [ + -0.02172420173883438, + -0.010980483144521713, + 0.9997037053108215, + -0.9438904895148305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9996672868728638, + 0.006751015316694975, + 0.024893829599022865, + -0.024962255967304458 + ], + [ + -0.007118349429219961, + 0.9998666644096375, + 0.014697050675749779, + -0.04504994737547498 + ], + [ + -0.0247912909835577, + -0.014869363978505135, + 0.999582052230835, + -1.0983149599561164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.999548077583313, + 0.004354639910161495, + 0.029744045808911324, + -0.043083373221980276 + ], + [ + -0.0050328634679317474, + 0.9997281432151794, + 0.02276533655822277, + -0.06920907809290774 + ], + [ + -0.029636824503540993, + -0.022904744371771812, + 0.9992982745170593, + -1.27426440243371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9995177388191223, + 0.005810554139316082, + 0.03050362505018711, + -0.050501772241536964 + ], + [ + -0.006484461948275566, + 0.9997360706329346, + 0.022040488198399544, + -0.0722591502583304 + ], + [ + -0.03036750666797161, + -0.022227657958865166, + 0.9992915987968445, + -1.4242877478585687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9993947744369507, + 0.006246914155781269, + 0.0342198982834816, + -0.06827616229176868 + ], + [ + -0.007112119346857071, + 0.999656617641449, + 0.025220602750778198, + -0.08836709967879362 + ], + [ + -0.0340505987405777, + -0.025448717176914215, + 0.9990960359573364, + -1.5963656523719776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9991856217384338, + 0.007549797650426626, + 0.039636462926864624, + -0.09249693946739615 + ], + [ + -0.008608194068074226, + 0.999609112739563, + 0.026600198820233345, + -0.10044821096714153 + ], + [ + -0.03942014276981354, + -0.026919735595583916, + 0.9988600611686707, + -1.7644815640757943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9990489482879639, + 0.008965104818344116, + 0.042670875787734985, + -0.11082935264637304 + ], + [ + -0.010218115523457527, + 0.9995202422142029, + 0.029237598180770874, + -0.11772369826255843 + ], + [ + -0.04238829016685486, + -0.029645808041095734, + 0.9986612796783447, + -1.9535467568836933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9991070032119751, + 0.012428483925759792, + 0.04038166627287865, + -0.11041149788297885 + ], + [ + -0.013543491251766682, + 0.9995312690734863, + 0.027456510812044144, + -0.11988608902276948 + ], + [ + -0.04002149775624275, + -0.02797890082001686, + 0.9988070130348206, + -2.134540961904581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9970685243606567, + 0.010539088398218155, + 0.07578473538160324, + -0.25013674602432306 + ], + [ + -0.013713005930185318, + 0.9990450739860535, + 0.041483037173748016, + -0.1786396196415258 + ], + [ + -0.07527517527341843, + -0.04240066558122635, + 0.996260941028595, + -2.291024735122919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.997037947177887, + 0.011421691626310349, + 0.07605864852666855, + -0.2524439588708933 + ], + [ + -0.014542777091264725, + 0.9990692734718323, + 0.04060864821076393, + -0.17920482484407202 + ], + [ + -0.07552403956651688, + -0.04159446433186531, + 0.9962760806083679, + -2.3199402515451575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9969820976257324, + 0.011842455714941025, + 0.07672332972288132, + -0.2537693225107221 + ], + [ + -0.014957034960389137, + 0.9990817904472351, + 0.040148332715034485, + -0.17965398288050363 + ], + [ + -0.07617742568254471, + -0.04117472469806671, + 0.9962437748908997, + -2.3202283184264982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9969303011894226, + 0.011004999279975891, + 0.07751666009426117, + -0.25524714766546736 + ], + [ + -0.014113711193203926, + 0.999113142490387, + 0.03967079520225525, + -0.18004797077456186 + ], + [ + -0.07701133191585541, + -0.04064306616783142, + 0.9962014555931091, + -2.319784589146459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9968811869621277, + 0.008991987444460392, + 0.07840293645858765, + -0.2568981071409964 + ], + [ + -0.012082579545676708, + 0.9991648197174072, + 0.03903449699282646, + -0.18002587195052658 + ], + [ + -0.0779864639043808, + -0.039860066026449203, + 0.9961572885513306, + -2.319548106444783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.996823787689209, + 0.006865255068987608, + 0.07934244722127914, + -0.2587730854190886 + ], + [ + -0.009961500763893127, + 0.9992014169692993, + 0.03869415447115898, + -0.18036083806392758 + ], + [ + -0.07901344448328018, + -0.039361622184515, + 0.996096134185791, + -2.3174682143989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9967659711837769, + 0.004045702517032623, + 0.08025716990232468, + -0.2606809110662272 + ], + [ + -0.007141365669667721, + 0.9992399215698242, + 0.03832234814763069, + -0.18063692027746245 + ], + [ + -0.08004113286733627, + -0.03877155855298042, + 0.9960372447967529, + -2.315200973154847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.996706485748291, + 0.000626477412879467, + 0.08109114319086075, + -0.26256862226440464 + ], + [ + -0.0037281676195561886, + 0.9992668628692627, + 0.038103681057691574, + -0.18078429237354635 + ], + [ + -0.08100781589746475, + -0.03828050568699837, + 0.995978057384491, + -2.3129645710421163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9933019280433655, + -0.002606520662084222, + 0.11551819741725922, + -0.394167896178551 + ], + [ + -0.00256866286508739, + 0.9990003705024719, + 0.044628243893384933, + -0.2065545359323191 + ], + [ + -0.11551904678344727, + -0.04462604597210884, + 0.9923022985458374, + -2.3197495568612982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9908322095870972, + -0.006664193235337734, + 0.13493362069129944, + -0.4674922456254446 + ], + [ + 0.00015367637388408184, + 0.9988375306129456, + 0.04820280894637108, + -0.22147155311218528 + ], + [ + -0.13509801030158997, + -0.047740157693624496, + 0.9896814823150635, + -2.315994008096845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9888266921043396, + -0.009884648025035858, + 0.14874149858951569, + -0.5187269923818666 + ], + [ + 0.002493253443390131, + 0.9987562298774719, + 0.049797527492046356, + -0.2292746679311575 + ], + [ + -0.14904873073101044, + -0.0488702729344368, + 0.9876214861869812, + -2.311052993899861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9864851832389832, + -0.011942675337195396, + 0.16341473162174225, + -0.5733597446666208 + ], + [ + 0.003638964146375656, + 0.9986910223960876, + 0.05101902037858963, + -0.2355001821767452 + ], + [ + -0.1638101190328598, + -0.049734845757484436, + 0.9852373600006104, + -2.3062088520027872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9840664267539978, + -0.014092450961470604, + 0.17724193632602692, + -0.6244723376605746 + ], + [ + 0.004840463399887085, + 0.9986079335212708, + 0.05252423137426376, + -0.24256905812163687 + ], + [ + -0.17773540318012238, + -0.05082939565181732, + 0.982764720916748, + -2.2995794871310853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9814378619194031, + -0.016249321401119232, + 0.19109071791172028, + -0.6752938289489857 + ], + [ + 0.005980910267680883, + 0.9985126852989197, + 0.05419030413031578, + -0.24974517582460892 + ], + [ + -0.19168706238269806, + -0.052041519433259964, + 0.9800753593444824, + -2.2914304651181365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9704259037971497, + -0.01861673593521118, + 0.24068033695220947, + -0.8653355991840362 + ], + [ + 0.004771826323121786, + 0.998306393623352, + 0.05797940865159035, + -0.2654435509443283 + ], + [ + -0.2413521111011505, + -0.055116232484579086, + 0.9688711762428284, + -2.2626208103448153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9699945449829102, + -0.01970161870121956, + 0.24232704937458038, + -0.867594092786312 + ], + [ + 0.005836407653987408, + 0.9983109831809998, + 0.057802289724349976, + -0.26551665403122127 + ], + [ + -0.2430565506219864, + -0.0546535849571228, + 0.9684712290763855, + -2.2600540410640626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9696837663650513, + -0.019931767135858536, + 0.2435491383075714, + -0.8680285775297603 + ], + [ + 0.0061075566336512566, + 0.9983333945274353, + 0.05738534778356552, + -0.2646835030511368 + ], + [ + -0.24428704380989075, + -0.054158151149749756, + 0.9681894183158875, + -2.2546662276567413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9694123864173889, + -0.020701617002487183, + 0.24456307291984558, + -0.869231764299925 + ], + [ + 0.006940907798707485, + 0.9983503222465515, + 0.0569949671626091, + -0.26440700768038283 + ], + [ + -0.2453395128250122, + -0.05355414003133774, + 0.9679568409919739, + -2.2522476021287052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9690943360328674, + -0.021474268287420273, + 0.24575400352478027, + -0.8711448398700287 + ], + [ + 0.007738098502159119, + 0.9983599185943604, + 0.056723810732364655, + -0.2643772055243337 + ], + [ + -0.24656903743743896, + -0.05306905508041382, + 0.9676710963249207, + -2.2501719303741012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9687413573265076, + -0.02237563580274582, + 0.24706169962882996, + -0.8726881716972174 + ], + [ + 0.00865259487181902, + 0.998365581035614, + 0.05649171024560928, + -0.2641182489173357 + ], + [ + -0.24792194366455078, + -0.05258813500404358, + 0.9673516750335693, + -2.2452222424884174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9684603810310364, + -0.02341645583510399, + 0.2480648159980774, + -0.8740393149592849 + ], + [ + 0.009713023900985718, + 0.9983654022216797, + 0.05632197484374046, + -0.26430776390918465 + ], + [ + -0.24897819757461548, + -0.0521361418068409, + 0.9671047925949097, + -2.241739093805122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9681921005249023, + -0.025372115895152092, + 0.24891825020313263, + -0.8758679400089868 + ], + [ + 0.011725114658474922, + 0.9983531832695007, + 0.05615566670894623, + -0.26493668729482694 + ], + [ + -0.24993310868740082, + -0.051450878381729126, + 0.9668951630592346, + -2.2420996143374334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9679674506187439, + -0.026965703815221786, + 0.24962344765663147, + -0.8763140098629303 + ], + [ + 0.01346498355269432, + 0.9983603954315186, + 0.05563510209321976, + -0.2644415292074514 + ], + [ + -0.25071439146995544, + -0.05049179494380951, + 0.9667434096336365, + -2.240247590618078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9676423072814941, + -0.029080992564558983, + 0.25064441561698914, + -0.8782930775887744 + ], + [ + 0.015695324167609215, + 0.9983497262001038, + 0.055239781737327576, + -0.2650889091159022 + ], + [ + -0.25183722376823425, + -0.0495184063911438, + 0.9665018916130066, + -2.238877456909002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9673638343811035, + -0.03158644586801529, + 0.2514149248600006, + -0.8804285850878372 + ], + [ + 0.0184257123619318, + 0.9983420968055725, + 0.05453021824359894, + -0.2654426372467085 + ], + [ + -0.25272050499916077, + -0.04811806231737137, + 0.9663420915603638, + -2.2401916643180124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9656388759613037, + -0.033787574619054794, + 0.2576819956302643, + -0.9048602312768614 + ], + [ + 0.020456893369555473, + 0.9983183145523071, + 0.05424043536186218, + -0.26769692351651747 + ], + [ + -0.25908133387565613, + -0.047105297446250916, + 0.9647061824798584, + -2.2395919985410777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9620307087898254, + -0.035467714071273804, + 0.2706270217895508, + -0.9537274720363839 + ], + [ + 0.021526575088500977, + 0.9982920289039612, + 0.05431058630347252, + -0.2709105199852655 + ], + [ + -0.2720910906791687, + -0.04642277583479881, + 0.9611510634422302, + -2.227385047658585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9672399759292603, + -0.03628513962030411, + 0.25125718116760254, + -0.8808451194264167 + ], + [ + 0.023753894492983818, + 0.9983262419700623, + 0.05272959545254707, + -0.2669032686671545 + ], + [ + -0.2527499198913574, + -0.04503383859992027, + 0.9664829969406128, + -2.2543716880748437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9663768410682678, + -0.03598231077194214, + 0.254599928855896, + -0.8892840374070544 + ], + [ + 0.023358287289738655, + 0.9983510971069336, + 0.0524354912340641, + -0.2671307855983113 + ], + [ + -0.25606685876846313, + -0.04472542181611061, + 0.9656238555908203, + -2.2422336650570465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9669559597969055, + -0.03545622527599335, + 0.2524659335613251, + -0.8836203039662782 + ], + [ + 0.02294374816119671, + 0.9983659982681274, + 0.05233457311987877, + -0.2677495702338773 + ], + [ + -0.2539089620113373, + -0.04481271281838417, + 0.966189444065094, + -2.2575844529444393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9639418721199036, + -0.035853445529937744, + 0.2636865973472595, + -0.9227389183432557 + ], + [ + 0.023181144148111343, + 0.9984288215637207, + 0.0510144904255867, + -0.26319440621276236 + ], + [ + -0.2651013731956482, + -0.043062448501586914, + 0.9632585048675537, + -2.236719020244687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9629004001617432, + -0.03787212818861008, + 0.2671862542629242, + -0.9358696471120036 + ], + [ + 0.02471482940018177, + 0.9983183145523071, + 0.052437275648117065, + -0.26915310378684554 + ], + [ + -0.26872286200523376, + -0.04388841241598129, + 0.9622171521186829, + -2.2313711276581123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9664933681488037, + -0.03876522555947304, + 0.25374749302864075, + -0.8835362535212622 + ], + [ + 0.026447664946317673, + 0.9983084201812744, + 0.05177650973200798, + -0.26689890223880147 + ], + [ + -0.25532540678977966, + -0.04333062842488289, + 0.965883731842041, + -2.2402266511788893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9631370306015015, + -0.03990250080823898, + 0.2660354673862457, + -0.9314280061319817 + ], + [ + 0.026698559522628784, + 0.99823397397995, + 0.053066857159137726, + -0.2730290246980135 + ], + [ + -0.26768311858177185, + -0.04400788992643356, + 0.9625014662742615, + -2.2301779166972913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9662413001060486, + -0.04607490450143814, + 0.2534855008125305, + -0.8864036828036919 + ], + [ + 0.0340290367603302, + 0.9980825185775757, + 0.05170433223247528, + -0.26968677578970446 + ], + [ + -0.25538170337677, + -0.041332997381687164, + 0.9659563899040222, + -2.252453579032837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9629502296447754, + -0.041181523352861404, + 0.26651641726493835, + -0.9317999087378036 + ], + [ + 0.028151096776127815, + 0.9982224702835083, + 0.05253041908144951, + -0.2734739230399908 + ], + [ + -0.2682059705257416, + -0.04308145120739937, + 0.9623978137969971, + -2.23173907313236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9651674032211304, + -0.040833570063114166, + 0.25842708349227905, + -0.8995644135357336 + ], + [ + 0.028475545346736908, + 0.9982728362083435, + 0.05138540267944336, + -0.2703801309646562 + ], + [ + -0.26007896661758423, + -0.04223666340112686, + 0.9646631479263306, + -2.237106847607119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9663307070732117, + -0.04493749886751175, + 0.2533486783504486, + -0.8837949169444483 + ], + [ + 0.03324393928050995, + 0.9981831312179565, + 0.050251733511686325, + -0.26811802613180735 + ], + [ + -0.2551465928554535, + -0.04013748839497566, + 0.9660689234733582, + -2.247553368207327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.961898148059845, + -0.03897017240524292, + 0.2706165909767151, + -0.9495229378134705 + ], + [ + 0.02624817192554474, + 0.9983804225921631, + 0.05047359690070152, + -0.27117147239141687 + ], + [ + -0.27214527130126953, + -0.041447270661592484, + 0.9613631367683411, + -2.226524730686878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9597882032394409, + -0.03584594279527664, + 0.2784270942211151, + -0.9804698306876559 + ], + [ + 0.022805657237768173, + 0.9984920620918274, + 0.04993511736392975, + -0.2718610955809438 + ], + [ + -0.279797226190567, + -0.04157742112874985, + 0.9591584205627441, + -2.2208210138526074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9666430950164795, + -0.03955729678273201, + 0.25305408239364624, + -0.8870300115385028 + ], + [ + 0.027974795550107956, + 0.9983966946601868, + 0.04920779541134834, + -0.271752286733583 + ], + [ + -0.25459492206573486, + -0.04048724099993706, + 0.9661998748779297, + -2.257275127811834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9626186490058899, + -0.03628845140337944, + 0.268418550491333, + -0.9400624024833357 + ], + [ + 0.023699522018432617, + 0.998468279838562, + 0.04999382421374321, + -0.27588664057642914 + ], + [ + -0.2698215842247009, + -0.04176359996199608, + 0.9620042443275452, + -2.2279517211019995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9624018669128418, + -0.03733251616358757, + 0.2690519094467163, + -0.9428368423203396 + ], + [ + 0.024913521483540535, + 0.998466968536377, + 0.04942713677883148, + -0.27466897294964904 + ], + [ + -0.27048468589782715, + -0.04086574167013168, + 0.9618565440177917, + -2.228097844965929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9663166999816895, + -0.044917862862348557, + 0.2534056305885315, + -0.887590722663458 + ], + [ + 0.033670824021101, + 0.9982531070709229, + 0.04854949191212654, + -0.2726563766529394 + ], + [ + -0.2551437020301819, + -0.03838181123137474, + 0.9661410450935364, + -2.254762619719949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9664261341094971, + -0.043587952852249146, + 0.25322040915489197, + -0.8875981176038121 + ], + [ + 0.03222956508398056, + 0.998286783695221, + 0.04883408173918724, + -0.27359854181145515 + ], + [ + -0.25491514801979065, + -0.039033349603414536, + 0.9661752581596375, + -2.259993126823805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9660642743110657, + -0.04842611774802208, + 0.2537217140197754, + -0.8901921759545803 + ], + [ + 0.03715502843260765, + 0.9981059432029724, + 0.049031082540750504, + -0.2749814626366593 + ], + [ + -0.2556155323982239, + -0.037940140813589096, + 0.9660337567329407, + -2.2617664055664872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9662793874740601, + -0.044409867376089096, + 0.253637433052063, + -0.8879843979294217 + ], + [ + 0.032874349504709244, + 0.9982309341430664, + 0.049541182816028595, + -0.27554798853951834 + ], + [ + -0.25538885593414307, + -0.039532460272312164, + 0.9660298824310303, + -2.260304424738468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9582949280738831, + -0.03913617134094238, + 0.2830886244773865, + -0.9953984078695608 + ], + [ + 0.026491990312933922, + 0.9984787106513977, + 0.048357632011175156, + -0.2702028077147728 + ], + [ + -0.2845504879951477, + -0.03884129598736763, + 0.9578738808631897, + -2.218183336985666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9577516913414001, + -0.039269816130399704, + 0.28490278124809265, + -1.0014504432556934 + ], + [ + 0.026759926229715347, + 0.9985045790672302, + 0.04767143726348877, + -0.2676383791690649 + ], + [ + -0.28634878993034363, + -0.03803342580795288, + 0.9573702812194824, + -2.2154576358407043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9572271704673767, + -0.038352884352207184, + 0.286784291267395, + -1.0085310974578525 + ], + [ + 0.02560935914516449, + 0.9985162615776062, + 0.04805704206228256, + -0.269382518224938 + ], + [ + -0.2882019281387329, + -0.03865714371204376, + 0.9567890763282776, + -2.213446549995001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9556601643562317, + -0.03779584541916847, + 0.2920360863208771, + -1.0285601722379756 + ], + [ + 0.02477519027888775, + 0.9985324740409851, + 0.048157453536987305, + -0.27038723036300305 + ], + [ + -0.2934276759624481, + -0.038786910474300385, + 0.9551941156387329, + -2.206275297496901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.958517849445343, + -0.03861886262893677, + 0.28240421414375305, + -0.992276874808378 + ], + [ + 0.0257759690284729, + 0.99846351146698, + 0.049053091555833817, + -0.27466266279996826 + ], + [ + -0.28386470675468445, + -0.03973902389407158, + 0.9580405354499817, + -2.2166106807631114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9656774401664734, + -0.05156450346112251, + 0.2545745074748993, + -0.8859060721671166 + ], + [ + 0.040209364145994186, + 0.9979588389396667, + 0.04961210489273071, + -0.2775416939341745 + ], + [ + -0.2566131055355072, + -0.03767301142215729, + 0.965779721736908, + -2.2357320755512213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9615214467048645, + -0.039480552077293396, + 0.271878182888031, + -0.9522651656422504 + ], + [ + 0.027007250115275383, + 0.9984104037284851, + 0.04946974292397499, + -0.27736200819181844 + ], + [ + -0.27339911460876465, + -0.040223535150289536, + 0.9610593318939209, + -2.2234760497094586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9661209583282471, + -0.04810231551527977, + 0.2535673677921295, + -0.8928614354740049 + ], + [ + 0.03669694438576698, + 0.9980986714363098, + 0.04952201992273331, + -0.28043227621289185 + ], + [ + -0.25546738505363464, + -0.03853911906480789, + 0.9660492539405823, + -2.2703971289652722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.96617192029953, + -0.04704976826906204, + 0.2535707652568817, + -0.8968034820085348 + ], + [ + 0.03556031733751297, + 0.9981305599212646, + 0.04970774054527283, + -0.282158347562302 + ], + [ + -0.25543543696403503, + -0.03900916874408722, + 0.9660388231277466, + -2.2811874267389607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9664039611816406, + -0.042280375957489014, + 0.2535266578197479, + -0.8885409861109977 + ], + [ + 0.030563779175281525, + 0.9982825517654419, + 0.04997818171977997, + -0.2806513980377552 + ], + [ + -0.25520434975624084, + -0.04055038094520569, + 0.9660364389419556, + -2.2582177835148434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9577798247337341, + -0.03614766150712967, + 0.2852211892604828, + -1.0055028030276298 + ], + [ + 0.023105043917894363, + 0.9985333681106567, + 0.04896235466003418, + -0.27607143819332125 + ], + [ + -0.28657272458076477, + -0.040305107831954956, + 0.9572103023529053, + -2.212865573167801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9662953615188599, + -0.04529174044728279, + 0.25342047214508057, + -0.8896114110894674 + ], + [ + 0.033773746341466904, + 0.9981969594955444, + 0.04961976036429405, + -0.2800856784887092 + ], + [ + -0.2552109360694885, + -0.03938838467001915, + 0.9660828113555908, + -2.2606081688941218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9662567377090454, + -0.04717734083533287, + 0.2532235383987427, + -0.891037019449611 + ], + [ + 0.03568854555487633, + 0.9981225728988647, + 0.04977606236934662, + -0.281217359429182 + ], + [ + -0.255096435546875, + -0.03905927389860153, + 0.9661263823509216, + -2.2669798241936885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.966060221195221, + -0.04554050415754318, + 0.2542710602283478, + -0.8906226264633411 + ], + [ + 0.03388195484876633, + 0.9981720447540283, + 0.050046008080244064, + -0.28158439375633415 + ], + [ + -0.2560853660106659, + -0.03973225876688957, + 0.9658372402191162, + -2.2543553112499244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9662695527076721, + -0.04694489389657974, + 0.25321802496910095, + -0.893049031738625 + ], + [ + 0.035414695739746094, + 0.9981259107589722, + 0.049904707819223404, + -0.2829296075327452 + ], + [ + -0.255086213350296, + -0.03925376012921333, + 0.9661211967468262, + -2.272783994865279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9637854695320129, + -0.04294818639755249, + 0.2631976902484894, + -0.9239683902263641 + ], + [ + 0.030635789036750793, + 0.998243510723114, + 0.05070871859788895, + -0.28430379204971845 + ], + [ + -0.2649132311344147, + -0.04080905765295029, + 0.963408350944519, + -2.240930155928052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9652807116508484, + -0.044510357081890106, + 0.25739458203315735, + -0.9038374199839525 + ], + [ + 0.032563596963882446, + 0.9981933236122131, + 0.050494179129600525, + -0.28447185449822004 + ], + [ + -0.2591770589351654, + -0.040359362959861755, + 0.9649862051010132, + -2.252361396495686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.965173065662384, + -0.04330255091190338, + 0.2580036520957947, + -0.9064817913396414 + ], + [ + 0.03127467632293701, + 0.9982320666313171, + 0.05054392293095589, + -0.28509960313175997 + ], + [ + -0.25973618030548096, + -0.040714655071496964, + 0.964820921421051, + -2.2534351873865655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9643644690513611, + -0.04399767145514488, + 0.26089340448379517, + -0.9157515780003957 + ], + [ + 0.03177528455853462, + 0.998198926448822, + 0.050884656608104706, + -0.28619056194327597 + ], + [ + -0.26266229152679443, + -0.04078139364719391, + 0.964025616645813, + -2.24584044313708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9650723338127136, + -0.045494720339775085, + 0.2580030858516693, + -0.9054160062310308 + ], + [ + 0.033531010150909424, + 0.998156726360321, + 0.05058472603559494, + -0.2856474455012832 + ], + [ + -0.2598288357257843, + -0.04016681760549545, + 0.9648189544677734, + -2.2495021570387275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9658350944519043, + -0.046339672058820724, + 0.2549808919429779, + -0.8956474019760309 + ], + [ + 0.03462051972746849, + 0.9981358647346497, + 0.050260934978723526, + -0.28574979231801145 + ], + [ + -0.25683465600013733, + -0.0397162027657032, + 0.9656389355659485, + -2.256878835600476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.965582549571991, + -0.04515466094017029, + 0.25614726543426514, + -0.89920725125213 + ], + [ + 0.03331819176673889, + 0.9981749653816223, + 0.050364743918180466, + -0.2864966627193052 + ], + [ + -0.2579540014266968, + -0.0400969572365284, + 0.9653248190879822, + -2.2519191258088793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9634791016578674, + -0.04289556294679642, + 0.2643255293369293, + -0.930118770758773 + ], + [ + 0.0305773988366127, + 0.9982536435127258, + 0.05054362118244171, + -0.2882762656239576 + ], + [ + -0.26603201031684875, + -0.04061533510684967, + 0.9631081819534302, + -2.2411160635255105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9637033939361572, + -0.07131766527891159, + 0.2572733759880066, + -0.9000286341926386 + ], + [ + 0.060012735426425934, + 0.9968661665916443, + 0.05153929814696312, + -0.29117329622423926 + ], + [ + -0.26014280319213867, + -0.034228917211294174, + 0.9649632573127747, + -2.2283402119178413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9645573496818542, + -0.07400461286306381, + 0.2532832622528076, + -0.8856940605612689 + ], + [ + 0.06310340017080307, + 0.9967077374458313, + 0.050907909870147705, + -0.28958021450874416 + ], + [ + -0.256216824054718, + -0.03312056511640549, + 0.9660517573356628, + -2.232388904274896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9650304317474365, + -0.0682484582066536, + 0.25309765338897705, + -0.8866911369250264 + ], + [ + 0.05733530968427658, + 0.9970893263816833, + 0.05025525391101837, + -0.28805632703526074 + ], + [ + -0.2557908296585083, + -0.0339864119887352, + 0.9661345481872559, + -2.2410744418966217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9657856225967407, + -0.04505440592765808, + 0.25539830327033997, + -0.8965072209058806 + ], + [ + 0.033426374197006226, + 0.9982051849365234, + 0.0496903620660305, + -0.28779554493205495 + ], + [ + -0.2571786940097809, + -0.03945319727063179, + 0.9655581712722778, + -2.2476297336712827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9660291075706482, + -0.04407773166894913, + 0.2546466886997223, + -0.8928023405581019 + ], + [ + 0.03237456828355789, + 0.9982258677482605, + 0.04997022822499275, + -0.28814320239909863 + ], + [ + -0.25639745593070984, + -0.04002862051129341, + 0.9657422304153442, + -2.2451831798861885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9658485054969788, + -0.04484160989522934, + 0.25519782304763794, + -0.8931202193470889 + ], + [ + 0.03308486193418503, + 0.9981920719146729, + 0.05017901957035065, + -0.2880231786190077 + ], + [ + -0.2569865584373474, + -0.04002214968204498, + 0.9655858874320984, + -2.238818172355031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9663296341896057, + -0.04670257121324539, + 0.2530333399772644, + -0.885051198944796 + ], + [ + 0.03512755036354065, + 0.9981275796890259, + 0.05007374659180641, + -0.28751163108404293 + ], + [ + -0.2548981308937073, + -0.039499301463365555, + 0.9661608338356018, + -2.240413198004975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9664638042449951, + -0.046869922429323196, + 0.2524895668029785, + -0.8848669095891852 + ], + [ + 0.035300251096487045, + 0.9981170892715454, + 0.05016151815652847, + -0.2883897605607676 + ], + [ + -0.2543652057647705, + -0.039566345512866974, + 0.966298520565033, + -2.244733123134735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9659903049468994, + -0.04566816985607147, + 0.25451359152793884, + -0.8912543621659279 + ], + [ + 0.033914290368556976, + 0.9981540441513062, + 0.0503823459148407, + -0.2894070192686347 + ], + [ + -0.25634464621543884, + -0.040037207305431366, + 0.9657558798789978, + -2.2376903634397096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9659590721130371, + -0.04546833038330078, + 0.254667729139328, + -0.8915526865249457 + ], + [ + 0.033714309334754944, + 0.9981632828712463, + 0.050332918763160706, + -0.28974260758521947 + ], + [ + -0.25648853182792664, + -0.04003359377384186, + 0.9657178521156311, + -2.2365113013566926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9659768342971802, + -0.04539640620350838, + 0.25461339950561523, + -0.890915832989091 + ], + [ + 0.033647213131189346, + 0.9981665015220642, + 0.05031449720263481, + -0.28999253053997837 + ], + [ + -0.2564306855201721, + -0.040035609155893326, + 0.9657331109046936, + -2.2353727268392958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9661353230476379, + -0.04680238291621208, + 0.253756046295166, + -0.8892109558852606 + ], + [ + 0.03510868176817894, + 0.998110830783844, + 0.05041942745447159, + -0.29121737695017524 + ], + [ + -0.25563639402389526, + -0.03980294615030289, + 0.9659532904624939, + -2.240672014792298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.965946614742279, + -0.04665297642350197, + 0.2545008659362793, + -0.8902621550910002 + ], + [ + 0.03488050773739815, + 0.998110830783844, + 0.050577957183122635, + -0.291382533339567 + ], + [ + -0.2563796639442444, + -0.03997848555445671, + 0.9657490253448486, + -2.2363121350612056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9659953713417053, + -0.04707019776105881, + 0.25423869490623474, + -0.8879586327907651 + ], + [ + 0.03528779000043869, + 0.9980897903442383, + 0.05070999264717102, + -0.29162793910780616 + ], + [ + -0.25613996386528015, + -0.040014103055000305, + 0.9658111333847046, + -2.234930076488229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9657677412033081, + -0.04818640649318695, + 0.25489357113838196, + -0.8900004164077515 + ], + [ + 0.036405742168426514, + 0.9980482459068298, + 0.05073831230401993, + -0.2919540252241977 + ], + [ + -0.2568409740924835, + -0.039721839129924774, + 0.9656370282173157, + -2.2347627941432386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9658360481262207, + -0.049941085278987885, + 0.2542963922023773, + -0.8871453570557195 + ], + [ + 0.038255199790000916, + 0.9979811310768127, + 0.050696805119514465, + -0.292307505912559 + ], + [ + -0.25631484389305115, + -0.0392366424202919, + 0.9657966494560242, + -2.235470280945301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9662685394287109, + -0.050949208438396454, + 0.25244656205177307, + -0.8800640639697397 + ], + [ + 0.03950318694114685, + 0.9979572892189026, + 0.050206463783979416, + -0.2913772685583248 + ], + [ + -0.25448885560035706, + -0.03854048624634743, + 0.9663074612617493, + -2.2385646288564733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9662388563156128, + -0.050397228449583054, + 0.2526710033416748, + -0.8814057687895243 + ], + [ + 0.03891303017735481, + 0.9979784488677979, + 0.0502474270761013, + -0.2923794950163642 + ], + [ + -0.25469255447387695, + -0.038718823343515396, + 0.9662466645240784, + -2.2412493308962778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9662030339241028, + -0.05064144358038902, + 0.2527591288089752, + -0.8807803828996974 + ], + [ + 0.03918285295367241, + 0.9979719519615173, + 0.050166938453912735, + -0.2927301282660906 + ], + [ + -0.25478705763816833, + -0.038567621260881424, + 0.9662277698516846, + -2.2403073337033046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9661133289337158, + -0.05177588015794754, + 0.2528722286224365, + -0.8807265743336012 + ], + [ + 0.04038970172405243, + 0.9979313611984253, + 0.0500163696706295, + -0.2931245265311973 + ], + [ + -0.2549387812614441, + -0.03810804709792137, + 0.9662060141563416, + -2.240508452719727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9660005569458008, + -0.05180422216653824, + 0.25329676270484924, + -0.8819787878109965 + ], + [ + 0.040359027683734894, + 0.9979245066642761, + 0.05017774924635887, + -0.29411970647268515 + ], + [ + -0.25537046790122986, + -0.03824892267584801, + 0.9660863876342773, + -2.2400447173988405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9659106731414795, + -0.05265595763921738, + 0.25346383452415466, + -0.882790792958681 + ], + [ + 0.04122358560562134, + 0.9978875517845154, + 0.05021003261208534, + -0.2948181719280953 + ], + [ + -0.25557228922843933, + -0.038049716502428055, + 0.9660409092903137, + -2.2417982900558515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.965997576713562, + -0.052629582583904266, + 0.2531379759311676, + -0.881062258873568 + ], + [ + 0.04121832549571991, + 0.9978894591331482, + 0.05017698556184769, + -0.2947897061220435 + ], + [ + -0.25524452328681946, + -0.03803692013025284, + 0.9661280512809753, + -2.2422269170055555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9659985303878784, + -0.052870433777570724, + 0.2530840039253235, + -0.8802260068994622 + ], + [ + 0.0414743609726429, + 0.9978798031806946, + 0.05015791207551956, + -0.29480043164519376 + ], + [ + -0.25519925355911255, + -0.03795596957206726, + 0.9661431908607483, + -2.2411576245829115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9660013914108276, + -0.052682120352983475, + 0.2531125247478485, + -0.8801375046597664 + ], + [ + 0.041277188807725906, + 0.9978876709938049, + 0.050163522362709045, + -0.29494371306064515 + ], + [ + -0.25522056221961975, + -0.03801025450229645, + 0.9661354422569275, + -2.241336659809878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9659469127655029, + -0.053010422736406326, + 0.253251850605011, + -0.8805810962513436 + ], + [ + 0.041541483253240585, + 0.9978635311126709, + 0.05042529106140137, + -0.29596000294352687 + ], + [ + -0.25538384914398193, + -0.038187697529792786, + 0.9660853147506714, + -2.242020902994067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9659280776977539, + -0.05386170372366905, + 0.25314396619796753, + -0.8792163277867922 + ], + [ + 0.04239576682448387, + 0.9978219270706177, + 0.05053696408867836, + -0.2964090406894684 + ], + [ + -0.25531458854675293, + -0.03808284178376198, + 0.9661077260971069, + -2.2414234430897375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9656713008880615, + -0.05461684241890907, + 0.25396043062210083, + -0.8829518836909949 + ], + [ + 0.043065059930086136, + 0.9977784156799316, + 0.050830014050006866, + -0.29783407322196076 + ], + [ + -0.25617241859436035, + -0.038148269057273865, + 0.9658780694007874, + -2.2427940218809037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9656659364700317, + -0.054505039006471634, + 0.25400495529174805, + -0.8832489893273558 + ], + [ + 0.04295731708407402, + 0.9977848529815674, + 0.050793834030628204, + -0.2981454270246417 + ], + [ + -0.2562108039855957, + -0.0381385013461113, + 0.9658682346343994, + -2.2436165657119695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9656960964202881, + -0.05461644381284714, + 0.2538662254810333, + -0.8828195619028668 + ], + [ + 0.04306820034980774, + 0.9977781772613525, + 0.05083112418651581, + -0.29847321697445806 + ], + [ + -0.2560783922672272, + -0.03815385699272156, + 0.9659027457237244, + -2.2439538716160974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9657167196273804, + -0.054854866117239, + 0.25373637676239014, + -0.8822009732574224 + ], + [ + 0.04333311691880226, + 0.997769296169281, + 0.0507810041308403, + -0.29843541741371155 + ], + [ + -0.25595593452453613, + -0.03804487735033035, + 0.9659395217895508, + -2.2438184483349324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9656387567520142, + -0.055679112672805786, + 0.25385361909866333, + -0.8827918223170347 + ], + [ + 0.04410523176193237, + 0.9977210760116577, + 0.051062893122434616, + -0.2996929134740386 + ], + [ + -0.2561182379722595, + -0.038112033158540726, + 0.9658938646316528, + -2.2447227102206195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9655241966247559, + -0.057459551841020584, + 0.2538924217224121, + -0.8829593400085388 + ], + [ + 0.04587070271372795, + 0.9976273775100708, + 0.05133650451898575, + -0.30063615940337957 + ], + [ + -0.2562398314476013, + -0.03792041540145874, + 0.965869128704071, + -2.243875518261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9658516645431519, + -0.05709841102361679, + 0.25272586941719055, + -0.8798832404474879 + ], + [ + 0.045448243618011475, + 0.9976277947425842, + 0.0517030730843544, + -0.30203660162382345 + ], + [ + -0.25507852435112, + -0.038451552391052246, + 0.966155469417572, + -2.248354747683503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9657843708992004, + -0.06215852499008179, + 0.2517874538898468, + -0.8752663731297782 + ], + [ + 0.05062674731016159, + 0.9973615407943726, + 0.052028022706508636, + -0.30225822745367537 + ], + [ + -0.25435712933540344, + -0.03750067204236984, + 0.9663830399513245, + -2.2408385314393877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9654712677001953, + -0.0697474330663681, + 0.25099918246269226, + -0.8700139292866684 + ], + [ + 0.058391597121953964, + 0.9969165921211243, + 0.05241837725043297, + -0.30335508744383965 + ], + [ + -0.2538813054561615, + -0.035952191799879074, + 0.9665669798851013, + -2.230164206024519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9652040600776672, + -0.07020273059606552, + 0.2518981695175171, + -0.8737816641323788 + ], + [ + 0.05881369858980179, + 0.996889054775238, + 0.05247005820274353, + -0.30415690617505897 + ], + [ + -0.2547980546951294, + -0.03582925349473953, + 0.9663302898406982, + -2.232006762142098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9652599692344666, + -0.06911653280258179, + 0.2519843876361847, + -0.8747139950685723 + ], + [ + 0.05767326429486275, + 0.9969526529312134, + 0.05252792686223984, + -0.3048533461814703 + ], + [ + -0.25484707951545715, + -0.036170341074466705, + 0.9663046598434448, + -2.2346600289400236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9655036926269531, + -0.06489434838294983, + 0.25217315554618835, + -0.8767572677274083 + ], + [ + 0.05336136370897293, + 0.9972039461135864, + 0.05231449380517006, + -0.3047476954099744 + ], + [ + -0.2548629939556122, + -0.037053536623716354, + 0.9662669897079468, + -2.2410492630701424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9653825759887695, + -0.05909786745905876, + 0.25405505299568176, + -0.8859368373938771 + ], + [ + 0.047280002385377884, + 0.9975073933601379, + 0.05237948149442673, + -0.3061134648461674 + ], + [ + -0.25651732087135315, + -0.038554511964321136, + 0.9657703638076782, + -2.2495738307334654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9651573300361633, + -0.059341829270124435, + 0.2548525929450989, + -0.8888494911426028 + ], + [ + 0.04741567000746727, + 0.9974844455718994, + 0.05269310250878334, + -0.30771972150303595 + ], + [ + -0.25733840465545654, + -0.038773130625486374, + 0.9655431509017944, + -2.2480597545639722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9655713438987732, + -0.06011129915714264, + 0.2530979812145233, + -0.8829862604307573 + ], + [ + 0.04839920252561569, + 0.9974602460861206, + 0.05225542560219765, + -0.3066039248954418 + ], + [ + -0.2555963099002838, + -0.03820660337805748, + 0.9660283327102661, + -2.2520921490566677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9654428958892822, + -0.05909588932991028, + 0.25382623076438904, + -0.8863635882527329 + ], + [ + 0.047249265015125275, + 0.9975013136863708, + 0.052523184567689896, + -0.3082150219484817 + ], + [ + -0.2562958896160126, + -0.03871503099799156, + 0.9658227562904358, + -2.25323765799923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9653118252754211, + -0.058631159365177155, + 0.25443172454833984, + -0.888560902164426 + ], + [ + 0.04677720367908478, + 0.9975301027297974, + 0.0523981899023056, + -0.3081675324606341 + ], + [ + -0.2568754553794861, + -0.03867898881435394, + 0.9656702280044556, + -2.252310080403505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.965437650680542, + -0.05915897712111473, + 0.2538313567638397, + -0.8869994690234578 + ], + [ + 0.04736041650176048, + 0.9975051879882812, + 0.05234914645552635, + -0.30856295151765956 + ], + [ + -0.25629499554634094, + -0.038518276065588, + 0.9658308625221252, + -2.2549606697625197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9653313159942627, + -0.05880368873476982, + 0.25431787967681885, + -0.8886237905469052 + ], + [ + 0.04696233198046684, + 0.9975218176841736, + 0.052390165627002716, + -0.3090534873064174 + ], + [ + -0.2567683458328247, + -0.03863050788640976, + 0.965700626373291, + -2.2532670225653537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9653967618942261, + -0.05839713662862778, + 0.2541630268096924, + -0.8877951752481072 + ], + [ + 0.04654543101787567, + 0.9975407123565674, + 0.052402254194021225, + -0.3092738544525102 + ], + [ + -0.2565981149673462, + -0.038758840411901474, + 0.9657407402992249, + -2.2517591052710317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9657256007194519, + -0.058248165994882584, + 0.2529451549053192, + -0.8834690121405346 + ], + [ + 0.04645427688956261, + 0.9975473880767822, + 0.05235610902309418, + -0.30936005893141727 + ], + [ + -0.2553744614124298, + -0.038811251521110535, + 0.9660629034042358, + -2.2534922795656116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9656965136528015, + -0.05927974730730057, + 0.25281640887260437, + -0.8828791734402957 + ], + [ + 0.047513604164123535, + 0.9974952340126038, + 0.05239984765648842, + -0.30995927289474845 + ], + [ + -0.2552894055843353, + -0.03859012946486473, + 0.9660942554473877, + -2.2532158802882876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9657034873962402, + -0.05983496829867363, + 0.2526589632034302, + -0.8817758435496064 + ], + [ + 0.04810696467757225, + 0.997469425201416, + 0.052349187433719635, + -0.31011473695899167 + ], + [ + -0.2551519274711609, + -0.03839913755655289, + 0.9661381840705872, + -2.251267728902573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.96588534116745, + -0.059435006231069565, + 0.2520575225353241, + -0.8797897048693064 + ], + [ + 0.04777263477444649, + 0.9974962472915649, + 0.05214408412575722, + -0.30989834499913593 + ], + [ + -0.25452563166618347, + -0.03832375630736351, + 0.9663063883781433, + -2.253402290657856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9657220244407654, + -0.05952749028801918, + 0.2526606619358063, + -0.8822678844769334 + ], + [ + 0.04782414808869362, + 0.9974899291992188, + 0.052217237651348114, + -0.3109655466883682 + ], + [ + -0.25513485074043274, + -0.03834405541419983, + 0.9661449193954468, + -2.252385982940363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9658102989196777, + -0.060035865753889084, + 0.252202570438385, + -0.8805727560073138 + ], + [ + 0.04838716611266136, + 0.9974666237831116, + 0.052144378423690796, + -0.3113528015447217 + ], + [ + -0.2546941637992859, + -0.03815820813179016, + 0.9662685394287109, + -2.252165909049123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9658609628677368, + -0.059383682906627655, + 0.2521630525588989, + -0.8804129010854765 + ], + [ + 0.04775836318731308, + 0.9975054860115051, + 0.05198068171739578, + -0.31169515168944073 + ], + [ + -0.25462085008621216, + -0.038163214921951294, + 0.9662876129150391, + -2.252033127740372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.965938150882721, + -0.058671869337558746, + 0.25203394889831543, + -0.8797232426702977 + ], + [ + 0.0470946803689003, + 0.9975500702857971, + 0.05172945186495781, + -0.3117505315847175 + ], + [ + -0.25445157289505005, + -0.03809799626469612, + 0.9663348197937012, + -2.25119628235871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9661197066307068, + -0.05678517743945122, + 0.25177016854286194, + -0.87876208391647 + ], + [ + 0.045249100774526596, + 0.9976535439491272, + 0.05137975886464119, + -0.31142169780509416 + ], + [ + -0.25409701466560364, + -0.038246627897024155, + 0.9664222002029419, + -2.250898980030487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9752683639526367, + -0.10881150513887405, + 0.19238416850566864, + -0.6517920067317264 + ], + [ + 0.10250893980264664, + 0.9938260316848755, + 0.04244622588157654, + -0.2768265714479047 + ], + [ + -0.1958150416612625, + -0.021675365045666695, + 0.9804012775421143, + -2.265014601208616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9750730395317078, + -0.10898783802986145, + 0.19327247142791748, + -0.6533201059629751 + ], + [ + 0.10271978378295898, + 0.9938151240348816, + 0.042191602289676666, + -0.27595991398012915 + ], + [ + -0.19667547941207886, + -0.021286986768245697, + 0.9802375435829163, + -2.257708004061566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.965949296951294, + -0.060273341834545135, + 0.25161290168762207, + -0.879707008922516 + ], + [ + 0.048783399164676666, + 0.9974724650382996, + 0.05166151374578476, + -0.3139767578036286 + ], + [ + -0.25409072637557983, + -0.03762787580490112, + 0.966448187828064, + -2.2538164303191874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9660554528236389, + -0.0593353696167469, + 0.2514282166957855, + -0.8798417821769104 + ], + [ + 0.047765959054231644, + 0.997510552406311, + 0.0518760159611702, + -0.3148948536362759 + ], + [ + -0.2538803517818451, + -0.038105398416519165, + 0.9664847254753113, + -2.256606024503708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9767786264419556, + -0.08279339969158173, + 0.1976076364517212, + -0.6708531047785005 + ], + [ + 0.07582323253154755, + 0.996211051940918, + 0.04259549081325531, + -0.2787784530534301 + ], + [ + -0.20038554072380066, + -0.026623114943504333, + 0.9793553352355957, + -2.2850203398147295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9772824048995972, + -0.07028583437204361, + 0.1999475061893463, + -0.6782476028730703 + ], + [ + 0.06313259154558182, + 0.9971235990524292, + 0.041937507688999176, + -0.2772742784993593 + ], + [ + -0.20232000946998596, + -0.02836158312857151, + 0.9789087176322937, + -2.282501549360364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.977491557598114, + -0.06794386357069016, + 0.19973449409008026, + -0.6772596467684868 + ], + [ + 0.06077384203672409, + 0.9972751140594482, + 0.041819557547569275, + -0.27749658982421077 + ], + [ + -0.20203162729740143, + -0.028739631175994873, + 0.9789572358131409, + -2.2809260631439296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9778041243553162, + -0.07081394642591476, + 0.1971915066242218, + -0.6701560017189314 + ], + [ + 0.0637994185090065, + 0.997090756893158, + 0.04170867055654526, + -0.27826583479726036 + ], + [ + -0.1995714008808136, + -0.028202205896377563, + 0.9794773459434509, + -2.293004295742789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9778483510017395, + -0.07249739021062851, + 0.196358785033226, + -0.6691547129563121 + ], + [ + 0.06549198180437088, + 0.996971070766449, + 0.04194656386971474, + -0.2793282381185266 + ], + [ + -0.1988050490617752, + -0.02815745398402214, + 0.9796344637870789, + -2.298917604017743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9769061207771301, + -0.07915215194225311, + 0.1984676569700241, + -0.6714021563252738 + ], + [ + 0.07210943102836609, + 0.9964917898178101, + 0.042477063834667206, + -0.27941304721111476 + ], + [ + -0.20113353431224823, + -0.02718471549451351, + 0.9791865348815918, + -2.2799846141733404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9779819250106812, + -0.0729418694972992, + 0.19552694261074066, + -0.7025767814974452 + ], + [ + 0.06555351614952087, + 0.9968783259391785, + 0.044004254043102264, + -0.2967247493738352 + ], + [ + -0.19812633097171783, + -0.030217885971069336, + 0.979710578918457, + -2.4372149018354192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9777749180793762, + -0.07543712854385376, + 0.1956157088279724, + -0.7018971429314724 + ], + [ + 0.06808172166347504, + 0.9967061281204224, + 0.04406622424721718, + -0.29690831314685734 + ], + [ + -0.19829559326171875, + -0.029768992215394974, + 0.9796900749206543, + -2.434211881358263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9777148365974426, + -0.07701102644205093, + 0.19530229270458221, + -0.7002527280082537 + ], + [ + 0.06968647986650467, + 0.996593177318573, + 0.04411192983388901, + -0.2972398168957511 + ], + [ + -0.19803403317928314, + -0.029518961906433105, + 0.9797505736351013, + -2.4306118521025013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9778808355331421, + -0.06686141341924667, + 0.19818837940692902, + -0.7022367777658063 + ], + [ + 0.05933329835534096, + 0.9972816705703735, + 0.04368960112333298, + -0.2928927077803501 + ], + [ + -0.20057077705860138, + -0.03096405416727066, + 0.9791897535324097, + -2.4054491069427755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9781144857406616, + -0.06113598123192787, + 0.19888313114643097, + -0.6986230535822552 + ], + [ + 0.05353521928191185, + 0.9976233243942261, + 0.04337780177593231, + -0.29010755892409834 + ], + [ + -0.2010623961687088, + -0.03178120404481888, + 0.9790627360343933, + -2.384960412393476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9779218435287476, + -0.06655898690223694, + 0.19808781147003174, + -0.7036476020203081 + ], + [ + 0.0590553879737854, + 0.9973040223121643, + 0.043556395918130875, + -0.2944164969200312 + ], + [ + -0.20045283436775208, + -0.03089660033583641, + 0.9792160391807556, + -2.411409466228513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9780879616737366, + -0.06386586278676987, + 0.19815434515476227, + -0.6937567626286385 + ], + [ + 0.05648473650217056, + 0.9974905252456665, + 0.04268670454621315, + -0.28988510942736334 + ], + [ + -0.2003832906484604, + -0.03055865690112114, + 0.979240894317627, + -2.3759312227420337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9780043959617615, + -0.06898540258407593, + 0.19684632122516632, + -0.6852035737037658 + ], + [ + 0.061908602714538574, + 0.997202455997467, + 0.04188814386725426, + -0.2879142302274704 + ], + [ + -0.1991852968931198, + -0.02878030762076378, + 0.979539155960083, + -2.356296046078205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9776172637939453, + -0.06342104822397232, + 0.20060458779335022, + -0.6809491403678128 + ], + [ + 0.05601231008768082, + 0.9975293278694153, + 0.04240058735013008, + -0.28416581611300623 + ], + [ + -0.20279806852340698, + -0.030215222388505936, + 0.9787542819976807, + -2.295779826334396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9776939153671265, + -0.06187169998884201, + 0.2007150650024414, + -0.681564843425917 + ], + [ + 0.05440752953290939, + 0.9976139664649963, + 0.042498864233493805, + -0.2846835717212322 + ], + [ + -0.2028656303882599, + -0.03063046932220459, + 0.978727400302887, + -2.296820785943852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.977670431137085, + -0.06274573504924774, + 0.20055793225765228, + -0.6811145674004111 + ], + [ + 0.05530343949794769, + 0.9975645542144775, + 0.042503319680690765, + -0.28513016014598136 + ], + [ + -0.20273639261722565, + -0.03046269528567791, + 0.9787594079971313, + -2.2956369238320824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9776833653450012, + -0.06321966648101807, + 0.20034602284431458, + -0.6809058009192 + ], + [ + 0.05578763782978058, + 0.997536301612854, + 0.042532779276371, + -0.28573395816392677 + ], + [ + -0.20254135131835938, + -0.030406760051846504, + 0.9788015484809875, + -2.2949554704649504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9776119589805603, + -0.06475691497325897, + 0.20020340383052826, + -0.6808039029601008 + ], + [ + 0.05739007890224457, + 0.9974514842033386, + 0.04239017516374588, + -0.2858646998710411 + ], + [ + -0.20243825018405914, + -0.02995145320892334, + 0.9788368940353394, + -2.2929970759569214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9776696562767029, + -0.06472916156053543, + 0.1999303102493286, + -0.680106721028339 + ], + [ + 0.057362526655197144, + 0.9974514842033386, + 0.04242776706814766, + -0.2861495486386987 + ], + [ + -0.2021670937538147, + -0.03001183643937111, + 0.9788910746574402, + -2.2911311171463757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9777175784111023, + -0.06494972854852676, + 0.19962437450885773, + -0.6793255906638711 + ], + [ + 0.05759289860725403, + 0.9974372982978821, + 0.04244818538427353, + -0.28648283721402634 + ], + [ + -0.20186980068683624, + -0.03000538982450962, + 0.9789526462554932, + -2.290848520295045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9778199195861816, + -0.06427408009767532, + 0.1993415355682373, + -0.6787860013024751 + ], + [ + 0.05690629035234451, + 0.9974754452705383, + 0.04247841611504555, + -0.28689835251763807 + ], + [ + -0.20156854391098022, + -0.030192455276846886, + 0.9790089726448059, + -2.291245195425527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9778782725334167, + -0.06430185586214066, + 0.19904614984989166, + -0.6780536518921686 + ], + [ + 0.056930672377347946, + 0.9974713325500488, + 0.04254285991191864, + -0.28736251459565276 + ], + [ + -0.20127840340137482, + -0.030269905924797058, + 0.9790662527084351, + -2.290358695879925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9778967499732971, + -0.06540576368570328, + 0.19859524071216583, + -0.6777564898271893 + ], + [ + 0.058027464896440506, + 0.997399091720581, + 0.04275420308113098, + -0.288295030871103 + ], + [ + -0.20087508857250214, + -0.030285216867923737, + 0.9791486263275146, + -2.293495691217655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9779525399208069, + -0.0656941682100296, + 0.19822487235069275, + -0.6764070269465446 + ], + [ + 0.058343686163425446, + 0.9973828196525574, + 0.04270339757204056, + -0.28826854100061017 + ], + [ + -0.20051142573356628, + -0.030196726322174072, + 0.9792258739471436, + -2.291796126726062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9779772758483887, + -0.06623075157403946, + 0.1979239583015442, + -0.6756463482490805 + ], + [ + 0.058880846947431564, + 0.9973471164703369, + 0.04279884696006775, + -0.28865776947764465 + ], + [ + -0.20023348927497864, + -0.03020237199962139, + 0.979282557964325, + -2.2915500941318134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9779125452041626, + -0.07723663002252579, + 0.19422045350074768, + -0.6631744257066139 + ], + [ + 0.0701705738902092, + 0.99660724401474, + 0.04301246628165245, + -0.288990068920823 + ], + [ + -0.1968836486339569, + -0.028433870524168015, + 0.980014443397522, + -2.2944901150413033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9775409698486328, + -0.0879848301410675, + 0.19150033593177795, + -0.6502108980611313 + ], + [ + 0.08118827641010284, + 0.9957678318023682, + 0.04306834936141968, + -0.28775096513504206 + ], + [ + -0.19447922706604004, + -0.026553496718406677, + 0.9805471897125244, + -2.269496656087942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9772017598152161, + -0.08510918915271759, + 0.19450758397579193, + -0.6612625312874484 + ], + [ + 0.07808737456798553, + 0.9959969520568848, + 0.04350152611732483, + -0.28933166063109106 + ], + [ + -0.19743134081363678, + -0.027321182191371918, + 0.9799359440803528, + -2.270280133260544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9774858355522156, + -0.08865402638912201, + 0.19147296249866486, + -0.6486478922810666 + ], + [ + 0.08182862401008606, + 0.9957062005996704, + 0.043280500918626785, + -0.28808820806270424 + ], + [ + -0.1944878250360489, + -0.026638109236955643, + 0.9805431365966797, + -2.262906376629375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9776263236999512, + -0.0857531949877739, + 0.19207581877708435, + -0.6517694141594477 + ], + [ + 0.07880965620279312, + 0.9959394335746765, + 0.04351713880896568, + -0.28955037438592246 + ], + [ + -0.19502761960029602, + -0.02740607038140297, + 0.9804147481918335, + -2.271592651985066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9774695038795471, + -0.08648373186588287, + 0.19254593551158905, + -0.6549805378498033 + ], + [ + 0.07948483526706696, + 0.9958735108375549, + 0.0437965989112854, + -0.29157165316648265 + ], + [ + -0.19553910195827484, + -0.027505360543727875, + 0.9803101420402527, + -2.281893462878327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9776458740234375, + -0.08559632301330566, + 0.19204634428024292, + -0.6528848842687385 + ], + [ + 0.07859401404857635, + 0.9959439635276794, + 0.04380204901099205, + -0.2913836399344511 + ], + [ + -0.19501668214797974, + -0.027729202061891556, + 0.9804078936576843, + -2.276644185720835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9785211682319641, + -0.06848984211683273, + 0.19443614780902863, + -0.6659593866592229 + ], + [ + 0.06115003675222397, + 0.9971797466278076, + 0.04351084306836128, + -0.2921919808831326 + ], + [ + -0.19686783850193024, + -0.030686507001519203, + 0.9799497127532959, + -2.300640589747318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9786137342453003, + -0.0691133365035057, + 0.19374844431877136, + -0.663051069631826 + ], + [ + 0.06178406998515129, + 0.9971356391906738, + 0.043626818805933, + -0.2922425805136215 + ], + [ + -0.196208655834198, + -0.030723240226507187, + 0.9800807237625122, + -2.2946604092609744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9787886738777161, + -0.06618614494800568, + 0.19388675689697266, + -0.6649744528809259 + ], + [ + 0.05879952758550644, + 0.9973165988922119, + 0.04361427575349808, + -0.29280482818914016 + ], + [ + -0.19625315070152283, + -0.031288713216781616, + 0.9800539612770081, + -2.2990656820840614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9789416193962097, + -0.06473924219608307, + 0.19360297918319702, + -0.6644088770414508 + ], + [ + 0.05730398744344711, + 0.9973969459533691, + 0.043767206370830536, + -0.29312020692714424 + ], + [ + -0.19593247771263123, + -0.03175131976604462, + 0.9801031947135925, + -2.2977591432457745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.979080319404602, + -0.06323111802339554, + 0.19339986145496368, + -0.6644347710249036 + ], + [ + 0.05575735494494438, + 0.9974809288978577, + 0.04385162889957428, + -0.29353755817856897 + ], + [ + -0.1956854611635208, + -0.03215080499649048, + 0.9801395535469055, + -2.2983438193520835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.979245126247406, + -0.061751190572977066, + 0.19304342567920685, + -0.6632511789490317 + ], + [ + 0.05424993112683296, + 0.9975614547729492, + 0.043910469859838486, + -0.2935262326029844 + ], + [ + -0.19528420269489288, + -0.032526519149541855, + 0.9802071452140808, + -2.2952824976780386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9793841242790222, + -0.06052203103899956, + 0.19272717833518982, + -0.6632097694728264 + ], + [ + 0.052955787628889084, + 0.9976192712783813, + 0.04417584836483002, + -0.29431178651576817 + ], + [ + -0.19494196772575378, + -0.03305910527706146, + 0.9802574515342712, + -2.2961789100530536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9795277714729309, + -0.05939614772796631, + 0.19234725832939148, + -0.6627016442321068 + ], + [ + 0.05179443955421448, + 0.9976740479469299, + 0.044315166771411896, + -0.2948290260586628 + ], + [ + -0.19453200697898865, + -0.03344541788101196, + 0.9803258180618286, + -2.2966658880821496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9796307682991028, + -0.05869908630847931, + 0.19203633069992065, + -0.6620932235274204 + ], + [ + 0.05106884241104126, + 0.9977055191993713, + 0.0444488562643528, + -0.2952139571655628 + ], + [ + -0.19420480728149414, + -0.033736396580934525, + 0.9803807139396667, + -2.2953961238611575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9797388315200806, + -0.05794774740934372, + 0.19171303510665894, + -0.6623350041723528 + ], + [ + 0.0502939373254776, + 0.9977400898933411, + 0.04455550014972687, + -0.29601259532362917 + ], + [ + -0.19386166334152222, + -0.03401075303554535, + 0.9804391264915466, + -2.297209441502427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9798692464828491, + -0.0569634810090065, + 0.19134125113487244, + -0.6626455020835234 + ], + [ + 0.049303874373435974, + 0.9977893233299255, + 0.04456020146608353, + -0.2966969208384669 + ], + [ + -0.19345656037330627, + -0.03422930836677551, + 0.9805115461349487, + -2.3003895935624143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9800105094909668, + -0.055934756994247437, + 0.19092072546482086, + -0.6619036672143049 + ], + [ + 0.04828954488039017, + 0.9978430271148682, + 0.044467926025390625, + -0.2970314773432044 + ], + [ + -0.19299621880054474, + -0.034359559416770935, + 0.980597734451294, + -2.3003501691582593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9801058173179626, + -0.05539783462882042, + 0.19058765470981598, + -0.66165220950232 + ], + [ + 0.04777058586478233, + 0.9978715777397156, + 0.044387441128492355, + -0.29744481910106746 + ], + [ + -0.1926409751176834, + -0.034399908035993576, + 0.9806661605834961, + -2.3015987463815266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9801747798919678, + -0.0554078184068203, + 0.19022992253303528, + -0.6614434585408416 + ], + [ + 0.047778528183698654, + 0.9978678226470947, + 0.044463932514190674, + -0.29823380521563597 + ], + [ + -0.19228795170783997, + -0.034493520855903625, + 0.9807321429252625, + -2.303061314065789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9802677035331726, + -0.05515870451927185, + 0.18982291221618652, + -0.6610984717136206 + ], + [ + 0.047509849071502686, + 0.997873842716217, + 0.044615570455789566, + -0.29901779377183246 + ], + [ + -0.1918802559375763, + -0.03471674397587776, + 0.9808041453361511, + -2.3042717655210994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9803975224494934, + -0.054169654846191406, + 0.18943677842617035, + -0.660850169714107 + ], + [ + 0.04648420214653015, + 0.9979146718978882, + 0.044783756136894226, + -0.29968914867833607 + ], + [ + -0.19146765768527985, + -0.0351000651717186, + 0.9808710813522339, + -2.3050999074585214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9805276989936829, + -0.05310673639178276, + 0.1890636831521988, + -0.6605619523968808 + ], + [ + 0.04540189728140831, + 0.9979612231254578, + 0.044856030493974686, + -0.30022349781768265 + ], + [ + -0.1910603791475296, + -0.035398732870817184, + 0.9809398055076599, + -2.305674814207609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9806368350982666, + -0.052364178001880646, + 0.18870437145233154, + -0.6603608838035617 + ], + [ + 0.04463249444961548, + 0.9979897141456604, + 0.04499439522624016, + -0.3009719779602317 + ], + [ + -0.1906810998916626, + -0.03570081666111946, + 0.9810026288032532, + -2.306801765316794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9807468056678772, + -0.05188604071736336, + 0.18826457858085632, + -0.6600529012118661 + ], + [ + 0.04415377601981163, + 0.9980090260505676, + 0.04503800719976425, + -0.3016773730516434 + ], + [ + -0.19022658467292786, + -0.035858288407325745, + 0.9810851216316223, + -2.3083757668733598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9808633923530579, + -0.0514361597597599, + 0.18777990341186523, + -0.6597377027553875 + ], + [ + 0.043709415942430496, + 0.998027503490448, + 0.045061975717544556, + -0.30238173563813053 + ], + [ + -0.18972733616828918, + -0.03599189221858978, + 0.9811769127845764, + -2.310109797431979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9809504747390747, + -0.05105467513203621, + 0.18742884695529938, + -0.6596123970871748 + ], + [ + 0.04332583770155907, + 0.9980422258377075, + 0.04510630667209625, + -0.30315902905408726 + ], + [ + -0.18936480581760406, + -0.03612654656171799, + 0.9812420010566711, + -2.31186624988567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.981022298336029, + -0.05090687796473503, + 0.18709301948547363, + -0.6590701294101254 + ], + [ + 0.04317737743258476, + 0.9980461597442627, + 0.045161742717027664, + -0.3037482428827951 + ], + [ + -0.18902650475502014, + -0.03622649237513542, + 0.9813035130500793, + -2.311702454549282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9810966849327087, + -0.050604499876499176, + 0.18678446114063263, + -0.6587449683214343 + ], + [ + 0.04285836219787598, + 0.9980545043945312, + 0.04528133198618889, + -0.30436940044857735 + ], + [ + -0.18871252238750458, + -0.03642008826136589, + 0.9813567996025085, + -2.3123982805117618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9811745285987854, + -0.05037050321698189, + 0.1864386945962906, + -0.658222396299243 + ], + [ + 0.04259815439581871, + 0.9980573058128357, + 0.045464932918548584, + -0.3050143152475357 + ], + [ + -0.1883665770292282, + -0.03666708618402481, + 0.9814140796661377, + -2.3124348424375056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/41452f39-561f-4eac-8b88-dd4262727c5b/tilt_up/transforms.json b/dynpose_eval/camera_controls/41452f39-561f-4eac-8b88-dd4262727c5b/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..685f80219d710f0b4fddece3a1a11dd516d62dab --- /dev/null +++ b/dynpose_eval/camera_controls/41452f39-561f-4eac-8b88-dd4262727c5b/tilt_up/transforms.json @@ -0,0 +1,7573 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 216, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.0001312803797191009, + 2.64021655311808e-05, + -3.054914122913033e-05 + ], + [ + -0.00013128032151143998, + 1.0, + -1.8736639049166115e-06, + -1.3077275980322156e-05 + ], + [ + -2.640241291373968e-05, + 1.8701978206081549e-06, + 1.0, + 0.00020201025472488254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999991059303284, + 0.0004748405863660082, + 0.0012481269951022693, + 0.0006570914410986006 + ], + [ + -0.0004729317734017968, + 0.9999987004729354, + -0.0015292091949007127, + -0.00013717844558414072 + ], + [ + -0.0012488514184951782, + 0.0015286175892129446, + 0.9999980455417385, + 0.0011887658620253205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999974370002749, + 0.00047049537784004525, + 0.0022077352912545003, + 0.0014036576030775905 + ], + [ + -0.00046441651647910487, + 0.9999960817671085, + -0.002753148208938282, + -0.0003619466151576489 + ], + [ + -0.002209022175520659, + 0.002752115884112458, + 0.999993759693139, + 0.001148456009104848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999954104423525, + 0.00032019617449148134, + 0.0030225096001389585, + 0.002249535173177719 + ], + [ + -0.00030838031671009963, + 0.9999923331837267, + -0.003908947590153311, + -0.0005996746476739645 + ], + [ + -0.003023737808689476, + 0.003907997455760918, + 0.999987806671369, + 0.0020564475562423468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999923110008242, + 0.0009175778618595022, + 0.0038067693360512977, + 0.0031431829556822777 + ], + [ + -0.0008985192980617287, + 0.9999870657536164, + -0.0050051931916253855, + -0.0005889476160518825 + ], + [ + -0.0038113126065582046, + 0.0050017343834668744, + 0.9999802279850619, + 0.002300090156495571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999890327453613, + 0.0011706192461677536, + 0.004531036597066356, + 0.0040727960877120495 + ], + [ + -0.0011442104587331414, + 0.9999823441679399, + -0.005826605881195655, + -0.0007739104912616313 + ], + [ + -0.004537777043879032, + 0.0058213578731107895, + 0.9999727795944151, + 0.0024426209274679422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999846816062927, + 0.0012052858195538189, + 0.00540288649618355, + 0.005075241904705763 + ], + [ + -0.0011687505757436156, + 0.9999764637005655, + -0.006760246507890551, + -0.0007686711032874882 + ], + [ + -0.005410907324403524, + 0.00675382843050759, + 0.9999625627329314, + 0.0024666343815624714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999786615371704, + 0.0013544206321685775, + 0.006389036173371884, + 0.006083494983613491 + ], + [ + -0.0013057527830824256, + 0.9999701629430596, + -0.007615422098727443, + -0.0008197713759727776 + ], + [ + -0.006399160251021385, + 0.00760691684824836, + 0.9999505651936998, + 0.0032017419580370188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999709129333498, + 0.00228197836257486, + 0.007274818275830611, + 0.007040052209049463 + ], + [ + -0.0022198720835149293, + 0.9999610966219503, + -0.008533806723124183, + -0.0009471677476540208 + ], + [ + -0.007294008973985912, + 0.008517409700511598, + 0.9999371153299609, + 0.0038404713850468397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999961256980896, + 0.0031632060149310395, + 0.00821231513334464, + 0.008171149529516697 + ], + [ + -0.0030852879863232374, + 0.9999502791215064, + -0.009483349074976187, + -0.0010461995843797922 + ], + [ + -0.008241904899477959, + 0.009457644121818426, + 0.9999212931964024, + 0.003986911848187447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999474287033081, + 0.004147760706813758, + 0.009375280810147645, + 0.009317622520029545 + ], + [ + -0.004050493706017733, + 0.9999380245458435, + -0.010370160838754236, + -0.0011613225797191262 + ], + [ + -0.009417712688446045, + 0.010331641078814282, + 0.9999022513023355, + 0.0041215443052351475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999293088912964, + 0.0047875483109817325, + 0.010885354553893431, + 0.010267741978168488 + ], + [ + -0.0046648867428302765, + 0.9999256266795956, + -0.01126606208553361, + -0.0012924371985718608 + ], + [ + -0.01093848142772913, + 0.011214486760788433, + 0.9998772585173712, + 0.005075589753687382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999107718467712, + 0.005360336547613137, + 0.012236749032519331, + 0.011241537518799305 + ], + [ + -0.005209208000451326, + 0.9999101535341165, + -0.012349024261132348, + -0.0013365945778787136 + ], + [ + -0.012301844544708729, + 0.012284178640481001, + 0.9998488672367069, + 0.006087601184844971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998922348022461, + 0.006180719683165595, + 0.013314386422842134, + 0.012216434814035892 + ], + [ + -0.005997105501592159, + 0.9998869560453892, + -0.013786697637378225, + -0.0014299212489277124 + ], + [ + -0.013398094102740288, + 0.01370536432954232, + 0.9998162918163647, + -0.0007525961264036596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998425841331482, + 0.010420787025961923, + 0.014360110550347837, + 0.012443196959793568 + ], + [ + -0.010187379084527493, + 0.9998163572159302, + -0.016232342775140473, + -0.0009078409639187157 + ], + [ + -0.014526627026498318, + 0.016083495558875643, + 0.9997651237173694, + -0.03940899297595024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9997983574867249, + 0.012204390302865884, + 0.015948056672202403, + 0.011177520267665386 + ], + [ + -0.011928512714803219, + 0.9997795067414067, + -0.017280580013518707, + -0.0017813200829550624 + ], + [ + -0.016155438497662544, + 0.017086858888636498, + 0.9997234904915256, + -0.11429838836193085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9998046159744265, + 0.01277676232604795, + 0.015081113586818226, + 0.012061200104653835 + ], + [ + -0.012485085055232052, + 0.9997361886578708, + -0.019278845692412856, + -0.0012681673979386687 + ], + [ + -0.01532345544546843, + 0.019086790537365925, + 0.9997004055122918, + -0.23842060565948486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.999811589717865, + 0.013282480732541369, + 0.014154693004795054, + 0.012625237926840782 + ], + [ + -0.012948616407811642, + 0.9996417785864062, + -0.02342300893748263, + 0.00333393388427794 + ], + [ + -0.014460737816989422, + 0.023235312521037266, + 0.9996254542309546, + -0.37011802196502686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9997856616973877, + 0.012075413661920933, + 0.01681698364060209, + 0.005625097546726465 + ], + [ + -0.0117171136662364, + 0.9997056897782617, + -0.021243874991931557, + -0.0032060316298156977 + ], + [ + -0.017068563029170036, + 0.02104227510414656, + 0.9996329026107605, + -0.5068409442901611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998112916946413, + 0.01039646973434723, + 0.016409226637615494, + 0.003980721812695265 + ], + [ + -0.010088611394166948, + 0.9997736159777866, + -0.018733922740041042, + -0.010687572881579399 + ], + [ + -0.016600279137492183, + 0.018564841236203236, + 0.9996898266017308, + -0.6478713750839233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9997638463973999, + 0.009097118188752612, + 0.019734671075837578, + -0.006108606234192848 + ], + [ + -0.008759749121963978, + 0.9998151586791109, + -0.017114879070782976, + -0.01642666943371296 + ], + [ + -0.019886719062924385, + 0.016937966408900457, + 0.9996587261743524, + -0.7937955260276794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9997314810752869, + 0.008384095856503019, + 0.021603491571537584, + -0.013546633534133434 + ], + [ + -0.008066162467002869, + 0.9998584786736836, + -0.01476206748736964, + -0.024462487548589706 + ], + [ + -0.02172420173883438, + 0.014583847210928019, + 0.9996576318034097, + -0.9439977407455444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9996672868728638, + 0.007415388497015767, + 0.024704067951448062, + -0.024893175810575485 + ], + [ + -0.007118349429219961, + 0.9999015833748807, + -0.012090221694680018, + -0.034818753600120544 + ], + [ + -0.0247912909835577, + 0.011910346717951497, + 0.9996216888244228, + -1.0984671115875244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.999548077583313, + 0.005185848339252476, + 0.029610439490694137, + -0.04303678870201111 + ], + [ + -0.0050328634679317474, + 0.9999735877731829, + -0.0052387633185627894, + -0.0585143119096756 + ], + [ + -0.029636824503540993, + 0.005087372653699306, + 0.9995477914572122, + -1.2745094299316406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9995177388191223, + 0.006699387712032561, + 0.030320816032755337, + -0.05043691024184227 + ], + [ + -0.006484461948275566, + 0.9999532113333489, + -0.007181169036218119, + -0.061099305748939514 + ], + [ + -0.03036750666797161, + 0.006981091747724378, + 0.9995143983766817, + -1.424535870552063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9993947744369509, + 0.0072855739105504615, + 0.034013905800355154, + -0.06820352375507355 + ], + [ + -0.007112119346857073, + 0.9999611029488785, + -0.00521771853567138, + -0.07674318552017212 + ], + [ + -0.034050598740577705, + 0.004972647324571407, + 0.9994077241297467, + -1.5966615676879883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9991856217384338, + 0.008800673730759968, + 0.03937761775171033, + -0.09240563958883286 + ], + [ + -0.008608194068074226, + 0.9999501970252106, + -0.005054930117700584, + -0.08835991472005844 + ], + [ + -0.03942014276981354, + 0.004711842860779974, + 0.999211635490336, + -1.764807105064392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9990489482879639, + 0.01036290335208262, + 0.042353122423401085, + -0.11071676760911942 + ], + [ + -0.010218115523457527, + 0.9999411724656223, + -0.0036336416163258068, + -0.1051715835928917 + ], + [ + -0.04238829016685486, + 0.003197417216532317, + 0.9990960924687585, + -1.9539190530776978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9991070032119753, + 0.013797799110944328, + 0.03993453296785927, + -0.11024963855743408 + ], + [ + -0.013543491251766685, + 0.9998863129568488, + -0.006631666697361701, + -0.1068689376115799 + ], + [ + -0.04002149775624276, + 0.006084891703788664, + 0.9991802851695933, + -2.1349053382873535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.997068524360657, + 0.013208108584001262, + 0.0753654056497961, + -0.24999459087848663 + ], + [ + -0.013713005930185321, + 0.9998868129418182, + 0.006185752501630591, + -0.16516412794589996 + ], + [ + -0.07527517527341844, + -0.007201103036303828, + 0.9971368126671353, + -2.2915966510772705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.997037947177887, + 0.01419188734135259, + 0.07559076259041302, + -0.25228458642959595 + ], + [ + -0.014542777091264725, + 0.9998858527640857, + 0.00409352504299103, + -0.1652643233537674 + ], + [ + -0.07552403956651688, + -0.00518069652942451, + 0.9971305273828979, + -2.3205206394195557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9969820976257326, + 0.014729470178444368, + 0.07622175404298055, + -0.25359857082366943 + ], + [ + -0.01495703496038914, + 0.9998852323336768, + 0.0024155297720553255, + -0.16524861752986908 + ], + [ + -0.07617742568254472, + -0.003548294047294458, + 0.997087973336448, + -2.32082200050354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9969303011894226, + 0.014016356227250995, + 0.07702911371314287, + -0.2550833523273468 + ], + [ + -0.014113711193203926, + 0.9999001578481269, + 0.0007196000879096614, + -0.16517744958400726 + ], + [ + -0.07701133191585541, + -0.0018045596424026262, + 0.9970285565207494, + -2.32038950920105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9968811869621277, + 0.0121343589154158, + 0.07797841763746258, + -0.2567600905895233 + ], + [ + -0.012082579545676708, + 0.9999263667142929, + -0.0011358107039786689, + -0.16468985378742218 + ], + [ + -0.0779864639043808, + 0.00019008850707083694, + 0.9969544283787154, + -2.320159912109375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.996823787689209, + 0.010143277420920483, + 0.07899031321235517, + -0.2586645185947418 + ], + [ + -0.009961500763893127, + 0.9999467218157333, + -0.0026949570798213834, + -0.1645595133304596 + ], + [ + -0.07901344448328018, + 0.0018995367421856997, + 0.9968717257506299, + -2.3180906772613525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9967659711837769, + 0.007461434138199288, + 0.08001192429999573, + -0.2606150507926941 + ], + [ + -0.007141365669667721, + 0.9999653275254418, + -0.0042856707004487035, + -0.16437022387981415 + ], + [ + -0.08004113286733627, + 0.0037004162119341714, + 0.996784697763159, + -2.3158321380615234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.996706485748291, + 0.004179462900110503, + 0.08098578929550622, + -0.26255813241004944 + ], + [ + -0.0037281676195561886, + 0.9999767006098524, + -0.005722934226249869, + -0.16405238211154938 + ], + [ + -0.08100781589746475, + 0.005402156974081262, + 0.9966988033538839, + -2.313605546951294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9933019280433655, + 0.002598903075799914, + 0.11551836904707989, + -0.3942127525806427 + ], + [ + -0.00256866286508739, + 0.9999966258949995, + -0.0004106284212822456, + -0.18936243653297424 + ], + [ + -0.11551904678344727, + 0.0001111522777249778, + 0.9933052518353199, + -2.3205175399780273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9908322095870974, + -0.00041570435832963016, + 0.13509744873323057, + -0.46761003136634827 + ], + [ + 0.00015367637388408187, + 0.9999980604706596, + 0.0019499759502608761, + -0.203817680478096 + ], + [ + -0.13509801030159, + -0.0019113329937988316, + 0.9908304122805983, + -2.316837787628174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9888266921043396, + -0.0028125453032301025, + 0.1490430449841623, + -0.51890629529953 + ], + [ + 0.002493253443390131, + 0.999994187894675, + 0.002329085711623946, + -0.2111576944589615 + ], + [ + -0.14904873073101044, + -0.0019314577830735168, + 0.9888279794917315, + -2.3119394779205322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9864851832389834, + -0.0039722397896864775, + 0.16380239105785038, + -0.5735819339752197 + ], + [ + 0.003638964146375657, + 0.9999906240142289, + 0.002334638851583559, + -0.2169198840856552 + ], + [ + -0.16381011903285983, + -0.0017070138150216195, + 0.9864903935301796, + -2.3071341514587402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9840664267539978, + -0.005229846417468356, + 0.1777243648832386, + -0.6247410774230957 + ], + [ + 0.004840463399887085, + 0.999984855878652, + 0.002624459264618957, + -0.22352583706378937 + ], + [ + -0.17773540318012238, + -0.0017223717371367157, + 0.984076804714196, + -2.300548791885376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9814378619194031, + -0.006459534530171059, + 0.19167153500628897, + -0.6756112575531006 + ], + [ + 0.005980910267680883, + 0.9999773560667441, + 0.003075567973526605, + -0.23023934662342072 + ], + [ + -0.19168706238269806, + -0.0018721072990088505, + 0.981454290812058, + -2.292447090148926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9704259037971499, + -0.0059949867623608905, + 0.24132481759245072, + -0.8657079339027405 + ], + [ + 0.004771826323121787, + 0.9999726572007861, + 0.005652630153360176, + -0.24547742307186127 + ], + [ + -0.24135211110115057, + -0.004333898118605963, + 0.9704279327000814, + -2.263723134994507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9699945449829102, + -0.006696269440218904, + 0.2430343856610059, + -0.8679972887039185 + ], + [ + 0.005836407653987408, + 0.9999738968177864, + 0.004257877434041935, + -0.24508610367774963 + ], + [ + -0.2430565506219864, + -0.00271166697177853, + 0.9700083415928054, + -2.2611725330352783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9696837663650513, + -0.006563200368203802, + 0.24427521878497102, + -0.8684457540512085 + ], + [ + 0.0061075566336512566, + 0.9999778828852759, + 0.002622691212111496, + -0.24378815293312073 + ], + [ + -0.24428704380989075, + -0.0010512576091201743, + 0.9697024027670835, + -2.2557997703552246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9694123864173889, + -0.006977627371259691, + 0.24533847292828578, + -0.8696746826171875 + ], + [ + 0.006940907798707485, + 0.9999753813712616, + 0.0010143288717310531, + -0.24304695427417755 + ], + [ + -0.2453395128250122, + 0.0007195652497689447, + 0.9694369366614358, + -2.2533934116363525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9690943360328674, + -0.007382146442193277, + 0.24657996342128818, + -0.8716142773628235 + ], + [ + 0.007738098502159119, + 0.9999699458177337, + -0.00047457456477648097, + -0.24255259335041046 + ], + [ + -0.24656903743743896, + 0.0023679665789179184, + 0.9691223183912766, + -2.2513320446014404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9687413573265078, + -0.00790532694241621, + 0.24794688606029489, + -0.8731877207756042 + ], + [ + 0.008652594871819021, + 0.9999607212330005, + -0.0019242438075741726, + -0.24182915687561035 + ], + [ + -0.24792194366455084, + 0.004009477096575687, + 0.9687717477439504, + -2.24639630317688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9684603810310364, + -0.008582554851618527, + 0.24901972430363084, + -0.8745729923248291 + ], + [ + 0.009713023900985718, + 0.999947336899243, + -0.003311288520607054, + -0.24155431985855103 + ], + [ + -0.24897819757461548, + 0.005625586806050851, + 0.9684927516071732, + -2.242927312850952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9681921005249023, + -0.010179432840760791, + 0.25000083739105117, + -0.8764579892158508 + ], + [ + 0.011725114658474922, + 0.9999202480229064, + -0.004694149729286244, + -0.24171917140483856 + ], + [ + -0.24993310868740082, + 0.0074761270684490415, + 0.9682342468419778, + -2.2432961463928223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9679674506187441, + -0.011421756976448264, + 0.2508157855275546, + -0.876953661441803 + ], + [ + 0.013464983552694324, + 0.9998886821098053, + -0.006431729146805589, + -0.2407594919204712 + ], + [ + -0.2507143914699555, + 0.009602929178262427, + 0.9680134426638477, + -2.241445302963257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9676423072814941, + -0.013162783698683192, + 0.25198227781696, + -0.8789964318275452 + ], + [ + 0.015695324167609215, + 0.9998444467122668, + -0.008043113131794483, + -0.24094277620315552 + ], + [ + -0.25183722376823425, + 0.011737799681497445, + 0.9676984050424365, + -2.24007511138916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9673638343811035, + -0.015306488371957116, + 0.25292860537837936, + -0.8812072277069092 + ], + [ + 0.0184257123619318, + 0.999780537056344, + -0.00996818334352695, + -0.2408323436975479 + ], + [ + -0.25272050499916077, + 0.014303252620939086, + 0.9674336167442698, + -2.241377830505371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9656388759613039, + -0.016783075423378282, + 0.25934521289194246, + -0.9057088494300842 + ], + [ + 0.020456893369555477, + 0.9997248862949991, + -0.01147317398346817, + -0.24262288212776184 + ], + [ + -0.2590813338756562, + 0.01638434388919251, + 0.9657165634065115, + -2.2407751083374023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9620307087898254, + -0.017277333180305738, + 0.2723939012208246, + -0.9546347856521606 + ], + [ + 0.021526575088500977, + 0.9996886424941692, + -0.012618748986301723, + -0.24537281692028046 + ], + [ + -0.2720910906791687, + 0.018003333341854468, + 0.9621030718488118, + -2.2285726070404053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9672399759292603, + -0.01908095846605049, + 0.2531456092243578, + -0.8817902207374573 + ], + [ + 0.023753894492983818, + 0.9995989458111053, + -0.015415679549843667, + -0.24090035259723663 + ], + [ + -0.2527499198913574, + 0.020923855349413784, + 0.9673053407645742, + -2.255544662475586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9663768410682678, + -0.018238771675204945, + 0.2564823535249466, + -0.8902379870414734 + ], + [ + 0.023358287289738655, + 0.999583832220915, + -0.016927970880337623, + -0.24066287279129028 + ], + [ + -0.25606685876846313, + 0.022349791165099366, + 0.9664006832973511, + -2.2434194087982178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9669559597969055, + -0.017552261000438045, + 0.25433857287793743, + -0.8845767974853516 + ], + [ + 0.02294374816119671, + 0.9995702210644085, + -0.018246840899285396, + -0.2408169060945511 + ], + [ + -0.2539089620113373, + 0.023479371009433717, + 0.9669430904608397, + -2.258793354034424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9639418721199036, + -0.016833314164841424, + 0.2655799892898027, + -0.9237228035926819 + ], + [ + 0.023181144148111343, + 0.9995151659639755, + -0.02078516226803772, + -0.23579566180706024 + ], + [ + -0.2651013731956482, + 0.02619213653814497, + 0.9638647693811585, + -2.237900733947754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9629004001617432, + -0.018267751390553866, + 0.2692379650415584, + -0.936926543712616 + ], + [ + 0.02471482940018177, + 0.9994827599114954, + -0.020575171631260773, + -0.2412930577993393 + ], + [ + -0.26872286200523376, + 0.02646601320982717, + 0.9628538781770373, + -2.232595920562744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9664933681488039, + -0.019827815527057643, + 0.2559245800278314, + -0.8846361041069031 + ], + [ + 0.02644766494631768, + 0.9993980628193134, + -0.022450407521127175, + -0.2385748028755188 + ], + [ + -0.2553254067897797, + 0.028466774805294127, + 0.9664360141928632, + -2.2414560317993164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9631370306015015, + -0.019723397137928828, + 0.2682872846101903, + -0.9325786828994751 + ], + [ + 0.026698559522628784, + 0.9993930736314504, + -0.022375042213013487, + -0.24424274265766144 + ], + [ + -0.26768311858177185, + 0.028713118906442164, + 0.9630790848931072, + -2.2314469814300537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9662413001060486, + -0.026512752763629795, + 0.25627108671851906, + -0.8877537846565247 + ], + [ + 0.0340290367603302, + 0.9991096559982406, + -0.024938868315150405, + -0.24044063687324524 + ], + [ + -0.25538170337677, + 0.03281761572081897, + 0.9662831717293677, + -2.25366473197937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9629502296447756, + -0.020307665333475125, + 0.2689135869867951, + -0.9330257773399353 + ], + [ + 0.028151096776127822, + 0.9992823875082709, + -0.025342752880308378, + -0.2437593936920166 + ], + [ + -0.26820597052574163, + 0.031974016821620196, + 0.9628308396014671, + -2.2330214977264404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9651674032211304, + -0.02027292953720677, + 0.2608465952516998, + -0.9007989168167114 + ], + [ + 0.028475545346736908, + 0.9992104638717786, + -0.027704945571578637, + -0.24019978940486908 + ], + [ + -0.26007896661758423, + 0.03416765866478566, + 0.9649826401566841, + -2.2383837699890137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9663307070732117, + -0.024453665477595966, + 0.2561385364819135, + -0.8851743936538696 + ], + [ + 0.03324393928050995, + 0.9989955613433313, + -0.030044443501854517, + -0.23747612535953522 + ], + [ + -0.2551465928554535, + 0.0375479200433023, + 0.9661730365602488, + -2.2487854957580566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9618981480598452, + -0.01678705342309513, + 0.27289230199205555, + -0.9507373571395874 + ], + [ + 0.026248171925544746, + 0.9991729520571068, + -0.031055821948350718, + -0.24005915224552155 + ], + [ + -0.2721452713012696, + 0.037035456459613675, + 0.9615432033700763, + -2.227816343307495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9597882032394409, + -0.012695238234673523, + 0.28043788855548896, + -0.9816035628318787 + ], + [ + 0.022805657237768173, + 0.9992011164660201, + -0.03281833115193779, + -0.240280881524086 + ], + [ + -0.279797226190567, + 0.037894222331996415, + 0.959310995245019, + -2.2221360206604004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9666430950164797, + -0.01818132604160651, + 0.2554810907449243, + -0.8882995247840881 + ], + [ + 0.027974795550107963, + 0.9990043455017519, + -0.03475175831879436, + -0.2397107183933258 + ], + [ + -0.2545949220657349, + 0.04073957665719712, + 0.9661892681000481, + -2.2585744857788086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9626186490058901, + -0.013305206573221985, + 0.2705334386562364, + -0.9412438869476318 + ], + [ + 0.023699522018432624, + 0.9990995315965732, + -0.035191110621862046, + -0.24337837100028992 + ], + [ + -0.269821584224701, + 0.04028713207736361, + 0.962067207306734, + -2.229311466217041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9624018669128418, + -0.013961252558504219, + 0.27127058478026367, + -0.9440696835517883 + ], + [ + 0.024913521483540535, + 0.9990057015207164, + -0.036972117027254024, + -0.2416963428258896 + ], + [ + -0.27048468589782715, + 0.04234033522647067, + 0.9617927615266244, + -2.229447364807129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9663166999816895, + -0.02255712646848342, + 0.2563653722006482, + -0.8890949487686157 + ], + [ + 0.033670824021101, + 0.9986700542801497, + -0.03904409847544138, + -0.23922650516033173 + ], + [ + -0.2551437020301819, + 0.04636099277310784, + 0.9657910440653938, + -2.2560479640960693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9664261341094973, + -0.020936724292436426, + 0.2560900990322026, + -0.8890780806541443 + ], + [ + 0.03222956508398057, + 0.9986805785881068, + -0.03997964470556428, + -0.2397032231092453 + ], + [ + -0.2549151480197907, + 0.04689104558520308, + 0.965825792627755, + -2.2613184452056885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9660642743110657, + -0.025398301582043686, + 0.25705004050189434, + -0.8918589353561401 + ], + [ + 0.03715502843260765, + 0.9984687765851132, + -0.04098320505817206, + -0.24062804877758026 + ], + [ + -0.2556155323982239, + 0.049143109715206544, + 0.9655286780826514, + -2.2630722522735596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9662793874740601, + -0.02109345300198338, + 0.25663057106676646, + -0.8895335793495178 + ], + [ + 0.032874349504709244, + 0.9985891227233591, + -0.04170240584837156, + -0.24072597920894623 + ], + [ + -0.25538885593414307, + 0.04873273264042953, + 0.9656094810710428, + -2.261683464050293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9582949280738831, + -0.012808201938390974, + 0.2854938864123569, + -0.9967818260192871 + ], + [ + 0.026491990312933922, + 0.9986749457288413, + -0.044119711822513126, + -0.23490774631500244 + ], + [ + -0.2845504879951477, + 0.049842993907857264, + 0.9573644519576584, + -2.2195563316345215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9577516913414004, + -0.012423765002582923, + 0.2873279716368989, + -1.0028568506240845 + ], + [ + 0.026759926229715354, + 0.9985819929552519, + -0.046021339555808435, + -0.23187798261642456 + ], + [ + -0.2863487899303437, + 0.05176588519408216, + 0.9567260265985417, + -2.2168197631835938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9572271704673769, + -0.010982651438287966, + 0.28912895881122136, + -1.0099225044250488 + ], + [ + 0.025609359145164497, + 0.9985734127194255, + -0.04685449110357399, + -0.23315727710723877 + ], + [ + -0.28820192813873297, + 0.052254798898059784, + 0.9561428488114189, + -2.2148489952087402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9556601643562317, + -0.009571692521290287, + 0.2943161299467671, + -1.0299489498138428 + ], + [ + 0.02477519027888775, + 0.9985414008535062, + -0.04797200044916712, + -0.23369696736335754 + ], + [ + -0.2934276759624481, + 0.05313666861668584, + 0.9545033878532453, + -2.207700490951538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9585178494453432, + -0.010969213748338874, + 0.2848214055625853, + -0.9937138557434082 + ], + [ + 0.025775969028472907, + 0.9985007203350319, + -0.04828976094970779, + -0.2375105321407318 + ], + [ + -0.2838647067546845, + 0.05362814312139127, + 0.9573635045533609, + -2.2180893421173096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9656774401664734, + -0.02624554463073565, + 0.25841487817135406, + -0.8878487348556519 + ], + [ + 0.040209364145994186, + 0.9979940061933255, + -0.048899578442885006, + -0.23994417488574982 + ], + [ + -0.2566131055355072, + 0.057611918504463656, + 0.964795622686001, + -2.2371513843536377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9615214467048645, + -0.012182210495766937, + 0.2744595672777, + -0.9537709355354309 + ], + [ + 0.027007250115275383, + 0.9983688472495089, + -0.050301437155685726, + -0.23928309977054596 + ], + [ + -0.27339911460876465, + 0.05577831582320443, + 0.9602821208813079, + -2.2250101566314697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9661209583282473, + -0.02227323289228907, + 0.25712671168800505, + -0.8947184085845947 + ], + [ + 0.03669694438576699, + 0.9980019894034335, + -0.051433622533743624, + -0.24190102517604828 + ], + [ + -0.2554673850536347, + 0.05912686014578835, + 0.9650079995247437, + -2.2718849182128906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9661719202995303, + -0.020912727550990527, + 0.2570495506969641, + -0.8986417055130005 + ], + [ + 0.03556031733751298, + 0.9979893053167384, + -0.0524673288082014, + -0.2431616187095642 + ], + [ + -0.2554354369640351, + 0.05983322080911813, + 0.9649729056941205, + -2.2827115058898926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9664039611816406, + -0.015860398639772372, + 0.256538192422387, + -0.8902125358581543 + ], + [ + 0.030563779175281525, + 0.9981037972121025, + -0.05342922232373983, + -0.24118441343307495 + ], + [ + -0.25520434975624084, + 0.059474985596447844, + 0.9650561956936798, + -2.2598209381103516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9577798247337341, + -0.006135908230430561, + 0.2874371772505879, + -1.006948709487915 + ], + [ + 0.023105043917894363, + 0.9981812575324553, + -0.05568102473189029, + -0.23613010346889496 + ], + [ + -0.28657272458076477, + 0.05997140969485666, + 0.9561796351455607, + -2.214477777481079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9662953615188599, + -0.018241304113953007, + 0.25678888659597765, + -0.8914441466331482 + ], + [ + 0.033773746341466904, + 0.9978477073436538, + -0.056207148244450604, + -0.2396935224533081 + ], + [ + -0.2552109360694885, + 0.06298543526294477, + 0.9648317356867844, + -2.262202024459839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9662567377090454, + -0.0198244535429236, + 0.25681676917443913, + -0.8929679989814758 + ], + [ + 0.03568854555487633, + 0.9977212823273905, + -0.05725879588529901, + -0.2403639703989029 + ], + [ + -0.255096435546875, + 0.0644921194960514, + 0.9647624474837692, + -2.26857852935791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.966060221195221, + -0.01777118564742553, + 0.25770505340263705, + -0.892507791519165 + ], + [ + 0.03388195484876633, + 0.9977291994219678, + -0.058210638838662156, + -0.24026471376419067 + ], + [ + -0.2560853660106659, + 0.0649665246196226, + 0.9644685467446028, + -2.25600004196167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9662695527076721, + -0.018968508941806718, + 0.25683338354025936, + -0.8950141668319702 + ], + [ + 0.035414695739746094, + 0.9975962669046108, + -0.05956090873160258, + -0.24114759266376495 + ], + [ + -0.255086213350296, + 0.06664756687740554, + 0.9646186429450363, + -2.2744271755218506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9637854695320132, + -0.013579994021108299, + 0.26633278924940007, + -0.9257861971855164 + ], + [ + 0.0306357890367508, + 0.9977287891608293, + -0.059989533439705124, + -0.24205255508422852 + ], + [ + -0.26491323113441473, + 0.06597635635706145, + 0.9620125520272621, + -2.242657423019409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9652807116508484, + -0.01545679549286496, + 0.2607570329265788, + -0.9057420492172241 + ], + [ + 0.032563596963882446, + 0.9975811457160334, + -0.06141197881403141, + -0.24175846576690674 + ], + [ + -0.2591770589351654, + 0.06777098921447722, + 0.9634491928662725, + -2.2540884017944336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.965173065662384, + -0.013870371871403662, + 0.26124434576540567, + -0.9083548784255981 + ], + [ + 0.03127467632293701, + 0.9975497425354579, + -0.0625816120256002, + -0.24192026257514954 + ], + [ + -0.25973618030548096, + 0.06857240966079262, + 0.9632418793754087, + -2.2551963329315186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9643644690513611, + -0.013912781311027746, + 0.26421127552171486, + -0.9176751971244812 + ], + [ + 0.03177528455853462, + 0.9974787914864558, + -0.06345396422939231, + -0.2425483763217926 + ], + [ + -0.26266229152679443, + 0.06958813607749516, + 0.9623751882371071, + -2.2476234436035156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9650723338127136, + -0.015411695525253115, + 0.26152981001946046, + -0.9074262380599976 + ], + [ + 0.033531010150909424, + 0.9973242495933529, + -0.06496157371480886, + -0.24154284596443176 + ], + [ + -0.2598288357257843, + 0.07146197755678357, + 0.9630068400071281, + -2.251276969909668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9658350944519043, + -0.016284891772341378, + 0.2586453609916844, + -0.8977165222167969 + ], + [ + 0.03462051972746849, + 0.9971859252314189, + -0.06649508684768309, + -0.2411818653345108 + ], + [ + -0.25683465600013733, + 0.07317772465048558, + 0.9636809385154622, + -2.2586522102355957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9655825495719912, + -0.014655734863724337, + 0.25968360446835653, + -0.9012444615364075 + ], + [ + 0.0333181917667389, + 0.9971552778314434, + -0.06761080414729394, + -0.24146272242069244 + ], + [ + -0.25795400142669683, + 0.07393599998662981, + 0.963324057746328, + -2.253728151321411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9634791016578674, + -0.011122870030633435, + 0.2675524183072396, + -0.9320740103721619 + ], + [ + 0.0305773988366127, + 0.9971716245723619, + -0.06865672273261544, + -0.24277447164058685 + ], + [ + -0.26603201031684875, + 0.0743303778355273, + 0.9610941527874941, + -2.242967367172241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9637033939361572, + -0.03986098157186065, + 0.263982767470206, + -0.9033125638961792 + ], + [ + 0.060012735426425934, + 0.9958296142403374, + -0.06871559321247403, + -0.24527108669281006 + ], + [ + -0.26014280319213867, + 0.08206377638902505, + 0.962076526759649, + -2.2299163341522217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9645573496818542, + -0.0426912249883183, + 0.2603969142893849, + -0.8891361355781555 + ], + [ + 0.06310340017080307, + 0.9955112543995573, + -0.07053560473658176, + -0.243221715092659 + ], + [ + -0.256216824054718, + 0.08446757009114376, + 0.9629216994583986, + -2.233929395675659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9650304317474365, + -0.03668420726420118, + 0.2595583617146426, + -0.8898972272872925 + ], + [ + 0.05733530968427658, + 0.9957232693483976, + -0.07244229571236871, + -0.24121631681919098 + ], + [ + -0.2557908296585083, + 0.08479087889091212, + 0.9630065151689098, + -2.242671012878418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9657856225967407, + -0.013067727554439149, + 0.2590124076244721, + -0.8986446857452393 + ], + [ + 0.033426374197006226, + 0.9966716023737926, + -0.07435348235334292, + -0.24043883383274078 + ], + [ + -0.2571786940097809, + 0.08046736442448875, + 0.9630078608963258, + -2.2495014667510986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9660291075706484, + -0.011877343907577763, + 0.25816024325312814, + -0.8949139714241028 + ], + [ + 0.0323745682835579, + 0.996635854642434, + -0.07529196498811223, + -0.24032121896743774 + ], + [ + -0.2563974559307099, + 0.08109205262668648, + 0.9631637581784481, + -2.247100830078125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9658485054969788, + -0.012251133922199195, + 0.25881771304118617, + -0.8952893018722534 + ], + [ + 0.03308486193418503, + 0.9965362799802886, + -0.07629409624208833, + -0.23973853886127472 + ], + [ + -0.2569865584373474, + 0.08225148229583687, + 0.9629083923890905, + -2.2407541275024414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9663296341896057, + -0.014057729106922991, + 0.25692290974207516, + -0.887332022190094 + ], + [ + 0.03512755036354065, + 0.9963652511523269, + -0.07760368373842673, + -0.2387658655643463 + ], + [ + -0.2548981308937073, + 0.08401581768520412, + 0.9633111096798821, + -2.242342233657837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9664638042449951, + -0.013980821978678892, + 0.25642212773020784, + -0.8871777057647705 + ], + [ + 0.035300251096487045, + 0.9962709110799763, + -0.07872847982492573, + -0.23918026685714722 + ], + [ + -0.2543652057647705, + 0.08513998767073419, + 0.9633532628495334, + -2.2466838359832764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9659903049468994, + -0.012214040625960548, + 0.2582896963141211, + -0.8935271501541138 + ], + [ + 0.033914290368556976, + 0.9962396392337038, + -0.07972739714169873, + -0.23973144590854645 + ], + [ + -0.25634464621543884, + 0.08577560004865033, + 0.9627720103565378, + -2.239682912826538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9659590721130371, + -0.011681193694322994, + 0.2584309792704869, + -0.8938366770744324 + ], + [ + 0.033714309334754944, + 0.9961444964718534, + -0.08099064225180624, + -0.23960231244564056 + ], + [ + -0.25648853182792664, + 0.08694647203137411, + 0.9626286768669289, + -2.2385222911834717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9659768342971802, + -0.011302399276086296, + 0.258381641520066, + -0.8932173252105713 + ], + [ + 0.033647213131189346, + 0.9960458904807737, + -0.08222224422815032, + -0.23938781023025513 + ], + [ + -0.2564306855201721, + 0.08811859450009434, + 0.9625374822839207, + -2.2374024391174316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9661353230476382, + -0.012495644401992682, + 0.25773329809896345, + -0.8916054964065552 + ], + [ + 0.03510868176817895, + 0.9959038730705534, + -0.08332361487551561, + -0.24015124142169952 + ], + [ + -0.2556363940238953, + 0.08955056603302458, + 0.9626166059240451, + -2.242708444595337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.965946614742279, + -0.011933392131064193, + 0.2584662166004178, + -0.892670750617981 + ], + [ + 0.03488050773739815, + 0.995823035915144, + -0.0843791527664215, + -0.2398521602153778 + ], + [ + -0.2563796639442444, + 0.09052118701558534, + 0.9623281009941684, + -2.2383761405944824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9659953713417053, + -0.012067647682269941, + 0.2582775433217285, + -0.8904106616973877 + ], + [ + 0.03528779000043869, + 0.9957166576313657, + -0.08545800523709689, + -0.2396344244480133 + ], + [ + -0.25613996386528015, + 0.09166607641769058, + 0.962283536306909, + -2.2370145320892334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9657677412033081, + -0.012768975585285992, + 0.25909383559032506, + -0.892533004283905 + ], + [ + 0.036405742168426514, + 0.9955745923203588, + -0.08663664709181158, + -0.23949846625328064 + ], + [ + -0.2568409740924835, + 0.09310337425421339, + 0.9619586563209004, + -2.2368505001068115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9658360481262209, + -0.014273906195441577, + 0.25876055087264016, + -0.8897933959960938 + ], + [ + 0.03825519979000092, + 0.9953961467345781, + -0.08788068673283767, + -0.2393912971019745 + ], + [ + -0.2563148438930512, + 0.09477727077577416, + 0.9619355233866749, + -2.237550735473633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9662685394287112, + -0.015215255567214621, + 0.25708672569832003, + -0.8827892541885376 + ], + [ + 0.03950318694114686, + 0.9951963511099068, + -0.08957490077225842, + -0.23799815773963928 + ], + [ + -0.2544888556003571, + 0.0967091601831665, + 0.9622280483892054, + -2.240626096725464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9662388563156128, + -0.014324117456417415, + 0.2572495602021174, + -0.8841248750686646 + ], + [ + 0.03891303017735481, + 0.995113256281946, + -0.0907490799087556, + -0.238535076379776 + ], + [ + -0.25469255447387695, + 0.09769564592695326, + 0.9620744902303191, + -2.2433383464813232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9662030339241028, + -0.014240089746870322, + 0.2573887193491178, + -0.8835362195968628 + ], + [ + 0.03918285295367241, + 0.994984156644567, + -0.09203948414685605, + -0.23842188715934753 + ], + [ + -0.25478705763816833, + 0.09901405138577515, + 0.9619146439629962, + -2.242406129837036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9661133289337158, + -0.01503321566061356, + 0.25768024410402407, + -0.8835682272911072 + ], + [ + 0.04038970172405243, + 0.9948096125424047, + -0.09339418446349645, + -0.23835434019565582 + ], + [ + -0.2549387812614441, + 0.10063699684120861, + 0.9617060257231856, + -2.2425999641418457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9660005569458008, + -0.014686178489499133, + 0.2581225360025957, + -0.8848460912704468 + ], + [ + 0.040359027683734894, + 0.9947116715391382, + -0.09444478823303466, + -0.23888574540615082 + ], + [ + -0.25537046790122986, + 0.10165129120393317, + 0.961484739064892, + -2.242161750793457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9659106731414797, + -0.015190192194694686, + 0.2584295326538346, + -0.8857297301292419 + ], + [ + 0.041223585605621345, + 0.9945640708230509, + -0.09561863003244896, + -0.23912212252616882 + ], + [ + -0.2555722892284394, + 0.10301244979364034, + 0.9612862500503606, + -2.243921995162964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9659975767135622, + -0.014897247342102897, + 0.2581216376887312, + -0.8840242028236389 + ], + [ + 0.04121832549571992, + 0.9944439366184207, + -0.09686258024634589, + -0.23862941563129425 + ], + [ + -0.2552445232868195, + 0.10420835474685046, + 0.9612444213445013, + -2.2443675994873047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9659985303878784, + -0.01482911582016887, + 0.25812185714250097, + -0.8832260966300964 + ], + [ + 0.0414743609726429, + 0.9943128799250267, + -0.09809084847689392, + -0.23817655444145203 + ], + [ + -0.25519925355911255, + 0.1054610569736344, + 0.9611198085227189, + -2.2433114051818848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9660013914108279, + -0.014324336308807445, + 0.25813982524676166, + -0.8831514120101929 + ], + [ + 0.04127718880772591, + 0.994201317238208, + -0.09929714849423715, + -0.23785525560379028 + ], + [ + -0.2552205622196198, + 0.10657647336044292, + 0.9609911173150193, + -2.243511199951172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9659469127655029, + -0.014313606204582536, + 0.25834419953034643, + -0.8836384415626526 + ], + [ + 0.041541483253240585, + 0.9940951784388337, + -0.10024526376811436, + -0.23840880393981934 + ], + [ + -0.25538384914398193, + 0.10756360137183742, + 0.960837763245935, + -2.2442233562469482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9659280776977539, + -0.014856813880609575, + 0.25838387301023835, + -0.882347822189331 + ], + [ + 0.04239576682448387, + 0.9939481847147259, + -0.1013389805776766, + -0.23839613795280457 + ], + [ + -0.25531458854675293, + 0.10884054768221187, + 0.9607123276210657, + -2.2436375617980957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9656713008880615, + -0.015163667991058614, + 0.2593240501199836, + -0.8861526846885681 + ], + [ + 0.043065059930086136, + 0.9938258354772106, + -0.10225295038825305, + -0.23935961723327637 + ], + [ + -0.25617241859436035, + 0.10991054270543048, + 0.9603621233595462, + -2.2450296878814697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.965665936470032, + -0.014730558035988377, + 0.2593690946311999, + -0.8864685893058777 + ], + [ + 0.04295731708407403, + 0.9937013759346159, + -0.10349976753901649, + -0.23920650780200958 + ], + [ + -0.25621080398559576, + 0.11108800289989777, + 0.9602163545641217, + -2.2458693981170654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9656960964202881, + -0.01454631044829413, + 0.2592670847352023, + -0.8860711455345154 + ], + [ + 0.04306820034980774, + 0.9935738043642165, + -0.10467181801358845, + -0.2390706092119217 + ], + [ + -0.2560783922672272, + 0.11224733611875468, + 0.9601168504584711, + -2.246225357055664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9657167196273804, + -0.014486397328833271, + 0.25919365254897153, + -0.8854922652244568 + ], + [ + 0.04333311691880226, + 0.9934289996456295, + -0.10592970037606463, + -0.2385692596435547 + ], + [ + -0.25595593452453613, + 0.11352975057407146, + 0.9599987334274025, + -2.246101140975952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9656387567520142, + -0.014966233293433669, + 0.259456808310221, + -0.8861584663391113 + ], + [ + 0.04410523176193237, + 0.9932960944785457, + -0.10685332594524653, + -0.2393655925989151 + ], + [ + -0.2561182379722595, + 0.1146251158585161, + 0.9598252797353116, + -2.2470271587371826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9655241966247559, + -0.01640196120951223, + 0.2597959537296987, + -0.8864603638648987 + ], + [ + 0.04587070271372795, + 0.9931161971736039, + -0.10777773408867328, + -0.2398504912853241 + ], + [ + -0.2562398314476013, + 0.11597903857096548, + 0.9596301341141467, + -2.2461860179901123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9658516645431519, + -0.015915813888428824, + 0.25860642003315704, + -0.8833888173103333 + ], + [ + 0.045448243618011475, + 0.993043301085125, + -0.10862516641771287, + -0.24078689515590668 + ], + [ + -0.25507852435112, + 0.11666900222667596, + 0.9598558521393734, + -2.250715494155884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9657843708992004, + -0.020746118486938536, + 0.2585153820046309, + -0.8791115283966064 + ], + [ + 0.05062674731016159, + 0.9926999211577221, + -0.10947065696306975, + -0.24056097865104675 + ], + [ + -0.25435712933540344, + 0.11881283663316017, + 0.9597843456529047, + -2.2431583404541016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9654712677001953, + -0.028047476300859946, + 0.2589954306342876, + -0.874360978603363 + ], + [ + 0.058391597121953964, + 0.9921902583577032, + -0.11022190862092068, + -0.24122168123722076 + ], + [ + -0.2538813054561615, + 0.12153924320917163, + 0.9595689131373332, + -2.232404947280884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9652040600776672, + -0.028034128000116138, + 0.25999076686815753, + -0.878189742565155 + ], + [ + 0.05881369858980179, + 0.9920366000140529, + -0.11137449784858583, + -0.24156154692173004 + ], + [ + -0.2547980546951294, + 0.12279014013369796, + 0.9591665892615031, + -2.2342565059661865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9652599692344666, + -0.026631973488199595, + 0.2599306921222601, + -0.8790860176086426 + ], + [ + 0.05767326429486275, + 0.9919725146045032, + -0.11253579677706121, + -0.2417902946472168 + ], + [ + -0.25484707951545715, + 0.12361735247467652, + 0.9590473082052576, + -2.236948013305664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9655036926269531, + -0.02212052857917965, + 0.25944798909520855, + -0.8808923959732056 + ], + [ + 0.05336136370897293, + 0.9920471120182236, + -0.11399580668999146, + -0.24120493233203888 + ], + [ + -0.2548629939556122, + 0.12390787543119725, + 0.9590055778678815, + -2.243410348892212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9653825759887695, + -0.01577500869213209, + 0.2603606671362061, + -0.8897300958633423 + ], + [ + 0.047280002385377884, + 0.9922176093566251, + -0.11519038836806636, + -0.24208740890026093 + ], + [ + -0.25651732087135315, + 0.12351264329711477, + 0.9586153936526275, + -2.2520484924316406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9651573300361633, + -0.015564093862020768, + 0.2612069214515938, + -0.8926860094070435 + ], + [ + 0.04741567000746727, + 0.992106819128834, + -0.11608549284018223, + -0.24323119223117828 + ], + [ + -0.25733840465545654, + 0.1244260616149734, + 0.9582771452470592, + -2.2505664825439453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9655713438987732, + -0.016302003197765275, + 0.25962704226056027, + -0.8869004845619202 + ], + [ + 0.04839920252561569, + 0.9918666292721451, + -0.11772069386205719, + -0.24165302515029907 + ], + [ + -0.2555963099002838, + 0.12623346190760776, + 0.9585069625388671, + -2.254580020904541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9654428958892822, + -0.014860949303346594, + 0.26019076030011756, + -0.8902391791343689 + ], + [ + 0.047249265015125275, + 0.9918087590844373, + -0.11867156831590213, + -0.24279749393463135 + ], + [ + -0.2562958896160126, + 0.1268644398170435, + 0.9582368517770217, + -2.2557766437530518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9653118252754211, + -0.013982136750558686, + 0.26072517169816145, + -0.8924332857131958 + ], + [ + 0.04677720367908478, + 0.9916703753742895, + -0.12000726128936608, + -0.2422841489315033 + ], + [ + -0.2568754553794861, + 0.12804042563834273, + 0.9579252073268718, + -2.2548646926879883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9654376506805422, + -0.014288497792498049, + 0.26024215853973787, + -0.8909342288970947 + ], + [ + 0.0473604165017605, + 0.9914904761080849, + -0.12125868622544883, + -0.2422172576189041 + ], + [ + -0.256294995546341, + 0.1293928808728615, + 0.9578989482042034, + -2.2575225830078125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9653313159942627, + -0.01353688450136797, + 0.2606764479006978, + -0.8925622701644897 + ], + [ + 0.04696233198046684, + 0.9913656182348883, + -0.12242841660382661, + -0.2422427237033844 + ], + [ + -0.2567683458328247, + 0.13042596068523696, + 0.9576320194608479, + -2.255854368209839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9653967618942261, + -0.012846424030545624, + 0.2604688832722912, + -0.8917335867881775 + ], + [ + 0.04654543101787567, + 0.9912365299452114, + -0.12362690142375461, + -0.2419978529214859 + ], + [ + -0.2565981149673462, + 0.1314726534781473, + 0.957534525002198, + -2.254373073577881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9657256007194521, + -0.012598000984520666, + 0.25925931150691073, + -0.8874244689941406 + ], + [ + 0.046454276889562614, + 0.9910836681112599, + -0.12488040844735723, + -0.24161963164806366 + ], + [ + -0.25537446141242987, + 0.13264390619874292, + 0.9577000786920695, + -2.2561278343200684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9656965136528015, + -0.013320320773268465, + 0.2593314367572017, + -0.8869322538375854 + ], + [ + 0.047513604164123535, + 0.9908873366691522, + -0.12603480448271726, + -0.24175843596458435 + ], + [ + -0.2552894055843353, + 0.1340331428659304, + 0.9575293338138725, + -2.255854368209839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9657034873962402, + -0.01357898050069958, + 0.2592920870502939, + -0.8858947157859802 + ], + [ + 0.04810696467757225, + 0.9906986618488414, + -0.1272864998636113, + -0.24145172536373138 + ], + [ + -0.2551519274711609, + 0.13539477210562967, + 0.9573743991619806, + -2.253911018371582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.96588534116745, + -0.012978364303082758, + 0.258644691985645, + -0.8839086890220642 + ], + [ + 0.04777263477444649, + 0.9905323074068616, + -0.1286993273226688, + -0.24076953530311584 + ], + [ + -0.25452563166618347, + 0.13666493364791762, + 0.9573606647595919, + -2.2560582160949707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9657220244407654, + -0.012644803776637634, + 0.25927020871530987, + -0.8864209651947021 + ], + [ + 0.04782414808869362, + 0.9903819339714017, + -0.12983229037826408, + -0.2413732260465622 + ], + [ + -0.25513485074043274, + 0.13778129274399922, + 0.9570384460558697, + -2.255061149597168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9658102989196777, + -0.01291264945342838, + 0.2589279923002541, + -0.884789228439331 + ], + [ + 0.04838716611266136, + 0.9901868729615677, + -0.13110552382361615, + -0.24129816889762878 + ], + [ + -0.2546941637992859, + 0.13915186537859642, + 0.9569575212616183, + -2.2548458576202393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.965860962867737, + -0.011963579390079407, + 0.2587846588180107, + -0.884611189365387 + ], + [ + 0.047758363187313094, + 0.9900345686306283, + -0.1324792014288294, + -0.24117383360862732 + ], + [ + -0.2546208500862122, + 0.14031561073642057, + 0.9568070397054409, + -2.2547311782836914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.965938150882721, + -0.010972873415156693, + 0.2585403173546772, + -0.8838984966278076 + ], + [ + 0.0470946803689003, + 0.989869796536102, + -0.13393978058450068, + -0.24076208472251892 + ], + [ + -0.25445157289505005, + 0.14155341727245307, + 0.9566697817552307, + -2.2539074420928955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.966119706630707, + -0.008853606337447355, + 0.25794260563108334, + -0.882829487323761 + ], + [ + 0.0452491007745266, + 0.9897424364732631, + -0.13550786995304323, + -0.23996186256408691 + ], + [ + -0.2540970146656037, + 0.14258848545519068, + 0.9566102641129164, + -2.253638505935669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9752683639526367, + -0.07078396598386885, + 0.20938300337371996, + -0.6596365571022034 + ], + [ + 0.10250893980264664, + 0.9841410427617365, + -0.14476971816626125, + -0.2051786482334137 + ], + [ + -0.1958150416612625, + 0.16265296201104254, + 0.9670576510245431, + -2.2665772438049316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9750730395317078, + -0.07053438873143701, + 0.21037465877942862, + -0.6612280607223511 + ], + [ + 0.10271978378295898, + 0.9839052426632321, + -0.14621595509397606, + -0.20385053753852844 + ], + [ + -0.19667547941207886, + 0.16418087636582823, + 0.9666247552648802, + -2.2592525482177734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.965949296951294, + -0.01136577998811268, + 0.25848161845057904, + -0.8841083645820618 + ], + [ + 0.048783399164676666, + 0.9891165783779452, + -0.1388114724725371, + -0.24113807082176208 + ], + [ + -0.25409072637557983, + 0.1466944551441615, + 0.9559909485051077, + -2.256564140319824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9660554528236389, + -0.01016567275395308, + 0.25813464187481383, + -0.884202241897583 + ], + [ + 0.047765959054231644, + 0.9890252173991337, + -0.13981252641499556, + -0.24158942699432373 + ], + [ + -0.2538803517818451, + 0.14739670321738668, + 0.9559387835244552, + -2.259406328201294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9767786264419556, + -0.04322629754917779, + 0.20984521013526988, + -0.6769759654998779 + ], + [ + 0.07582323253154755, + 0.985793421732825, + -0.14987383198924828, + -0.20510517060756683 + ], + [ + -0.20038554072380066, + 0.16230469995176366, + 0.9661795108970637, + -2.286989212036133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9772824048995972, + -0.030246814858548965, + 0.2097718616393192, + -0.6834781765937805 + ], + [ + 0.06313259154558182, + 0.9863780928319271, + -0.15189629462131238, + -0.20306973159313202 + ], + [ + -0.20232000946998596, + 0.16168902645576333, + 0.9658795554197469, + -2.2846121788024902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.977491557598114, + -0.027735742793942905, + 0.20914340844980295, + -0.6823475360870361 + ], + [ + 0.06077384203672409, + 0.9863180387810181, + -0.15324247091105755, + -0.2028169184923172 + ], + [ + -0.20203162729740143, + 0.1625036749170022, + 0.9658031847066498, + -2.283078193664551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9778041243553164, + -0.030793866607034686, + 0.20724585176193758, + -0.6754917502403259 + ], + [ + 0.06379941850900651, + 0.9859281944430076, + -0.15451597355521665, + -0.20313620567321777 + ], + [ + -0.19957140088081365, + 0.16430852234210772, + 0.9660092883195284, + -2.2951292991638184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9778483510017395, + -0.0323560756729705, + 0.20679876308653736, + -0.674651026725769 + ], + [ + 0.06549198180437088, + 0.9856688852525956, + -0.1554595729139302, + -0.20374391973018646 + ], + [ + -0.1988050490617752, + 0.1655595360741117, + 0.9659537074152078, + -2.3010523319244385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9769061207771301, + -0.03820840286594132, + 0.2102250983367462, + -0.67743980884552 + ], + [ + 0.07210943102836609, + 0.9851143370213356, + -0.15604464464162693, + -0.203401580452919 + ], + [ + -0.20113353431224823, + 0.1676001769732493, + 0.9651194016951851, + -2.2820582389831543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9779819250106812, + -0.03245390064332362, + 0.20615054194810692, + -0.7081746459007263 + ], + [ + 0.06555351614952087, + 0.9856071327266177, + -0.1558247445677492, + -0.22022013366222382 + ], + [ + -0.19812633097171783, + 0.16590767678322357, + 0.9660334268863021, + -2.4395339488983154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9777749180793762, + -0.0346294890964296, + 0.2067778140616934, + -0.7077215909957886 + ], + [ + 0.06808172166347504, + 0.9852604078923923, + -0.15692949560846212, + -0.21995332837104797 + ], + [ + -0.19829559326171875, + 0.16751950305545607, + 0.9657204833136813, + -2.4365103244781494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9777148365974426, + -0.03598243942047043, + 0.20683072253095466, + -0.7062345147132874 + ], + [ + 0.06968647986650467, + 0.9849671957948832, + -0.15806152801856233, + -0.21983002126216888 + ], + [ + -0.19803403317928314, + 0.168952405331478, + 0.9655245415747088, + -2.4329047203063965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9778808355331423, + -0.025206286792157903, + 0.20763844885404958, + -0.7074612975120544 + ], + [ + 0.05933329835534097, + 0.9853623418825929, + -0.15981416364516474, + -0.2149655818939209 + ], + [ + -0.20057077705860143, + 0.16859908361496964, + 0.965062534283415, + -2.4078686237335205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9781144857406616, + -0.019206840286992186, + 0.20717916242225973, + -0.7034286260604858 + ], + [ + 0.05353521928191185, + 0.9854377432002386, + -0.16138892570037147, + -0.21168972551822662 + ], + [ + -0.2010623961687088, + 0.16894822466709966, + 0.9648991571161858, + -2.387458562850952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9779218435287476, + -0.02442524127008494, + 0.20753864068972103, + -0.7089104056358337 + ], + [ + 0.0590553879737854, + 0.9849647149294722, + -0.1623483381168487, + -0.21555989980697632 + ], + [ + -0.20045283436775208, + 0.17102025596872292, + 0.9646609369874745, + -2.4138524532318115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9780879616737366, + -0.021523802694864074, + 0.20707660140818357, + -0.6988363265991211 + ], + [ + 0.05648473650217056, + 0.9847689892722825, + -0.16443704104470616, + -0.21054981648921967 + ], + [ + -0.2003832906484604, + 0.1725305510262823, + 0.9644064338120902, + -2.378361701965332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9780043959617617, + -0.026551254546089437, + 0.2068876285126715, + -0.6907224059104919 + ], + [ + 0.06190860271453859, + 0.9841202245964393, + -0.1663572612911084, + -0.20813803374767303 + ], + [ + -0.19918529689311987, + 0.17550625329023076, + 0.9641176376468606, + -2.358598470687866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9776172637939453, + -0.02007210331884855, + 0.20943147010400529, + -0.6860523223876953 + ], + [ + 0.05601231008768082, + 0.984343725760288, + -0.1671227073847194, + -0.20389950275421143 + ], + [ + -0.20279806852340698, + 0.17511278821757503, + 0.9634357350625152, + -2.298211097717285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9776939153671265, + -0.01827913487414063, + 0.20923794542744037, + -0.6865721344947815 + ], + [ + 0.05440752953290939, + 0.9842429083840583, + -0.16824291023056476, + -0.20394644141197205 + ], + [ + -0.2028656303882599, + 0.17587419204036311, + 0.9632828340257577, + -2.299299716949463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.977670431137085, + -0.018911835028982762, + 0.209291313613757, + -0.6862217783927917 + ], + [ + 0.05530343949794769, + 0.9839899617760484, + -0.16942646526732272, + -0.20393304526805878 + ], + [ + -0.20273639261722565, + 0.17721777183619447, + 0.9630637652265699, + -2.298116445541382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9776833653450014, + -0.01916512995462979, + 0.2092079178552474, + -0.6860809922218323 + ], + [ + 0.05578763782978059, + 0.9837615855420252, + -0.1705897217310132, + -0.2040751725435257 + ], + [ + -0.20254135131835943, + 0.1784539533162715, + 0.9628765387688205, + -2.2974445819854736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9776119589805603, + -0.020442552377409683, + 0.2094205410041726, + -0.6861350536346436 + ], + [ + 0.05739007890224457, + 0.9834397812127035, + -0.17190865893888607, + -0.2037489265203476 + ], + [ + -0.20243825018405914, + 0.1800786199249961, + 0.9625956811247314, + -2.2954628467559814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9776696562767029, + -0.020219157238321208, + 0.20917260574294794, + -0.6854656934738159 + ], + [ + 0.057362526655197144, + 0.9832378081240585, + -0.1730693255121464, + -0.20356984436511993 + ], + [ + -0.2021670937538147, + 0.18120329278925362, + 0.9624415894238952, + -2.2936158180236816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9777175784111023, + -0.0202459431255311, + 0.2089460694139465, + -0.6847330331802368 + ], + [ + 0.05759289860725403, + 0.983016902664638, + -0.17424345483781387, + -0.20344038307666779 + ], + [ + -0.20186980068683624, + 0.18239470434532204, + 0.9622789506457761, + -2.293346643447876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9778199195861816, + -0.019393514056139382, + 0.20854758878409388, + -0.6841670870780945 + ], + [ + 0.05690629035234451, + 0.9828478100572505, + -0.1754191039167859, + -0.2033887803554535 + ], + [ + -0.20156854391098022, + 0.1833959655381634, + 0.9621517929614887, + -2.2937729358673096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9778782725334167, + -0.01923123794949096, + 0.2082888809425772, + -0.6834669709205627 + ], + [ + 0.056930672377347946, + 0.9826435539824792, + -0.17655197536515402, + -0.20338934659957886 + ], + [ + -0.20127840340137482, + 0.18450435950855718, + 0.9620005902906559, + -2.2929069995880127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9778967499732971, + -0.020153619178979627, + 0.20811490862218834, + -0.6832931637763977 + ], + [ + 0.058027464896440506, + 0.9824038237758227, + -0.17752632784120978, + -0.20386403799057007 + ], + [ + -0.20087508857250214, + 0.18567879298008344, + 0.9618589359346075, + -2.2960593700408936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9779525399208069, + -0.02026331175172509, + 0.20784181954579903, + -0.6819986701011658 + ], + [ + 0.058343686163425446, + 0.9821598292775044, + -0.17876839445456982, + -0.20337502658367157 + ], + [ + -0.20051142573356628, + 0.18695325722871853, + 0.9616879088871274, + -2.2943663597106934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9779772758483887, + -0.020600242930487955, + 0.20769216575263114, + -0.6813144683837891 + ], + [ + 0.058880846947431564, + 0.9819278163236644, + -0.17986321347803924, + -0.20330341160297394 + ], + [ + -0.20023348927497864, + 0.18813122795442538, + 0.9615160698999861, + -2.2941348552703857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9779125452041628, + -0.03190237827906267, + 0.20656553399687042, + -0.6698203682899475 + ], + [ + 0.07017057389020921, + 0.9810346111454802, + -0.18068525898070015, + -0.20323549211025238 + ], + [ + -0.19688364863395696, + 0.19118919787376154, + 0.961604640627908, + -2.2969367504119873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9775409698486328, + -0.042735348156608836, + 0.20636714616156743, + -0.6578226089477539 + ], + [ + 0.08118827641010284, + 0.9800084427432306, + -0.1816367521210803, + -0.20160546898841858 + ], + [ + -0.19447922706604004, + 0.19431195710292454, + 0.9614680144279033, + -2.271793842315674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9772017598152161, + -0.03900375462648178, + 0.20869950030455275, + -0.6686650514602661 + ], + [ + 0.07808737456798553, + 0.9801075345192624, + -0.1824596724202742, + -0.2027030885219574 + ], + [ + -0.19743134081363678, + 0.1945967119319335, + 0.9608085247343857, + -2.2726564407348633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9774858355522158, + -0.04289059685148708, + 0.2065958094075034, + -0.6563999652862549 + ], + [ + 0.08182862401008607, + 0.9795513089945181, + -0.18380226527310425, + -0.20102180540561676 + ], + [ + -0.19448782503604894, + 0.196569558229073, + 0.9610072009970593, + -2.265235662460327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9776263236999512, + -0.03967712996954108, + 0.20657312498696112, + -0.6593077182769775 + ], + [ + 0.07880965620279312, + 0.9796078360819478, + -0.1848177053369342, + -0.20200034976005554 + ], + [ + -0.19502761960029602, + 0.19696260274323935, + 0.960817310567631, + -2.2740018367767334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9774695038795471, + -0.04002883747260674, + 0.20724638797835432, + -0.6626232862472534 + ], + [ + 0.07948483526706696, + 0.9793819763035437, + -0.1857232784437062, + -0.20356422662734985 + ], + [ + -0.19553910195827484, + 0.19801178558006294, + 0.9604977106776548, + -2.2843241691589355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9776458740234375, + -0.03902808140611098, + 0.20660430229441432, + -0.660489022731781 + ], + [ + 0.07859401404857635, + 0.979224912314975, + -0.18692664092235367, + -0.2029067575931549 + ], + [ + -0.19501668214797974, + 0.19898592463097456, + 0.9604025970352447, + -2.2791075706481934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9785211682319641, + -0.021581739367415764, + 0.2050134204726121, + -0.6720756888389587 + ], + [ + 0.06115003675222397, + 0.9801312710192681, + -0.18868845253319635, + -0.20314151048660278 + ], + [ + -0.19686783850193024, + 0.1971722349430268, + 0.9603989853205768, + -2.3033809661865234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9786137342453003, + -0.02209857413932334, + 0.20451593086994396, + -0.6692551970481873 + ], + [ + 0.06178406998515129, + 0.9798848942074317, + -0.18975873199252236, + -0.20273226499557495 + ], + [ + -0.196208655834198, + 0.19833632186886202, + 0.9602941455660327, + -2.2974183559417725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9787886738777161, + -0.018971257824990102, + 0.20399208724762324, + -0.6709465980529785 + ], + [ + 0.05879952758550644, + 0.9798261024774757, + -0.1910063150244793, + -0.20281440019607544 + ], + [ + -0.19625315070152283, + 0.19894946554712073, + 0.9601582477633738, + -2.301888942718506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9789416193962097, + -0.01738329351526758, + 0.20339887938554277, + -0.6702805757522583 + ], + [ + 0.05730398744344711, + 0.9797068583403841, + -0.1920695391555602, + -0.20265862345695496 + ], + [ + -0.19593247771263123, + 0.19968042921304224, + 0.9600719477122385, + -2.3006389141082764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.979080319404602, + -0.015718249528811488, + 0.2028660083134623, + -0.6701990962028503 + ], + [ + 0.05575735494494438, + 0.9795738147442776, + -0.19320018203775782, + -0.20260441303253174 + ], + [ + -0.1956854611635208, + 0.20046976686353912, + 0.9599578591077464, + -2.3012747764587402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9792451262474062, + -0.014118346909626697, + 0.20218715591175182, + -0.6689093112945557 + ], + [ + 0.054249931126832976, + 0.9794300341928548, + -0.19435481350617081, + -0.202121764421463 + ], + [ + -0.19528420269489294, + 0.20128963424915533, + 0.9598679623367816, + -2.29826283454895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9793841242790222, + -0.01275404179564347, + 0.20160361090021348, + -0.66878342628479 + ], + [ + 0.052955787628889084, + 0.9793121564518501, + -0.19530339533758373, + -0.20243801176548004 + ], + [ + -0.19494196772575378, + 0.20195311860786289, + 0.9597981629565367, + -2.2992234230041504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9795277714729311, + -0.011506717779023493, + 0.20098001293091305, + -0.6681992411613464 + ], + [ + 0.05179443955421449, + 0.9791602212074547, + -0.1963736264312494, + -0.20248617231845856 + ], + [ + -0.1945320069789887, + 0.20276306587239523, + 0.9597106046375938, + -2.2997615337371826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.979630768299103, + -0.010660464542218532, + 0.20052403730696156, + -0.6675536036491394 + ], + [ + 0.051068842411041274, + 0.9789831564664602, + -0.19744362035543953, + -0.20240414142608643 + ], + [ + -0.1942048072814942, + 0.20366237241279264, + 0.9595864352846543, + -2.298534393310547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9797388315200806, + -0.009765676794852284, + 0.20004114780805132, + -0.6677524447441101 + ], + [ + 0.0502939373254776, + 0.9788013911495821, + -0.19854046503825737, + -0.20273549854755402 + ], + [ + -0.19386166334152222, + 0.2045786566044261, + 0.9594608826520653, + -2.300389051437378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9798692464828491, + -0.008657971817468406, + 0.19945263116471965, + -0.667997419834137 + ], + [ + 0.049303874373435974, + 0.9786078048317232, + -0.19973960455634476, + -0.20295113325119019 + ], + [ + -0.19345656037330627, + 0.2055524696675507, + 0.9593345192730147, + -2.303605556488037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9800105094909668, + -0.007520535548955722, + 0.19880357641922822, + -0.6671849489212036 + ], + [ + 0.04828954488039017, + 0.9783933558328116, + -0.2010336898854833, + -0.20281653106212616 + ], + [ + -0.19299621880054474, + 0.20661526772673242, + 0.9591989508316489, + -2.3035943508148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9801058173179626, + -0.006839898794485846, + 0.19835773237721632, + -0.6669085621833801 + ], + [ + 0.04777058586478233, + 0.9781557239525773, + -0.2023099362104938, + -0.20276305079460144 + ], + [ + -0.1926409751176834, + 0.2077608165321281, + 0.9590228961293695, + -2.3048627376556396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9801747798919678, + -0.006696407114068377, + 0.1980217359263635, + -0.6667265295982361 + ], + [ + 0.047778528183698654, + 0.9779239093872234, + -0.20342581010749347, + -0.20308826863765717 + ], + [ + -0.19228795170783997, + 0.20885402594616437, + 0.9588562639905385, + -2.3063502311706543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9802677035331728, + -0.006314986431849974, + 0.19757363597616956, + -0.6663834452629089 + ], + [ + 0.0475098490715027, + 0.9777189495735794, + -0.20447105112719913, + -0.20340755581855774 + ], + [ + -0.19188025593757635, + 0.20982307796735372, + 0.9587263946367445, + -2.307598114013672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9803975224494934, + -0.005212905901105887, + 0.19696058016442702, + -0.6660655736923218 + ], + [ + 0.04648420214653015, + 0.9775507303177382, + -0.2055087512931144, + -0.2036108523607254 + ], + [ + -0.19146765768527985, + 0.21063582096286257, + 0.9586306085951254, + -2.3084793090820312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9805276989936829, + -0.00403754973520738, + 0.19633924704296146, + -0.6656997203826904 + ], + [ + 0.04540189728140831, + 0.977362939845357, + -0.20664063044468575, + -0.20367655158042908 + ], + [ + -0.1910603791475296, + 0.2115310431674441, + 0.9585147834513342, + -2.3090994358062744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9806368350982666, + -0.0031702873368085003, + 0.19580933639955536, + -0.665451169013977 + ], + [ + 0.04463249444961548, + 0.9771730022882493, + -0.20770384864340255, + -0.20395809412002563 + ], + [ + -0.1906810998916626, + 0.21242150438218582, + 0.9583933485292839, + -2.310272216796875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9807468056678772, + -0.0025805018539064497, + 0.1952666222879202, + -0.6651208400726318 + ], + [ + 0.04415377601981163, + 0.9769490777173006, + -0.20885626090267018, + -0.20419742166996002 + ], + [ + -0.19022658467292786, + 0.21345686878996875, + 0.958253618777837, + -2.311878204345703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9808633923530579, + -0.0020307771978000226, + 0.19468653420350848, + -0.664785623550415 + ], + [ + 0.043709415942430496, + 0.9767179967642025, + -0.2100272224638233, + -0.2044357806444168 + ], + [ + -0.18972733616828918, + 0.2145176553441658, + 0.9581157164103867, + -2.3136420249938965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9809504747390747, + -0.0015144881920392684, + 0.19425204979445382, + -0.6646466255187988 + ], + [ + 0.04332583770155907, + 0.9764870802634704, + -0.21117728460988752, + -0.20474742352962494 + ], + [ + -0.18936480581760406, + 0.2155705900451288, + 0.9579511014199896, + -2.3154284954071045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.981022298336029, + -0.0012212263937245599, + 0.19389124985517917, + -0.664113461971283 + ], + [ + 0.04317737743258476, + 0.9762472316071955, + -0.21231359533670044, + -0.2048720419406891 + ], + [ + -0.18902650475502014, + 0.2166560725404969, + 0.957772984430841, + -2.315291404724121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.981096684932709, + -0.0007724575960013735, + 0.19351654616752928, + -0.6637818813323975 + ], + [ + 0.042858362197875984, + 0.9760268539254149, + -0.21338878411274068, + -0.20502816140651703 + ], + [ + -0.18871252238750463, + 0.21764883331555557, + 0.9576098246736097, + -2.316023349761963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9811745285987854, + -0.0004002850348869715, + 0.19312279567412993, + -0.6632594466209412 + ], + [ + 0.04259815439581871, + 0.9758165183247335, + -0.21440048595154654, + -0.20520858466625214 + ], + [ + -0.1883665770292282, + 0.21859096942944234, + 0.9574633460660806, + -2.316101551055908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3828.8141276041665, + "fy": 3832.7724609375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/boom_down/transforms.json b/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..a5ad056027f6abebca7c5acafdf13bb8b58655fd --- /dev/null +++ b/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/boom_down/transforms.json @@ -0,0 +1,5893 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 168, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -6.386433960869908e-05, + 4.9870759539771825e-05, + -7.26116995792836e-05 + ], + [ + 6.386695895344019e-05, + 1.0, + -5.262265040073544e-05, + 2.3591896024299785e-05 + ], + [ + -4.986739804735407e-05, + 5.262583727017045e-05, + 1.0, + 0.000261035340372473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999998211860657, + -0.0004513963358476758, + 0.00043834978714585304, + -0.0012122697470860254 + ], + [ + 0.0004514788743108511, + 0.9999998807907104, + -0.0001882771757664159, + 0.0006767414868471192 + ], + [ + -0.00043826474575325847, + 0.00018847505270969123, + 0.9999998807907104, + 0.00046608753666709717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999999463558197, + -0.0005155851249583066, + 0.0008805471006780863, + -0.0018675545001162696 + ], + [ + 0.0005157400737516582, + 0.9999998807907104, + -0.00017578608822077513, + 0.0002442672953963238 + ], + [ + -0.0008804562967270613, + 0.00017624013707973063, + 0.9999995827674866, + 0.0009599553355263981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999998211860657, + -0.00022963089577388018, + 0.0005722171626985073, + -0.0016645035286197679 + ], + [ + 0.00023016591148916632, + 0.9999995231628418, + -0.0009350882028229535, + 0.0010168728031061905 + ], + [ + -0.000572002143599093, + 0.0009352197521366179, + 0.9999994039535522, + -0.0006189457612449559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999997019767761, + -0.00046732480404898524, + 0.0006452467641793191, + -0.002004057060073905 + ], + [ + 0.00046829163329675794, + 0.9999987483024597, + -0.0014990560011938214, + 0.0019088378327711862 + ], + [ + -0.0006445454782806337, + 0.0014993577497079968, + 0.9999986886978149, + -0.0008172842992531013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999997019767761, + -0.00019359869475010782, + 0.0007237441022880375, + -0.0021174334737344667 + ], + [ + 0.00019498301844578236, + 0.999998152256012, + -0.0019131302833557129, + 0.002837356909988225 + ], + [ + -0.0007233723881654441, + 0.0019132709130644798, + 0.9999979138374329, + -0.0002648553108339181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999996423721313, + 0.00017050415044650435, + 0.0007969001890160143, + -0.0021500128663624607 + ], + [ + -0.00016883565695025027, + 0.9999977946281433, + -0.0020933153573423624, + 0.003129846083235922 + ], + [ + -0.0007972553721629083, + 0.002093180315569043, + 0.9999974966049194, + -0.00044228648003553244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999989867210388, + -0.0005578714772127569, + 0.001314881956204772, + -0.0023369899206769702 + ], + [ + 0.000559780455660075, + 0.9999988079071045, + -0.0014519282849505544, + 0.0014792688815536623 + ], + [ + -0.0013140703085809946, + 0.0014526628656312823, + 0.9999980926513672, + -0.0003122108565325553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999992847442627, + 0.0002549107011873275, + 0.0011836827034130692, + -0.0019833739591807037 + ], + [ + -0.0002528218610677868, + 0.9999983906745911, + -0.001764523796737194, + 0.002203211077059547 + ], + [ + -0.0011841306695714593, + 0.001764223212376237, + 0.9999977350234985, + -0.0007150723594017773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999985694885254, + 0.0011831024894490838, + 0.0012033168459311128, + -0.0017782450379653205 + ], + [ + -0.001181108527816832, + 0.9999979138374329, + -0.0016564088873565197, + 0.0027833941975374246 + ], + [ + -0.0012052740203216672, + 0.00165498536080122, + 0.9999979138374329, + -0.0008193063156534277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999971389770508, + 0.0011831377632915974, + 0.0020694038830697536, + -0.0017917225204274326 + ], + [ + -0.001178534235805273, + 0.9999968409538269, + -0.0022243561688810587, + 0.004184900968430374 + ], + [ + -0.0020720288157463074, + 0.0022219109814614058, + 0.9999954104423523, + -0.0012771110231625641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999939203262329, + 0.0023831583093851805, + 0.002556296531111002, + -0.001622437491516644 + ], + [ + -0.002378321485593915, + 0.9999953508377075, + -0.0018935262924060225, + 0.004288265067236331 + ], + [ + -0.0025607971474528313, + 0.00188743497710675, + 0.9999949336051941, + -0.0009664723370084818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999905228614807, + 0.0033453917130827904, + 0.002780444687232375, + -0.0016144038843057915 + ], + [ + -0.0033397232182323933, + 0.999992311000824, + -0.002040930325165391, + 0.004994588939495342 + ], + [ + -0.0027872512582689524, + 0.0020316250156611204, + 0.9999940395355225, + -0.0012509801673206563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999861717224121, + 0.004599347710609436, + 0.0025467174127697945, + -0.0008388854851137601 + ], + [ + -0.0045942021533846855, + 0.9999874234199524, + -0.002022651256993413, + 0.004620761301056176 + ], + [ + -0.0025559882633388042, + 0.0020109231118112803, + 0.999994695186615, + -0.0013892771777959017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999824166297913, + 0.0049236249178647995, + 0.003302266588434577, + -0.0016744550946308021 + ], + [ + -0.004911785013973713, + 0.9999815225601196, + -0.0035838696639984846, + 0.006230186104138722 + ], + [ + -0.003319851355627179, + 0.003567586885765195, + 0.9999881386756897, + -0.0005481283267552848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999813437461853, + 0.005462336353957653, + 0.002723792102187872, + -0.000812768690081726 + ], + [ + -0.005448244512081146, + 0.999971866607666, + -0.005154474172741175, + 0.008062693580405084 + ], + [ + -0.0027518710121512413, + 0.005139538552612066, + 0.999983012676239, + -0.0006696931532623169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999813437461853, + 0.005650729406625032, + 0.0023196707479655743, + -0.0007606442545786009 + ], + [ + -0.005635865498334169, + 0.9999638795852661, + -0.006365066394209862, + 0.008986441403192408 + ], + [ + -0.0023555541411042213, + 0.0063518742099404335, + 0.9999770522117615, + -0.0012878730819242711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999671578407288, + 0.006521407049149275, + 0.004805780481547117, + -0.005421835021534098 + ], + [ + -0.006483227480202913, + 0.9999476075172424, + -0.0079177962616086, + 0.010767521815789965 + ], + [ + -0.004857164341956377, + 0.007886379025876522, + 0.9999570846557617, + -0.0016544041820539686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999735355377197, + 0.006690052337944508, + 0.002863154746592045, + -0.0026211482475506152 + ], + [ + -0.006668388843536377, + 0.99994957447052, + -0.007510227616876364, + 0.009186617057619919 + ], + [ + -0.00291325431317091, + 0.007490936201065779, + 0.9999676942825317, + -0.0016603354913946576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.99996018409729, + 0.00690375966951251, + 0.005653887987136841, + -0.008195991742474857 + ], + [ + -0.006850677076727152, + 0.9999327659606934, + -0.009354774840176105, + 0.010649327595068512 + ], + [ + -0.005718090571463108, + 0.009315668605268002, + 0.9999402761459351, + -0.0016766663895875305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999510645866394, + 0.0071453070268034935, + 0.006842389237135649, + -0.010726345875886029 + ], + [ + -0.007081286050379276, + 0.9999313354492188, + -0.00933554396033287, + 0.008954538312645819 + ], + [ + -0.0069086248986423016, + 0.009286634624004364, + 0.9999330043792725, + -0.0011518976754302571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999123215675354, + 0.007235681638121605, + 0.011092716827988625, + -0.018029260257270165 + ], + [ + -0.007122356444597244, + 0.9999223947525024, + -0.010221858508884907, + 0.009371387874596047 + ], + [ + -0.011165818199515343, + 0.010141956619918346, + 0.9998862147331238, + -0.00010122415096593828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.999873161315918, + 0.007011420093476772, + 0.01429921668022871, + -0.023061320882759053 + ], + [ + -0.006869880482554436, + 0.9999271631240845, + -0.009923621080815792, + 0.007568510331235782 + ], + [ + -0.014367754571139812, + 0.00982412789016962, + 0.9998485445976257, + 0.0005442945482864597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9997297525405884, + 0.0072752260603010654, + 0.02208041027188301, + -0.03572559125057818 + ], + [ + -0.007036380935460329, + 0.9999160766601562, + -0.01087554357945919, + 0.007861738545474358 + ], + [ + -0.022157680243253708, + 0.010717237368226051, + 0.9996970295906067, + 0.0024863466718038933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9995831251144409, + 0.0070657809264957905, + 0.02799452468752861, + -0.04474584366345477 + ], + [ + -0.006797217298299074, + 0.9999300837516785, + -0.009677005931735039, + 0.00439402772682513 + ], + [ + -0.028060942888259888, + 0.009482687339186668, + 0.9995612502098083, + 0.004406912289671377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9995039701461792, + 0.006694944575428963, + 0.030772455036640167, + -0.0480764821160607 + ], + [ + -0.006402663886547089, + 0.9999335408210754, + -0.009586879052221775, + 0.0034178748146859485 + ], + [ + -0.030834592878818512, + 0.009385098703205585, + 0.9994804263114929, + 0.00518254738602185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9992969036102295, + 0.006890510208904743, + 0.03685363754630089, + -0.05666025706014769 + ], + [ + -0.00653367955237627, + 0.9999306797981262, + -0.00979406014084816, + 0.003393865894236252 + ], + [ + -0.03691856935620308, + 0.00954638421535492, + 0.9992727041244507, + 0.006030984053912456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9990857243537903, + 0.006756249349564314, + 0.042214710265398026, + -0.06359632332073134 + ], + [ + -0.006343595217913389, + 0.9999308586120605, + -0.009901443496346474, + 0.0031774886565918703 + ], + [ + -0.04227868840098381, + 0.009624598547816277, + 0.9990594983100891, + 0.006340539592044975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9988430738449097, + 0.006525752600282431, + 0.04764325171709061, + -0.06993662361947897 + ], + [ + -0.00607175612822175, + 0.9999348521232605, + -0.009667590260505676, + 0.002764714026299426 + ], + [ + -0.04770323634147644, + 0.00936712697148323, + 0.9988176226615906, + 0.007308054758893873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.998616099357605, + 0.0065301088616251945, + 0.05218508094549179, + -0.07434779479263161 + ], + [ + -0.006033869460225105, + 0.9999351501464844, + -0.00966111570596695, + 0.0033799986605961875 + ], + [ + -0.05224478244781494, + 0.009332867339253426, + 0.9985907077789307, + 0.009101506255700916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9984476566314697, + 0.006945790722966194, + 0.05526307597756386, + -0.07624749858266935 + ], + [ + -0.006409437395632267, + 0.9999306797981262, + -0.00987678486853838, + 0.004356948826127423 + ], + [ + -0.05532784387469292, + 0.009507247246801853, + 0.9984229803085327, + 0.00977296210423915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9983399510383606, + 0.006739707663655281, + 0.05720023065805435, + -0.0766372698699375 + ], + [ + -0.006165247410535812, + 0.9999288320541382, + -0.01021350733935833, + 0.00546442992695256 + ], + [ + -0.05726499855518341, + 0.009843898937106133, + 0.9983105063438416, + 0.009918897393756284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9983023405075073, + 0.0063195484690368176, + 0.05790082365274429, + -0.07525367403994064 + ], + [ + -0.0057501341216266155, + 0.9999334812164307, + -0.009995643049478531, + 0.005494837677050498 + ], + [ + -0.057960145175457, + 0.00964573584496975, + 0.9982722997665405, + 0.009888815749325082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9983341097831726, + 0.006686300504952669, + 0.057308658957481384, + -0.07285928390669207 + ], + [ + -0.006100588012486696, + 0.9999274015426636, + -0.010389178059995174, + 0.006779427119268631 + ], + [ + -0.05737396329641342, + 0.010022253729403019, + 0.9983024597167969, + 0.00913487346842885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9985660910606384, + 0.00668152654543519, + 0.0531141422688961, + -0.06514854146234557 + ], + [ + -0.0061379666440188885, + 0.9999271631240845, + -0.010390350595116615, + 0.007365497506173432 + ], + [ + -0.053179699927568436, + 0.01004943810403347, + 0.9985343813896179, + 0.007097692105049145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9986178874969482, + 0.006831558421254158, + 0.052112095057964325, + -0.0630024611381089 + ], + [ + -0.0062375618144869804, + 0.9999138116836548, + -0.011552577838301659, + 0.009701326132534507 + ], + [ + -0.052186526358127594, + 0.011211559176445007, + 0.998574435710907, + 0.0059121438486133505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9988216757774353, + 0.006778831593692303, + 0.048055801540613174, + -0.056080044777004304 + ], + [ + -0.006217414513230324, + 0.9999107718467712, + -0.011822468601167202, + 0.010271054707066029 + ], + [ + -0.048131655901670456, + 0.011509754694998264, + 0.9987747073173523, + 0.004640732785898769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9990420937538147, + 0.007431824691593647, + 0.04312368109822273, + -0.04802072856987932 + ], + [ + -0.006932663731276989, + 0.999907374382019, + -0.011713134124875069, + 0.010482036506389077 + ], + [ + -0.04320673272013664, + 0.011402951553463936, + 0.9990010857582092, + 0.0036352911464936897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9991994500160217, + 0.007518649101257324, + 0.03929278627038002, + -0.04237857553327155 + ], + [ + -0.006993715651333332, + 0.9998846650123596, + -0.013479962944984436, + 0.013708241073091234 + ], + [ + -0.039389606565237045, + 0.013194369152188301, + 0.9991368055343628, + 0.0022608246629176564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9994207620620728, + 0.007818002253770828, + 0.033121947199106216, + -0.03294615485220255 + ], + [ + -0.007364784367382526, + 0.9998778700828552, + -0.013783303089439869, + 0.014312101908385041 + ], + [ + -0.033225659281015396, + 0.013531382195651531, + 0.9993562698364258, + 0.0005494515988229869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9994701743125916, + 0.00791752990335226, + 0.031570788472890854, + -0.03160263044748478 + ], + [ + -0.0074490830302238464, + 0.9998608231544495, + -0.014928106218576431, + 0.016352744904084657 + ], + [ + -0.03168458864092827, + 0.014685023576021194, + 0.9993900060653687, + 0.0006320855010741441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9995211362838745, + 0.00805150717496872, + 0.029878228902816772, + -0.030155501880510124 + ], + [ + -0.007571677211672068, + 0.9998410940170288, + -0.01613805815577507, + 0.01885601901031005 + ], + [ + -0.030003417283296585, + 0.015904102474451065, + 0.9994232654571533, + 0.0008375418393713741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9995500445365906, + 0.007689427584409714, + 0.02899339236319065, + -0.0295789879774619 + ], + [ + -0.007216855883598328, + 0.9998399615287781, + -0.016368862241506577, + 0.019810476963837708 + ], + [ + -0.0291146207600832, + 0.01615225523710251, + 0.9994455575942993, + 0.0010097776983674996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9995750784873962, + 0.007741834502667189, + 0.02810276858508587, + -0.02898457051076352 + ], + [ + -0.007271723356097937, + 0.9998325705528259, + -0.01679210364818573, + 0.02196563813573274 + ], + [ + -0.028228064998984337, + 0.01658061146736145, + 0.9994639754295349, + 0.0006394318931124001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995899200439453, + 0.007595139555633068, + 0.02760970965027809, + -0.028981856959397923 + ], + [ + -0.007148189470171928, + 0.9998424053192139, + -0.016250966116786003, + 0.02259973353750915 + ], + [ + -0.027728784829378128, + 0.01604694314301014, + 0.9994866847991943, + 0.0005990260197017008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.999603807926178, + 0.007792814169079065, + 0.027045177295804024, + -0.028885028546698346 + ], + [ + -0.0073702954687178135, + 0.999849796295166, + -0.0156873669475317, + 0.02243462349650657 + ], + [ + -0.027163362130522728, + 0.01548182126134634, + 0.9995111227035522, + 0.0008881959895475093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9996150732040405, + 0.0076269893907010555, + 0.026675716042518616, + -0.02929178739948098 + ], + [ + -0.007221064064651728, + 0.9998571872711182, + -0.015280402265489101, + 0.02223134343651776 + ], + [ + -0.02678845077753067, + 0.015081892721354961, + 0.9995273351669312, + 0.0007486922497384272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9996243119239807, + 0.007767193019390106, + 0.02628517709672451, + -0.029781979101592908 + ], + [ + -0.007372290827333927, + 0.9998589754104614, + -0.015087462030351162, + 0.022495300640089963 + ], + [ + -0.026398656889796257, + 0.01488801185041666, + 0.9995406270027161, + 6.832136667311238e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9996458292007446, + 0.007948072627186775, + 0.02539803273975849, + -0.029166113828381378 + ], + [ + -0.007572000380605459, + 0.9998607635498047, + -0.014869149774312973, + 0.02276484605794896 + ], + [ + -0.025512678548693657, + 0.0146715696901083, + 0.9995668530464172, + 0.0002230138626140627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.99964439868927, + 0.008038237690925598, + 0.025424784049391747, + -0.02973250423050569 + ], + [ + -0.007659760769456625, + 0.9998589158058167, + -0.014948677271604538, + 0.023547366046218463 + ], + [ + -0.025541359558701515, + 0.01474861428141594, + 0.9995649456977844, + 0.00014979708932819758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9996656179428101, + 0.008111256174743176, + 0.024552104994654655, + -0.02876227690899622 + ], + [ + -0.00773939024657011, + 0.9998544454574585, + -0.015203287824988365, + 0.024649374206511386 + ], + [ + -0.024671850726008415, + 0.015008186921477318, + 0.9995829463005066, + -0.00020250030807191557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9996684789657593, + 0.008222120814025402, + 0.02439887262880802, + -0.029091469115371298 + ], + [ + -0.007857277058064938, + 0.9998564720153809, + -0.015011711046099663, + 0.024979152310706545 + ], + [ + -0.024518797174096107, + 0.01481502503156662, + 0.9995895624160767, + 0.00035884914282586675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9996724724769592, + 0.008072137832641602, + 0.024285543709993362, + -0.029333929657311495 + ], + [ + -0.0077140615321695805, + 0.9998607039451599, + -0.014802145771682262, + 0.02532154223630707 + ], + [ + -0.024401646107435226, + 0.014609958045184612, + 0.9995954632759094, + 0.0004873483553959244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9996761679649353, + 0.007788644637912512, + 0.02422529086470604, + -0.02940638701565296 + ], + [ + -0.007430603262037039, + 0.9998623728752136, + -0.014834709465503693, + 0.02598442736410809 + ], + [ + -0.02433750033378601, + 0.014649897813796997, + 0.9995964765548706, + 0.000743035734686889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9996917247772217, + 0.007382367737591267, + 0.023706650361418724, + -0.028861298879418903 + ], + [ + -0.007038479670882225, + 0.9998692870140076, + -0.014556808397173882, + 0.02676390919689379 + ], + [ + -0.023811014369130135, + 0.014385461807250977, + 0.9996129870414734, + 0.0011804306225064853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9997141361236572, + 0.0077614495530724525, + 0.02261326089501381, + -0.027494285035387662 + ], + [ + -0.007453246973454952, + 0.9998786449432373, + -0.013681857846677303, + 0.02687650009387446 + ], + [ + -0.022716708481311798, + 0.013509404845535755, + 0.9996506571769714, + 0.0010005245748544837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9998139142990112, + 0.0081156762316823, + 0.01749923825263977, + -0.018696499321453584 + ], + [ + -0.007872235961258411, + 0.9998719096183777, + -0.013935769908130169, + 0.02821689459779663 + ], + [ + -0.0176100954413414, + 0.013795419596135616, + 0.9997497797012329, + 0.00039797129363419693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9997667670249939, + 0.008345414884388447, + 0.019920457154512405, + -0.02233696320891648 + ], + [ + -0.008046344853937626, + 0.9998544454574585, + -0.015046477317810059, + 0.03081422662724948 + ], + [ + -0.020043127238750458, + 0.014882680028676987, + 0.9996883273124695, + 0.0006895122111323262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9997076392173767, + 0.007524171378463507, + 0.02297770231962204, + -0.02688514009887676 + ], + [ + -0.007193137425929308, + 0.9998696446418762, + -0.014455582946538925, + 0.03060302328942957 + ], + [ + -0.02308347448706627, + 0.014286074787378311, + 0.9996314644813538, + 0.001276395851007278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9996886253356934, + 0.007605462335050106, + 0.02376602776348591, + -0.027754217287536687 + ], + [ + -0.007280364632606506, + 0.9998791813850403, + -0.01373579166829586, + 0.03136594843308994 + ], + [ + -0.023867623880505562, + 0.013558488339185715, + 0.99962317943573, + 0.0008636260719225369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9996670484542847, + 0.0071052988059818745, + 0.024805603548884392, + -0.028611415043517857 + ], + [ + -0.006769724655896425, + 0.9998847842216492, + -0.013586045242846012, + 0.032974511916152464 + ], + [ + -0.024899279698729515, + 0.013413594104349613, + 0.9995999932289124, + 0.001726742815031129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9998008608818054, + 0.0071569811552762985, + 0.018628811463713646, + -0.018012176780866647 + ], + [ + -0.006944304332137108, + 0.9999102354049683, + -0.011456298641860485, + 0.031672997982938315 + ], + [ + -0.018709132447838783, + 0.011324652470648289, + 0.9997608065605164, + 0.001883623672197545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9996729493141174, + 0.006316722370684147, + 0.02478105202317238, + -0.02782573135023167 + ], + [ + -0.006058220751583576, + 0.9999266266822815, + -0.01049266941845417, + 0.032773543149232864 + ], + [ + -0.024845510721206665, + 0.010339109227061272, + 0.9996378421783447, + 0.0021798114844424994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9996913075447083, + 0.006148273125290871, + 0.024071862921118736, + -0.02590471824329949 + ], + [ + -0.005922340787947178, + 0.9999378323554993, + -0.009445813484489918, + 0.03453895743172282 + ], + [ + -0.024128442630171776, + 0.009300335310399532, + 0.9996656179428101, + 0.003757391230643777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9997377991676331, + 0.006074485834687948, + 0.022076621651649475, + -0.022550691505838296 + ], + [ + -0.005911553744226694, + 0.999954879283905, + -0.007438077591359615, + 0.035646186747816874 + ], + [ + -0.022120807319879532, + 0.007305620238184929, + 0.9997286200523376, + 0.0022669330205835267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9997482299804688, + 0.004864264279603958, + 0.021904494613409042, + -0.023355384340543232 + ], + [ + -0.004783915355801582, + 0.9999816417694092, + -0.0037190685980021954, + 0.03541512341199521 + ], + [ + -0.02192218229174614, + 0.003613342996686697, + 0.9997531771659851, + 0.0038023817654096793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9998794794082642, + 0.005745246075093746, + 0.014423276297748089, + -0.013325846499713238 + ], + [ + -0.005745763890445232, + 0.9999834895133972, + -5.509744369192049e-06, + 0.03745709219166708 + ], + [ + -0.014423069544136524, + -7.736365660093725e-05, + 0.9998959898948669, + 0.004023569682229612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9998847246170044, + 0.004660379607230425, + 0.014450819231569767, + -0.015285943572626946 + ], + [ + -0.004736160393804312, + 0.9999752044677734, + 0.005214241798967123, + 0.03859720613966379 + ], + [ + -0.014426159672439098, + -0.005282082129269838, + 0.9998819828033447, + 0.005059599473481317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9998562335968018, + 0.004417748656123877, + 0.016370339319109917, + -0.019722521883954187 + ], + [ + -0.004619461949914694, + 0.9999136328697205, + 0.012304612435400486, + 0.03762193014343342 + ], + [ + -0.016314567998051643, + -0.012378466315567493, + 0.9997903108596802, + 0.006752804668430618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996848106384277, + 0.00447346456348896, + 0.02470412291586399, + -0.034724971650915586 + ], + [ + -0.004984932020306587, + 0.9997736811637878, + 0.02068108692765236, + 0.03759226035047881 + ], + [ + -0.024606017395853996, + -0.020797718316316605, + 0.9994808435440063, + 0.010965890451864212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.999539852142334, + 0.0024569351226091385, + 0.030233394354581833, + -0.04566913132672895 + ], + [ + -0.0034084906801581383, + 0.9994991421699524, + 0.03146248310804367, + 0.03578249564740116 + ], + [ + -0.0301409512758255, + -0.0315510556101799, + 0.999047577381134, + 0.014873161120061389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9993760585784912, + 0.0023637558333575726, + 0.03524153307080269, + -0.05659756279204732 + ], + [ + -0.003805282525718212, + 0.9991562962532043, + 0.04089342802762985, + 0.036150505149480476 + ], + [ + -0.035115133970975876, + -0.04100201278924942, + 0.9985418319702148, + 0.018580732824738155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9991748929023743, + 0.0012345948489382863, + 0.040595777332782745, + -0.06804568956210139 + ], + [ + -0.0032525593414902687, + 0.9987598657608032, + 0.04968033730983734, + 0.03574567387427042 + ], + [ + -0.040484100580215454, + -0.04977138340473175, + 0.9979398250579834, + 0.02359945543868813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.999023973941803, + -0.0001724864123389125, + 0.044170405715703964, + -0.07614098473049109 + ], + [ + -0.0025449800305068493, + 0.9981063604354858, + 0.06145870313048363, + 0.030653241972723413 + ], + [ + -0.04409736767411232, + -0.06151113286614418, + 0.9971317648887634, + 0.02976058073966446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9988054633140564, + -0.0021301116794347763, + 0.04881652444601059, + -0.08593351071600072 + ], + [ + -0.0015392417553812265, + 0.9971819519996643, + 0.07500559836626053, + 0.02370590081516498 + ], + [ + -0.04883872717618942, + -0.0749911442399025, + 0.9959874749183655, + 0.035149464310107834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9982821345329285, + -0.0036016397643834352, + 0.05847873538732529, + -0.10117783960900241 + ], + [ + -0.001673331717029214, + 0.9959489703178406, + 0.08990459144115448, + 0.01617249073516467 + ], + [ + -0.058565638959407806, + -0.08984799683094025, + 0.9942320585250854, + 0.04104778491808269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.997722864151001, + -0.004041397478431463, + 0.06732542812824249, + -0.11242342225560349 + ], + [ + -0.0028166212141513824, + 0.9948357939720154, + 0.10145846009254456, + 0.016876955499906032 + ], + [ + -0.06738777458667755, + -0.10141706466674805, + 0.9925590753555298, + 0.04622234175215938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9964608550071716, + -0.003972629550844431, + 0.08396399766206741, + -0.13572791626113662 + ], + [ + -0.005858753342181444, + 0.9931710362434387, + 0.11652041226625443, + 0.01341682038978189 + ], + [ + -0.08385350555181503, + -0.11659995466470718, + 0.989632785320282, + 0.05628361009998236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9950811862945557, + -0.0038010680582374334, + 0.09898971021175385, + -0.15610662350782423 + ], + [ + -0.009370786137878895, + 0.9911710023880005, + 0.13225820660591125, + 0.007630130554923044 + ], + [ + -0.09861844778060913, + -0.13253527879714966, + 0.9862599968910217, + 0.06432839450900427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9948915243148804, + -0.0023323181085288525, + 0.10092268884181976, + -0.15349549356942807 + ], + [ + -0.01225791871547699, + 0.9895444512367249, + 0.14370636641979218, + 0.009462582056750796 + ], + [ + -0.10020264983177185, + -0.1442093402147293, + 0.9844608306884766, + 0.06670171696090413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9946932792663574, + -0.0017923330888152122, + 0.10286892205476761, + -0.15098927892789155 + ], + [ + -0.014321944676339626, + 0.9877012372016907, + 0.15569554269313812, + 0.011291680757157106 + ], + [ + -0.10188282281160355, + -0.15634261071681976, + 0.9824341535568237, + 0.06945808111372108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9945182204246521, + -0.004239181987941265, + 0.10447731614112854, + -0.14947213912159651 + ], + [ + -0.013343009166419506, + 0.9858643412590027, + 0.1670135259628296, + 0.01304844439832751 + ], + [ + -0.10370846092700958, + -0.16749203205108643, + 0.980403482913971, + 0.07265762458304445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.994388997554779, + -0.0068658022210001945, + 0.10556215792894363, + -0.14828653568792308 + ], + [ + -0.012134269811213017, + 0.9839017987251282, + 0.17829741537570953, + 0.014620859702368705 + ], + [ + -0.10508695989847183, + -0.17857791483402252, + 0.9782978296279907, + 0.07494639853338995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9943193793296814, + -0.007832661271095276, + 0.10614892095327377, + -0.1472356419631107 + ], + [ + -0.012615418061614037, + 0.9815863370895386, + 0.19060194492340088, + 0.016166466501301643 + ], + [ + -0.10568725317716599, + -0.19085833430290222, + 0.9759114980697632, + 0.07820846164476372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9940391182899475, + -0.008892891928553581, + 0.10866080969572067, + -0.14590715280103828 + ], + [ + -0.013330681249499321, + 0.9792751669883728, + 0.20209501683712006, + 0.017777849153844193 + ], + [ + -0.10820604115724564, + -0.20233885943889618, + 0.9733192920684814, + 0.08228751959914933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9934791922569275, + -0.007713403087109327, + 0.11375240236520767, + -0.14489596828812745 + ], + [ + -0.016878655180335045, + 0.9767652750015259, + 0.2136462926864624, + 0.020225641033249704 + ], + [ + -0.11275733262300491, + -0.21417313814163208, + 0.9702657461166382, + 0.08798216127171488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9927285313606262, + -0.009222326800227165, + 0.12002087384462357, + -0.14320582882417532 + ], + [ + -0.018174398690462112, + 0.9741479158401489, + 0.2251788228750229, + 0.022806340226245503 + ], + [ + -0.11899476498365402, + -0.22572274506092072, + 0.9668968319892883, + 0.09462171804583715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9918584823608398, + -0.011000482365489006, + 0.12686890363693237, + -0.14224268022344677 + ], + [ + -0.019471606239676476, + 0.9714460372924805, + 0.23646028339862823, + 0.025099870285945028 + ], + [ + -0.1258474588394165, + -0.23700548708438873, + 0.9633228182792664, + 0.10004907643009803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9910079836845398, + -0.013767373748123646, + 0.1330925077199936, + -0.14262055197429513 + ], + [ + -0.01992298662662506, + 0.9684212803840637, + 0.2485222965478897, + 0.02619545037696462 + ], + [ + -0.1323111206293106, + -0.2489391714334488, + 0.9594389200210571, + 0.10306639991656034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9902012944221497, + -0.017776211723685265, + 0.13851149380207062, + -0.14186940964445205 + ], + [ + -0.01898604817688465, + 0.9655185341835022, + 0.25964105129241943, + 0.028927181946660233 + ], + [ + -0.13835085928440094, + -0.25972670316696167, + 0.9557201862335205, + 0.10819165001729292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9892460107803345, + -0.022568240761756897, + 0.1445097029209137, + -0.14374840741385958 + ], + [ + -0.017672915011644363, + 0.9623408913612366, + 0.27127039432525635, + 0.0286286078326538 + ], + [ + -0.14518970251083374, + -0.27090704441070557, + 0.9515930414199829, + 0.10799366672952732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.988050639629364, + -0.02109021134674549, + 0.15267984569072723, + -0.14520951098466883 + ], + [ + -0.02290361188352108, + 0.9595052599906921, + 0.2807580828666687, + 0.029280966832609244 + ], + [ + -0.1524183601140976, + -0.28090012073516846, + 0.947556734085083, + 0.10873222236861725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9861018657684326, + -0.03631540387868881, + 0.1621243953704834, + -0.15419370833628193 + ], + [ + -0.012290949001908302, + 0.9571993947029114, + 0.28916820883750916, + 0.023842891994975288 + ], + [ + -0.16568663716316223, + -0.28714194893836975, + 0.9434497356414795, + 0.09603769827388717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9857988357543945, + -0.03328615054488182, + 0.16459842026233673, + -0.14516176296520733 + ], + [ + -0.01718241721391678, + 0.9550215601921082, + 0.29603809118270874, + 0.0328519869751916 + ], + [ + -0.16704900562763214, + -0.2946622371673584, + 0.9408872723579407, + 0.12120733000561149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9852051734924316, + -0.03808746114373207, + 0.16709324717521667, + -0.14667975918172363 + ], + [ + -0.014780589379370213, + 0.9524753093719482, + 0.30425694584846497, + 0.03344651085441698 + ], + [ + -0.17074057459831238, + -0.302225261926651, + 0.9378206729888916, + 0.1253708866363514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9848159551620483, + -0.04467657208442688, + 0.16775447130203247, + -0.14669066587251103 + ], + [ + -0.01054922491312027, + 0.9491313099861145, + 0.3147038519382477, + 0.03441695224292978 + ], + [ + -0.17328089475631714, + -0.31169506907463074, + 0.9342483282089233, + 0.13234709533388744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9840211272239685, + -0.05128028243780136, + 0.17050719261169434, + -0.14718933059069925 + ], + [ + -0.007079873234033585, + 0.9456015825271606, + 0.32524996995925903, + 0.036243316325955774 + ], + [ + -0.17791077494621277, + -0.3212600350379944, + 0.9301288723945618, + 0.13910726421250555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9827715754508972, + -0.05724567174911499, + 0.17573563754558563, + -0.1474695234598514 + ], + [ + -0.004911985248327255, + 0.9423990249633789, + 0.334454745054245, + 0.03797618090927959 + ], + [ + -0.18475918471813202, + -0.32955583930015564, + 0.9258817434310913, + 0.14548273548751534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9809181094169617, + -0.06229002773761749, + 0.1841726452112198, + -0.14892679322622493 + ], + [ + -0.004366079345345497, + 0.9399902820587158, + 0.34117332100868225, + 0.038993912721108547 + ], + [ + -0.19437219202518463, + -0.3354671895503998, + 0.9217815399169922, + 0.1501524789604598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9790257811546326, + -0.06576104462146759, + 0.1928316354751587, + -0.15003303907767027 + ], + [ + -0.005055898800492287, + 0.9383423328399658, + 0.34567058086395264, + 0.04071659455466235 + ], + [ + -0.20367375016212463, + -0.33939534425735474, + 0.9183288216590881, + 0.15415568860348114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9771909117698669, + -0.07149715721607208, + 0.1999652236700058, + -0.14952520963674534 + ], + [ + -0.0033394284546375275, + 0.9363310933113098, + 0.35110241174697876, + 0.040707999678652095 + ], + [ + -0.2123364955186844, + -0.3437618613243103, + 0.9147354960441589, + 0.1613416780611712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.975588321685791, + -0.07289101183414459, + 0.20715788006782532, + -0.15139207657047374 + ], + [ + -0.004241034388542175, + 0.9368799924850464, + 0.3496253192424774, + 0.0428854444906294 + ], + [ + -0.21956661343574524, + -0.34196892380714417, + 0.9137000441551208, + 0.16452744062432273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.974646806716919, + -0.07436783611774445, + 0.211028590798378, + -0.15248997065121542 + ], + [ + -0.00411190465092659, + 0.9370359778404236, + 0.3492085933685303, + 0.04426713081489424 + ], + [ + -0.2237112671136856, + -0.34122276306152344, + 0.9129733443260193, + 0.16777186163528238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.973723292350769, + -0.07560980319976807, + 0.21481651067733765, + -0.15495785672864515 + ], + [ + -0.0033274777233600616, + 0.9384520649909973, + 0.34539344906806946, + 0.04667732561575975 + ], + [ + -0.22771012783050537, + -0.3370324671268463, + 0.9135410189628601, + 0.16758151157887397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9726664423942566, + -0.07747045159339905, + 0.21890252828598022, + -0.15617367916121455 + ], + [ + -0.0026985593140125275, + 0.9388702511787415, + 0.344260573387146, + 0.0482915093040395 + ], + [ + -0.2321910858154297, + -0.3354414105415344, + 0.9129985570907593, + 0.17012521082055782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9708721041679382, + -0.08304299414157867, + 0.22474710643291473, + -0.15707321817468026 + ], + [ + -6.62095844745636e-05, + 0.9379227757453918, + 0.3468440771102905, + 0.0489685011882625 + ], + [ + -0.23959840834140778, + -0.3367561101913452, + 0.910597562789917, + 0.17452145622162046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9695166349411011, + -0.0871080681681633, + 0.229018896818161, + -0.15781451646617786 + ], + [ + 0.0016973987221717834, + 0.9370391368865967, + 0.3492202162742615, + 0.05024266485682504 + ], + [ + -0.2450195848941803, + -0.3381860852241516, + 0.9086229205131531, + 0.1775532367165217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9685829281806946, + -0.0894741341471672, + 0.23203767836093903, + -0.15784780594135472 + ], + [ + 0.0022243931889533997, + 0.9361165165901184, + 0.3516830503940582, + 0.0516768417772865 + ], + [ + -0.24868084490299225, + -0.34011808037757874, + 0.906905472278595, + 0.18142594177565888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9674249887466431, + -0.09223158657550812, + 0.23575879633426666, + -0.15846596253132392 + ], + [ + 0.00279887393116951, + 0.9351118803024292, + 0.35434162616729736, + 0.052859459556416126 + ], + [ + -0.2531423270702362, + -0.3421390652656555, + 0.9049087166786194, + 0.18481053713552967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.966227650642395, + -0.09620320051908493, + 0.23905876278877258, + -0.15905575978452574 + ], + [ + 0.004673823714256287, + 0.9340888857841492, + 0.35701003670692444, + 0.054483294691109733 + ], + [ + -0.25764763355255127, + -0.34383562207221985, + 0.9029921293258667, + 0.18742166716538503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9650055170059204, + -0.09830661118030548, + 0.24310530722141266, + -0.16019423413062525 + ], + [ + 0.004159752279520035, + 0.9326924085617065, + 0.36064887046813965, + 0.05630531411305695 + ], + [ + -0.2621966302394867, + -0.3470168709754944, + 0.9004622101783752, + 0.1897319099324906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9642744660377502, + -0.10098353028297424, + 0.244902104139328, + -0.15833176663535797 + ], + [ + 0.004100888967514038, + 0.930069625377655, + 0.3673604428768158, + 0.058933742158114914 + ], + [ + -0.26487335562705994, + -0.3532319962978363, + 0.8972565531730652, + 0.19491343701670982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.963081955909729, + -0.103729248046875, + 0.24842169880867004, + -0.1586528674214186 + ], + [ + 0.0035968199372291565, + 0.9276618957519531, + 0.373403936624527, + 0.060142848223537035 + ], + [ + -0.26918426156044006, + -0.35872510075569153, + 0.8937875628471375, + 0.197911841176941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9621568322181702, + -0.1073666512966156, + 0.25045299530029297, + -0.1574876925188624 + ], + [ + 0.004570223391056061, + 0.9253345131874084, + 0.3791242837905884, + 0.06188432660600739 + ], + [ + -0.2724580764770508, + -0.3636323809623718, + 0.890807569026947, + 0.20296543865146752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9612036943435669, + -0.10919062793254852, + 0.2533077895641327, + -0.15780541975341159 + ], + [ + 0.004362072795629501, + 0.9242180585861206, + 0.38184019923210144, + 0.0638421074336696 + ], + [ + -0.2758050262928009, + -0.365921288728714, + 0.8888381123542786, + 0.20562113510991284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9614848494529724, + -0.1103290319442749, + 0.25174275040626526, + -0.1554091892199602 + ], + [ + 0.00533955916762352, + 0.9232259392738342, + 0.3842204511165619, + 0.06661641109779388 + ], + [ + -0.27480611205101013, + -0.36807796359062195, + 0.888256847858429, + 0.2100124461743646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9607681035995483, + -0.11349338293075562, + 0.25306907296180725, + -0.15548526029030008 + ], + [ + 0.00702580064535141, + 0.9221101403236389, + 0.38686370849609375, + 0.06799082683544316 + ], + [ + -0.2772640287876129, + -0.36990827322006226, + 0.8867313861846924, + 0.2150057791235918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.960780680179596, + -0.11655630171298981, + 0.2516250014305115, + -0.15278382079151576 + ], + [ + 0.010498136281967163, + 0.9220172166824341, + 0.3870064914226532, + 0.07169728009309062 + ], + [ + -0.27711063623428345, + -0.36918678879737854, + 0.8870799541473389, + 0.22193032510266333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9601036310195923, + -0.12133573740720749, + 0.2519497871398926, + -0.15165088627331272 + ], + [ + 0.014718569815158844, + 0.9216417074203491, + 0.38776275515556335, + 0.0736961710751949 + ], + [ + -0.2792568802833557, + -0.3685840666294098, + 0.8866574168205261, + 0.22679885111883014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9587393999099731, + -0.1279728263616562, + 0.2538537383079529, + -0.14863127754655428 + ], + [ + 0.019249025732278824, + 0.9201236963272095, + 0.3911544978618622, + 0.07541151332172627 + ], + [ + -0.2836340069770813, + -0.3701287806034088, + 0.8846222162246704, + 0.23461879622079654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9253022074699402, + -0.30606701970100403, + 0.22391706705093384, + -0.22979318337169236 + ], + [ + 0.1614418923854828, + 0.8521894216537476, + 0.49770450592041016, + 0.02154196519962328 + ], + [ + -0.34315067529678345, + -0.42437744140625, + 0.837944746017456, + -0.07990771197451803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9247046113014221, + -0.3044438362121582, + 0.22855055332183838, + -0.2269563711510447 + ], + [ + 0.15690463781356812, + 0.8517982959747314, + 0.49982064962387085, + 0.025417248900243633 + ], + [ + -0.3468462824821472, + -0.42632579803466797, + 0.8354304432868958, + -0.07456024749550277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9240046143531799, + -0.30397188663482666, + 0.23198410868644714, + -0.22404112730197565 + ], + [ + 0.15329335629940033, + 0.8502649068832397, + 0.5035382509231567, + 0.02758700225703018 + ], + [ + -0.3503094017505646, + -0.4297100305557251, + 0.8322455286979675, + -0.06839617795929938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.924419641494751, + -0.30062928795814514, + 0.23467087745666504, + -0.22141391056740356 + ], + [ + 0.14804396033287048, + 0.8499398827552795, + 0.5056532025337219, + 0.029691356741739602 + ], + [ + -0.35147029161453247, + -0.43269413709640503, + 0.8302074670791626, + -0.06329335449430756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.92434161901474, + -0.2998200058937073, + 0.23600956797599792, + -0.21858784832997236 + ], + [ + 0.1455904245376587, + 0.8488655686378479, + 0.5081640481948853, + 0.03272862584960318 + ], + [ + -0.35269811749458313, + -0.4353564381599426, + 0.828292727470398, + -0.05749914951533258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9245398044586182, + -0.29892322421073914, + 0.2363705337047577, + -0.21586924487959125 + ], + [ + 0.1437830924987793, + 0.848034143447876, + 0.5100632309913635, + 0.03588691238916207 + ], + [ + -0.3529200255870819, + -0.437587708234787, + 0.8270214200019836, + -0.052471575366255054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9250594973564148, + -0.2970941662788391, + 0.2366432398557663, + -0.21187928222610566 + ], + [ + 0.14079119265079498, + 0.8468649983406067, + 0.5128328204154968, + 0.03971913300097703 + ], + [ + -0.3527645170688629, + -0.4410836100578308, + 0.825228750705719, + -0.04538299242581079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9241390228271484, + -0.29908299446105957, + 0.23773188889026642, + -0.21072972730962103 + ], + [ + 0.1411786675453186, + 0.8455287218093872, + 0.5149269104003906, + 0.04064138530569521 + ], + [ + -0.35501500964164734, + -0.4423013925552368, + 0.823610246181488, + -0.042847770120123196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9243143796920776, + -0.29986903071403503, + 0.23605391383171082, + -0.20849045156361815 + ], + [ + 0.1417478322982788, + 0.8440502882003784, + 0.5171911120414734, + 0.04379887726537125 + ], + [ + -0.35433098673820496, + -0.4445870816707611, + 0.8226736187934875, + -0.03832146524936854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9245679974555969, + -0.30160200595855713, + 0.23283085227012634, + -0.20592390118601794 + ], + [ + 0.1432645320892334, + 0.8414187431335449, + 0.5210468173027039, + 0.04624506768932243 + ], + [ + -0.35305699706077576, + -0.4483868479728699, + 0.821157693862915, + -0.03416327065202648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.923893392086029, + -0.3059157431125641, + 0.2298620045185089, + -0.20402212574810324 + ], + [ + 0.14649930596351624, + 0.8377265930175781, + 0.5260723233222961, + 0.04754977114498615 + ], + [ + -0.353495329618454, + -0.4523601233959198, + 0.8187865614891052, + -0.03015973604100193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9226478934288025, + -0.3109970986843109, + 0.22803881764411926, + -0.20288809707421743 + ], + [ + 0.14982634782791138, + 0.8339424729347229, + 0.5311233997344971, + 0.04846921977614929 + ], + [ + -0.3553490936756134, + -0.45587363839149475, + 0.8160308003425598, + -0.026447259074824307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9223259091377258, + -0.31250011920928955, + 0.22728535532951355, + -0.20255909499650943 + ], + [ + 0.15062163770198822, + 0.8324172496795654, + 0.5332866907119751, + 0.0509424086526304 + ], + [ + -0.35584840178489685, + -0.4576300382614136, + 0.8148292303085327, + -0.02368498227397304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9217403531074524, + -0.3151185214519501, + 0.22604212164878845, + -0.20222294132509633 + ], + [ + 0.15241989493370056, + 0.8303343653678894, + 0.5360159277915955, + 0.05262254571575606 + ], + [ + -0.3565990626811981, + -0.45961421728134155, + 0.8133830428123474, + -0.02046394975197887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9219379425048828, + -0.3172074556350708, + 0.22228342294692993, + -0.20073576787274755 + ], + [ + 0.1545400470495224, + 0.827455997467041, + 0.5398462414741516, + 0.053484519133846206 + ], + [ + -0.3551729917526245, + -0.4633530080318451, + 0.8118842840194702, + -0.015315682764449522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9231804013252258, + -0.3163664638996124, + 0.21828919649124146, + -0.19818043646341313 + ], + [ + 0.15647608041763306, + 0.8280653357505798, + 0.5383521914482117, + 0.059045508325456866 + ], + [ + -0.3510742783546448, + -0.46283918619155884, + 0.8139574527740479, + -0.010548581129419594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9228270649909973, + -0.31831037998199463, + 0.21695317327976227, + -0.19772727678635876 + ], + [ + 0.1572735756635666, + 0.8254535794258118, + 0.5421175360679626, + 0.05985471433764715 + ], + [ + -0.35164642333984375, + -0.46615976095199585, + 0.8118127584457397, + -0.006737119173575314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9228472709655762, + -0.31892573833465576, + 0.21596139669418335, + -0.19721195055339152 + ], + [ + 0.1575971394777298, + 0.8242725729942322, + 0.5438178777694702, + 0.06304809094300706 + ], + [ + -0.35144859552383423, + -0.46782591938972473, + 0.8109394311904907, + -0.004210565770100691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9226131439208984, + -0.31971994042396545, + 0.2157873958349228, + -0.1961954124138027 + ], + [ + 0.15711605548858643, + 0.8224135637283325, + 0.5467636585235596, + 0.06599413457153712 + ], + [ + -0.3522776961326599, + -0.4705476760864258, + 0.809002697467804, + 0.00013774767250357423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.92180335521698, + -0.3206610381603241, + 0.21784180402755737, + -0.19627858512772772 + ], + [ + 0.15613922476768494, + 0.8214601278305054, + 0.548474133014679, + 0.06745129213250148 + ], + [ + -0.35482263565063477, + -0.4715716540813446, + 0.8072924613952637, + 0.0031255522932478047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9215361475944519, + -0.3202306628227234, + 0.2195984423160553, + -0.19387525882192713 + ], + [ + 0.15488901734352112, + 0.8217697143554688, + 0.5483648180961609, + 0.07157905910353729 + ], + [ + -0.35606256127357483, + -0.471324622631073, + 0.8068907260894775, + 0.009075909161460609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9193998575210571, + -0.3227190375328064, + 0.22484739124774933, + -0.19356569877998558 + ], + [ + 0.1546926498413086, + 0.8222765922546387, + 0.5476599335670471, + 0.07421708154843418 + ], + [ + -0.3616270422935486, + -0.4687362313270569, + 0.8059232234954834, + 0.013346714142732273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9181817770004272, + -0.3222098648548126, + 0.23048433661460876, + -0.19252664043517884 + ], + [ + 0.15239518880844116, + 0.824303150177002, + 0.54525226354599, + 0.07823582453998978 + ], + [ + -0.3656746447086334, + -0.46551600098609924, + 0.8059633374214172, + 0.018344062018001858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9158769845962524, + -0.3240938186645508, + 0.2369230091571808, + -0.19240637359148013 + ], + [ + 0.1513138711452484, + 0.8253099918365479, + 0.5440289974212646, + 0.08024049496646235 + ], + [ + -0.3718513548374176, + -0.4624139070510864, + 0.804922342300415, + 0.02300746287414413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.914202094078064, + -0.32499265670776367, + 0.24210390448570251, + -0.1910825535208879 + ], + [ + 0.15098626911640167, + 0.8275378942489624, + 0.5407256484031677, + 0.08621823871452473 + ], + [ + -0.37608203291893005, + -0.4577781856060028, + 0.8056063055992126, + 0.029910673718609497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9127700328826904, + -0.32623451948165894, + 0.24580873548984528, + -0.18986564901417602 + ], + [ + 0.1508706957101822, + 0.8284791707992554, + 0.5393146872520447, + 0.09049529519802084 + ], + [ + -0.3795905113220215, + -0.4551849663257599, + 0.8054301738739014, + 0.03604309644527777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9109768867492676, + -0.3268957734107971, + 0.25151604413986206, + -0.19160448482293568 + ], + [ + 0.1490490734577179, + 0.8294985294342041, + 0.5382532477378845, + 0.09025733628181998 + ], + [ + -0.384584903717041, + -0.45284801721572876, + 0.8043774962425232, + 0.03805541335465665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9087514281272888, + -0.33129629492759705, + 0.25379836559295654, + -0.1919493721273845 + ], + [ + 0.15113285183906555, + 0.8281028270721436, + 0.539819061756134, + 0.09156134889689749 + ], + [ + -0.3890112042427063, + -0.4522041082382202, + 0.802609384059906, + 0.04428872579407549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9089552164077759, + -0.3318856656551361, + 0.25229406356811523, + -0.19082337082503084 + ], + [ + 0.1543082594871521, + 0.830030620098114, + 0.5359460115432739, + 0.09797258016815086 + ], + [ + -0.3872845768928528, + -0.4482198655605316, + 0.805673360824585, + 0.050210692764756204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9069146513938904, + -0.33577969670295715, + 0.25447559356689453, + -0.1924611059313049 + ], + [ + 0.15644320845603943, + 0.8292094469070435, + 0.5365979075431824, + 0.09852922855915425 + ], + [ + -0.3911921977996826, + -0.44683751463890076, + 0.8045526146888733, + 0.05357131757243664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9061185121536255, + -0.3376712501049042, + 0.2548085153102875, + -0.19201633735688148 + ], + [ + 0.15875470638275146, + 0.8297652006149292, + 0.5350576639175415, + 0.10248530512218348 + ], + [ + -0.392104834318161, + -0.44437360763549805, + 0.8054724931716919, + 0.05909621595087165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9040566086769104, + -0.3416140079498291, + 0.25686872005462646, + -0.19319438843313091 + ], + [ + 0.1614120602607727, + 0.8293618559837341, + 0.5348879098892212, + 0.10344340852545407 + ], + [ + -0.3957623243331909, + -0.44210726022720337, + 0.8049306869506836, + 0.06326315283418416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9023385643959045, + -0.34412339329719543, + 0.2595461308956146, + -0.19395335446931644 + ], + [ + 0.1647651493549347, + 0.8318086862564087, + 0.5300441980361938, + 0.10727913322562944 + ], + [ + -0.39829328656196594, + -0.4355151653289795, + 0.8072725534439087, + 0.0673820378983806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9005838632583618, + -0.3479604721069336, + 0.2605230212211609, + -0.1940930540690165 + ], + [ + 0.17001937329769135, + 0.8335672616958618, + 0.5256034731864929, + 0.11047802411332103 + ], + [ + -0.4000527262687683, + -0.4290560483932495, + 0.8098572492599487, + 0.07176047463616925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.8981435298919678, + -0.35130545496940613, + 0.26442891359329224, + -0.1955500022915309 + ], + [ + 0.17348399758338928, + 0.8357157707214355, + 0.5210397839546204, + 0.11380503791981116 + ], + [ + -0.40403151512145996, + -0.42209431529045105, + 0.8115386366844177, + 0.07502792623942484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.8956528306007385, + -0.35496896505355835, + 0.2679609954357147, + -0.19686307735785752 + ], + [ + 0.17443297803401947, + 0.8345825672149658, + 0.5225371718406677, + 0.11296706885367097 + ], + [ + -0.4091200530529022, + -0.4212706685066223, + 0.8094145059585571, + 0.07803832413907535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.893543004989624, + -0.3583976626396179, + 0.27042925357818604, + -0.19696323412978006 + ], + [ + 0.17652569711208344, + 0.8342536687850952, + 0.5223595499992371, + 0.11658864098930075 + ], + [ + -0.4128190279006958, + -0.41901302337646484, + 0.8087079524993896, + 0.08231138265775348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.8919060826301575, + -0.361491322517395, + 0.2717123031616211, + -0.19790485647624123 + ], + [ + 0.17720937728881836, + 0.8321713805198669, + 0.5254403948783875, + 0.11688321768166778 + ], + [ + -0.4160533547401428, + -0.420493483543396, + 0.8062783479690552, + 0.08428317442268668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.8894999623298645, + -0.3666476011276245, + 0.2726891338825226, + -0.1991953397582391 + ], + [ + 0.18059825897216797, + 0.8302853107452393, + 0.5272670984268188, + 0.1180168226048975 + ], + [ + -0.4197309911251068, + -0.41975685954093933, + 0.8047546744346619, + 0.08658263936728061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.8879737854003906, + -0.3710331618785858, + 0.2717295289039612, + -0.19987277406418397 + ], + [ + 0.18396684527397156, + 0.8280940651893616, + 0.5295435786247253, + 0.11931064517912038 + ], + [ + -0.42149585485458374, + -0.4202316105365753, + 0.8035836219787598, + 0.08937272854193956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.8880909085273743, + -0.371340811252594, + 0.2709253430366516, + -0.20072521001635912 + ], + [ + 0.18462610244750977, + 0.8279232978820801, + 0.5295811295509338, + 0.12219282708125201 + ], + [ + -0.4209604859352112, + -0.420296311378479, + 0.8038303852081299, + 0.09087951927484866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.8876202702522278, + -0.37372177839279175, + 0.2691883444786072, + -0.20060635294742926 + ], + [ + 0.1871071606874466, + 0.8266509771347046, + 0.5306968092918396, + 0.1251709720242523 + ], + [ + -0.4208577275276184, + -0.4206901788711548, + 0.8036781549453735, + 0.0934424173689174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.8872832655906677, + -0.3743845224380493, + 0.26937827467918396, + -0.20084793696146525 + ], + [ + 0.18707197904586792, + 0.825972855091095, + 0.5317639112472534, + 0.12644048209140402 + ], + [ + -0.4215833246707916, + -0.42143210768699646, + 0.8029087781906128, + 0.09559582379049883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.8874948620796204, + -0.37397316098213196, + 0.26925259828567505, + -0.20101109193470665 + ], + [ + 0.1863841712474823, + 0.8256787657737732, + 0.5324617624282837, + 0.12690450199349912 + ], + [ + -0.42144256830215454, + -0.4223726689815521, + 0.8024883270263672, + 0.09724484526825522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.8875479102134705, + -0.37381047010421753, + 0.26930370926856995, + -0.20104683841060023 + ], + [ + 0.18607163429260254, + 0.8255820274353027, + 0.5327209234237671, + 0.1283024815652899 + ], + [ + -0.4214690029621124, + -0.4227055609226227, + 0.8022991418838501, + 0.09940550034631512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.887708306312561, + -0.37434786558151245, + 0.2680254578590393, + -0.20110797435937527 + ], + [ + 0.186318039894104, + 0.8244422078132629, + 0.5343974828720093, + 0.12958287693069367 + ], + [ + -0.4210219979286194, + -0.4244511127471924, + 0.8016119599342346, + 0.10111641723238779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.8879390954971313, + -0.3751997947692871, + 0.26606249809265137, + -0.2013682695562968 + ], + [ + 0.18681222200393677, + 0.8227651715278625, + 0.5368040800094604, + 0.1302030991606727 + ], + [ + -0.4203157424926758, + -0.42694562673568726, + 0.8006572723388672, + 0.10224227887427734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.8886164426803589, + -0.3746277093887329, + 0.2646034061908722, + -0.20130310952663422 + ], + [ + 0.18675597012043, + 0.8224692344665527, + 0.5372770428657532, + 0.13150116950273516 + ], + [ + -0.4189070165157318, + -0.4280169606208801, + 0.8008236289024353, + 0.10359705686569214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/boom_up/transforms.json b/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..967b611f517fb01a8357ac081fc5b74a8e0dc5a8 --- /dev/null +++ b/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/boom_up/transforms.json @@ -0,0 +1,5893 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 168, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -6.386433960869908e-05, + 4.9870759539771825e-05, + -7.26116995792836e-05 + ], + [ + 6.386695895344019e-05, + 1.0, + -5.262265040073544e-05, + 2.3591896024299785e-05 + ], + [ + -4.986739804735407e-05, + 5.262583727017045e-05, + 1.0, + 0.000261035340372473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999998211860657, + -0.0004513963358476758, + 0.00043834978714585304, + -0.0012117291526718367 + ], + [ + 0.0004514788743108511, + 0.9999998807907104, + -0.0001882771757664159, + -0.0005208631608064265 + ], + [ + -0.00043826474575325847, + 0.00018847505270969123, + 0.9999998807907104, + 0.00046586181804109757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999999463558197, + -0.0005155851249583066, + 0.0008805471006780863, + -0.0018663195656852317 + ], + [ + 0.0005157400737516582, + 0.9999998807907104, + -0.00017578608822077513, + -0.002150941999910768 + ], + [ + -0.0008804562967270613, + 0.00017624013707973063, + 0.9999995827674866, + 0.0009595332034615365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999998211860657, + -0.00022963089577388018, + 0.0005722171626985073, + -0.0016636785074373467 + ], + [ + 0.00023016591148916632, + 0.9999995231628418, + -0.0009350882028229535, + -0.0025759398549639 + ], + [ + -0.000572002143599093, + 0.0009352197521366179, + 0.9999994039535522, + -0.0006223058322107163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999997019767761, + -0.00046732480404898524, + 0.0006452467641793191, + -0.002001818378377862 + ], + [ + 0.00046829163329675794, + 0.9999987483024597, + -0.0014990560011938214, + -0.0028815753327495796 + ], + [ + -0.0006445454782806337, + 0.0014993577497079968, + 0.9999986886978149, + -0.0008244668513475109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999997019767761, + -0.00019359869475010782, + 0.0007237441022880375, + -0.0021162742001132086 + ], + [ + 0.00019498301844578236, + 0.999998152256012, + -0.0019131302833557129, + -0.003150655977772326 + ], + [ + -0.0007233723881654441, + 0.0019132709130644798, + 0.9999979138374329, + -0.00027631202288819646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999996423721313, + 0.00017050415044650435, + 0.0007969001890160143, + -0.0021512380458866276 + ], + [ + -0.00016883565695025027, + 0.9999977946281433, + -0.0020933153573423624, + -0.004055766812295648 + ], + [ + -0.0007972553721629083, + 0.002093180315569043, + 0.9999974966049194, + -0.00045732729667435196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999989867210388, + -0.0005578714772127569, + 0.001314881956204772, + -0.002332313153802133 + ], + [ + 0.000559780455660075, + 0.9999988079071045, + -0.0014519282849505544, + -0.006903954657787335 + ], + [ + -0.0013140703085809946, + 0.0014526628656312823, + 0.9999980926513672, + -0.00032438886857976367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999992847442627, + 0.0002549107011873275, + 0.0011836827034130692, + -0.0019858162173956723 + ], + [ + -0.0002528218610677868, + 0.9999983906745911, + -0.001764523796737194, + -0.007377611827607195 + ], + [ + -0.0011841306695714593, + 0.001764223212376237, + 0.9999977350234985, + -0.000731975096765861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999985694885254, + 0.0011831024894490838, + 0.0012033168459311128, + -0.0017909970408456098 + ], + [ + -0.001181108527816832, + 0.9999979138374329, + -0.0016564088873565197, + -0.007995026430650476 + ], + [ + -0.0012052740203216672, + 0.00165498536080122, + 0.9999979138374329, + -0.0008371444812189497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999971389770508, + 0.0011831377632915974, + 0.0020694038830697536, + -0.0018058918349578709 + ], + [ + -0.001178534235805273, + 0.9999968409538269, + -0.0022243561688810587, + -0.007791109102872942 + ], + [ + -0.0020720288157463074, + 0.0022219109814614058, + 0.9999954104423523, + -0.0013037207355153953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999939203262329, + 0.0023831583093851805, + 0.002556296531111002, + -0.0016538323914007602 + ], + [ + -0.002378321485593915, + 0.9999953508377075, + -0.0018935262924060225, + -0.008885326380925086 + ], + [ + -0.0025607971474528313, + 0.00188743497710675, + 0.9999949336051941, + -0.0009913367498805468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999905228614807, + 0.0033453917130827904, + 0.002780444687232375, + -0.0016624813700027898 + ], + [ + -0.0033397232182323933, + 0.999992311000824, + -0.002040930325165391, + -0.009376558044947641 + ], + [ + -0.0027872512582689524, + 0.0020316250156611204, + 0.9999940395355225, + -0.00128017717353375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999861717224121, + 0.004599347710609436, + 0.0025467174127697945, + -0.0009104920961771406 + ], + [ + -0.0045942021533846855, + 0.9999874234199524, + -0.002022651256993413, + -0.01094790517135027 + ], + [ + -0.0025559882633388042, + 0.0020109231118112803, + 0.999994695186615, + -0.001420584962770209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999824166297913, + 0.0049236249178647995, + 0.003302266588434577, + -0.0017570068896608706 + ], + [ + -0.004911785013973713, + 0.9999815225601196, + -0.0035838696639984846, + -0.010535971160342326 + ], + [ + -0.003319851355627179, + 0.003567586885765195, + 0.9999881386756897, + -0.0006079441547800903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999813437461853, + 0.005462336353957653, + 0.002723792102187872, + -0.0009108944928474322 + ], + [ + -0.005448244512081146, + 0.999971866607666, + -0.005154474172741175, + -0.009900872885600893 + ], + [ + -0.0027518710121512413, + 0.005139538552612066, + 0.999983012676239, + -0.0007620201931295994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999813437461853, + 0.005650729406625032, + 0.0023196707479655743, + -0.000868921704286386 + ], + [ + -0.005635865498334169, + 0.9999638795852661, + -0.006365066394209862, + -0.010174543115806706 + ], + [ + -0.0023555541411042213, + 0.0063518742099404335, + 0.9999770522117615, + -0.0014095856416357045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999671578407288, + 0.006521407049149275, + 0.004805780481547117, + -0.005554606183013784 + ], + [ + -0.006483227480202913, + 0.9999476075172424, + -0.0079177962616086, + -0.009590692948034135 + ], + [ + -0.004857164341956377, + 0.007886379025876522, + 0.9999570846557617, + -0.0018149651921616342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999735355377197, + 0.006690052337944508, + 0.002863154746592045, + -0.002765364944656006 + ], + [ + -0.006668388843536377, + 0.99994957447052, + -0.007510227616876364, + -0.01236918215252303 + ], + [ + -0.00291325431317091, + 0.007490936201065779, + 0.9999676942825317, + -0.00182181675081883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.99996018409729, + 0.00690375966951251, + 0.005653887987136841, + -0.008353083279864964 + ], + [ + -0.006850677076727152, + 0.9999327659606934, + -0.009354774840176105, + -0.01210363354655206 + ], + [ + -0.005718090571463108, + 0.009315668605268002, + 0.9999402761459351, + -0.0018886396871924311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999510645866394, + 0.0071453070268034935, + 0.006842389237135649, + -0.01089749095437234 + ], + [ + -0.007081286050379276, + 0.9999313354492188, + -0.00933554396033287, + -0.014995912835838463 + ], + [ + -0.0069086248986423016, + 0.009286634624004364, + 0.9999330043792725, + -0.0013743320376818587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999123215675354, + 0.007235681638121605, + 0.011092716827988625, + -0.018211235484097175 + ], + [ + -0.007122356444597244, + 0.9999223947525024, + -0.010221858508884907, + -0.015776360975466894 + ], + [ + -0.011165818199515343, + 0.010141956619918346, + 0.9998862147331238, + -0.0003562913234429267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.999873161315918, + 0.007011420093476772, + 0.01429921668022871, + -0.023246052909174007 + ], + [ + -0.006869880482554436, + 0.9999271631240845, + -0.009923621080815792, + -0.018776876002572433 + ], + [ + -0.014367754571139812, + 0.00982412789016962, + 0.9998485445976257, + 0.0002854552505813918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9997297525405884, + 0.0072752260603010654, + 0.02208041027188301, + -0.03592598669894575 + ], + [ + -0.007036380935460329, + 0.9999160766601562, + -0.01087554357945919, + -0.019680859973308394 + ], + [ + -0.022157680243253708, + 0.010717237368226051, + 0.9996970295906067, + 0.002191141331122218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9995831251144409, + 0.0070657809264957905, + 0.02799452468752861, + -0.04494893197750974 + ], + [ + -0.006797217298299074, + 0.9999300837516785, + -0.009677005931735039, + -0.024346477674420726 + ], + [ + -0.028060942888259888, + 0.009482687339186668, + 0.9995612502098083, + 0.0041343560068684065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9995039701461792, + 0.006694944575428963, + 0.030772455036640167, + -0.04827692955843881 + ], + [ + -0.006402663886547089, + 0.9999335408210754, + -0.009586879052221775, + -0.02652025515001691 + ], + [ + -0.030834592878818512, + 0.009385098703205585, + 0.9994804263114929, + 0.004901556406883958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9992969036102295, + 0.006890510208904743, + 0.03685363754630089, + -0.05687481186904771 + ], + [ + -0.00653367955237627, + 0.9999306797981262, + -0.00979406014084816, + -0.027741700183310194 + ], + [ + -0.03691856935620308, + 0.00954638421535492, + 0.9992727041244507, + 0.005733731371757691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9990857243537903, + 0.006756249349564314, + 0.042214710265398026, + -0.06381478886856157 + ], + [ + -0.006343595217913389, + 0.9999308586120605, + -0.009901443496346474, + -0.02915560497517536 + ], + [ + -0.04227868840098381, + 0.009624598547816277, + 0.9990594983100891, + 0.00602932502822337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9988430738449097, + 0.006525752600282431, + 0.04764325171709061, + -0.07015545125158426 + ], + [ + -0.00607175612822175, + 0.9999348521232605, + -0.009667590260505676, + -0.03076603550597758 + ], + [ + -0.04770323634147644, + 0.00936712697148323, + 0.9988176226615906, + 0.006993947507155512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.998616099357605, + 0.0065301088616251945, + 0.05218508094549179, + -0.0745745889926162 + ], + [ + -0.006033869460225105, + 0.9999351501464844, + -0.00966111570596695, + -0.031348287991197876 + ], + [ + -0.05224478244781494, + 0.009332867339253426, + 0.9985907077789307, + 0.00877737074331966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9984476566314697, + 0.006945790722966194, + 0.05526307597756386, + -0.07649704794996157 + ], + [ + -0.006409437395632267, + 0.9999306797981262, + -0.00987678486853838, + -0.03156870434027232 + ], + [ + -0.05532784387469292, + 0.009507247246801853, + 0.9984229803085327, + 0.009431384358845071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9983399510383606, + 0.006739707663655281, + 0.05720023065805435, + -0.07688748656164208 + ], + [ + -0.006165247410535812, + 0.9999288320541382, + -0.01021350733935833, + -0.031658676412781916 + ], + [ + -0.05726499855518341, + 0.009843898937106133, + 0.9983105063438416, + 0.009553435277528392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9983023405075073, + 0.0063195484690368176, + 0.05790082365274429, + -0.07549586032857437 + ], + [ + -0.0057501341216266155, + 0.9999334812164307, + -0.009995643049478531, + -0.03282596639351931 + ], + [ + -0.057960145175457, + 0.00964573584496975, + 0.9982722997665405, + 0.009519158806763366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9983341097831726, + 0.006686300504952669, + 0.057308658957481384, + -0.07312353290868422 + ], + [ + -0.006100588012486696, + 0.9999274015426636, + -0.010389178059995174, + -0.03273866180397436 + ], + [ + -0.05737396329641342, + 0.010022253729403019, + 0.9983024597167969, + 0.008738784398883582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9985660910606384, + 0.00668152654543519, + 0.0531141422688961, + -0.06542060362108186 + ], + [ + -0.0061379666440188885, + 0.9999271631240845, + -0.010390350595116615, + -0.033350099555166546 + ], + [ + -0.053179699927568436, + 0.01004943810403347, + 0.9985343813896179, + 0.006688493427759159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9986178874969482, + 0.006831558421254158, + 0.052112095057964325, + -0.06328881388630517 + ], + [ + -0.0062375618144869804, + 0.9999138116836548, + -0.011552577838301659, + -0.03221122884821749 + ], + [ + -0.052186526358127594, + 0.011211559176445007, + 0.998574435710907, + 0.005442198254391105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9988216757774353, + 0.006778831593692303, + 0.048055801540613174, + -0.05637230577984613 + ], + [ + -0.006217414513230324, + 0.9999107718467712, + -0.011822468601167202, + -0.032838870785728905 + ], + [ + -0.048131655901670456, + 0.011509754694998264, + 0.9987747073173523, + 0.004144503840964711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9990420937538147, + 0.007431824691593647, + 0.04312368109822273, + -0.04835004295741102 + ], + [ + -0.006932663731276989, + 0.999907374382019, + -0.011713134124875069, + -0.03382523637041896 + ], + [ + -0.04320673272013664, + 0.011402951553463936, + 0.9990010857582092, + 0.0031300106584958866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9991994500160217, + 0.007518649101257324, + 0.03929278627038002, + -0.04272074160015512 + ], + [ + -0.006993715651333332, + 0.9998846650123596, + -0.013479962944984436, + -0.03179549218495628 + ], + [ + -0.039389606565237045, + 0.013194369152188301, + 0.9991368055343628, + 0.0016603623541953142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9994207620620728, + 0.007818002253770828, + 0.033121947199106216, + -0.03331130705327688 + ], + [ + -0.007364784367382526, + 0.9998778700828552, + -0.013783303089439869, + -0.03238878064638305 + ], + [ + -0.033225659281015396, + 0.013531382195651531, + 0.9993562698364258, + -8.255307857870146e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9994701743125916, + 0.00791752990335226, + 0.031570788472890854, + -0.03198191331710644 + ], + [ + -0.0074490830302238464, + 0.9998608231544495, + -0.014928106218576431, + -0.03154477955840394 + ], + [ + -0.03168458864092827, + 0.014685023576021194, + 0.9993900060653687, + -7.138868220830843e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9995211362838745, + 0.00805150717496872, + 0.029878228902816772, + -0.030550845346586433 + ], + [ + -0.007571677211672068, + 0.9998410940170288, + -0.01613805815577507, + -0.030237974827651854 + ], + [ + -0.030003417283296585, + 0.015904102474451065, + 0.9994232654571533, + 5.6621837631860546e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9995500445365906, + 0.007689427584409714, + 0.02899339236319065, + -0.029965761580510054 + ], + [ + -0.007216855883598328, + 0.9998399615287781, + -0.016368862241506577, + -0.03048087439449605 + ], + [ + -0.0291146207600832, + 0.01615225523710251, + 0.9994455575942993, + 0.00019732893195036722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9995750784873962, + 0.007741834502667189, + 0.02810276858508587, + -0.02938325180850566 + ], + [ + -0.007271723356097937, + 0.9998325705528259, + -0.01679210364818573, + -0.029522745737047523 + ], + [ + -0.028228064998984337, + 0.01658061146736145, + 0.9994639754295349, + -0.00021441995490741126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995899200439453, + 0.007595139555633068, + 0.02760970965027809, + -0.029382079882089962 + ], + [ + -0.007148189470171928, + 0.9998424053192139, + -0.016250966116786003, + -0.030086572850569194 + ], + [ + -0.027728784829378128, + 0.01604694314301014, + 0.9994866847991943, + -0.00024656140340302524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.999603807926178, + 0.007792814169079065, + 0.027045177295804024, + -0.02930500056778644 + ], + [ + -0.0073702954687178135, + 0.999849796295166, + -0.0156873669475317, + -0.031449497261915565 + ], + [ + -0.027163362130522728, + 0.01548182126134634, + 0.9995111227035522, + 5.3846340732436975e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9996150732040405, + 0.0076269893907010555, + 0.026675716042518616, + -0.029711956874896844 + ], + [ + -0.007221064064651728, + 0.9998571872711182, + -0.015280402265489101, + -0.03285060939518456 + ], + [ + -0.02678845077753067, + 0.015081892721354961, + 0.9995273351669312, + -8.216651095897186e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9996243119239807, + 0.007767193019390106, + 0.02628517709672451, + -0.030219174397295108 + ], + [ + -0.007372290827333927, + 0.9998589754104614, + -0.015087462030351162, + -0.03378418659858272 + ], + [ + -0.026398656889796257, + 0.01488801185041666, + 0.9995406270027161, + -0.0007696864859850709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9996458292007446, + 0.007948072627186775, + 0.02539803273975849, + -0.029623009021321457 + ], + [ + -0.007572000380605459, + 0.9998607635498047, + -0.014869149774312973, + -0.03471217987066258 + ], + [ + -0.025512678548693657, + 0.0146715696901083, + 0.9995668530464172, + -0.0006203817602903666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.99964439868927, + 0.008038237690925598, + 0.025424784049391747, + -0.03020420919679953 + ], + [ + -0.007659760769456625, + 0.9998589158058167, + -0.014948677271604538, + -0.03512698949208695 + ], + [ + -0.025541359558701515, + 0.01474861428141594, + 0.9995649456977844, + -0.0007156904553297439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9996656179428101, + 0.008111256174743176, + 0.024552104994654655, + -0.029247980871555692 + ], + [ + -0.00773939024657011, + 0.9998544454574585, + -0.015203287824988365, + -0.03522214947357596 + ], + [ + -0.024671850726008415, + 0.015008186921477318, + 0.9995829463005066, + -0.001101194135705288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9996684789657593, + 0.008222120814025402, + 0.02439887262880802, + -0.029593658530359675 + ], + [ + -0.007857277058064938, + 0.9998564720153809, + -0.015011711046099663, + -0.03608992562077182 + ], + [ + -0.024518797174096107, + 0.01481502503156662, + 0.9995895624160767, + -0.0005460206495213161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9996724724769592, + 0.008072137832641602, + 0.024285543709993362, + -0.029836625666050855 + ], + [ + -0.0077140615321695805, + 0.9998607039451599, + -0.014802145771682262, + -0.03694523214111607 + ], + [ + -0.024401646107435226, + 0.014609958045184612, + 0.9995954632759094, + -0.00042249334322635095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9996761679649353, + 0.007788644637912512, + 0.02422529086470604, + -0.029900756076502496 + ], + [ + -0.007430603262037039, + 0.9998623728752136, + -0.014834709465503693, + -0.03747989091419888 + ], + [ + -0.02433750033378601, + 0.014649897813796997, + 0.9995964765548706, + -0.00018683801876369886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9996917247772217, + 0.007382367737591267, + 0.023706650361418724, + -0.02933872146364636 + ], + [ + -0.007038479670882225, + 0.9998692870140076, + -0.014556808397173882, + -0.03789829619083843 + ], + [ + -0.023811014369130135, + 0.014385461807250977, + 0.9996129870414734, + 0.0002501133319776795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9997141361236572, + 0.0077614495530724525, + 0.02261326089501381, + -0.028005518239482257 + ], + [ + -0.007453246973454952, + 0.9998786449432373, + -0.013681857846677303, + -0.0389837699323268 + ], + [ + -0.022716708481311798, + 0.013509404845535755, + 0.9996506571769714, + 0.00011068353712458362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9998139142990112, + 0.0081156762316823, + 0.01749923825263977, + -0.01924078419447659 + ], + [ + -0.007872235961258411, + 0.9998719096183777, + -0.013935769908130169, + -0.03884038317301674 + ], + [ + -0.0176100954413414, + 0.013795419596135616, + 0.9997497797012329, + -0.000527230499639569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9997667670249939, + 0.008345414884388447, + 0.019920457154512405, + -0.022906650213000482 + ], + [ + -0.008046344853937626, + 0.9998544454574585, + -0.015046477317810059, + -0.0374393103680501 + ], + [ + -0.020043127238750458, + 0.014882680028676987, + 0.9996883273124695, + -0.0003264312159749652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9997076392173767, + 0.007524171378463507, + 0.02297770231962204, + -0.027407777152710155 + ], + [ + -0.007193137425929308, + 0.9998696446418762, + -0.014455582946538925, + -0.03884899993120375 + ], + [ + -0.02308347448706627, + 0.014286074787378311, + 0.9996314644813538, + 0.0002840696981115389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9996886253356934, + 0.007605462335050106, + 0.02376602776348591, + -0.028291609236959392 + ], + [ + -0.007280364632606506, + 0.9998791813850403, + -0.01373579166829586, + -0.0392841973174698 + ], + [ + -0.023867623880505562, + 0.013558488339185715, + 0.99962317943573, + -9.439885264268138e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9996670484542847, + 0.0071052988059818745, + 0.024805603548884392, + -0.029121975436762065 + ], + [ + -0.006769724655896425, + 0.9998847842216492, + -0.013586045242846012, + -0.03887349653091215 + ], + [ + -0.024899279698729515, + 0.013413594104349613, + 0.9995999932289124, + 0.0007628917416646899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9998008608818054, + 0.0071569811552762985, + 0.018628811463713646, + -0.018535022110773063 + ], + [ + -0.006944304332137108, + 0.9999102354049683, + -0.011456298641860485, + -0.04137433657958033 + ], + [ + -0.018709132447838783, + 0.011324652470648289, + 0.9997608065605164, + 0.0010563137312280292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9996729493141174, + 0.006316722370684147, + 0.02478105202317238, + -0.028294757442426183 + ], + [ + -0.006058220751583576, + 0.9999266266822815, + -0.01049266941845417, + -0.041472505778074265 + ], + [ + -0.024845510721206665, + 0.010339109227061272, + 0.9996378421783447, + 0.0014121171466247764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9996913075447083, + 0.006148273125290871, + 0.024071862921118736, + -0.02636859992820167 + ], + [ + -0.005922340787947178, + 0.9999378323554993, + -0.009445813484489918, + -0.040905453871746 + ], + [ + -0.024128442630171776, + 0.009300335310399532, + 0.9996656179428101, + 0.0030556892850687224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9997377991676331, + 0.006074485834687948, + 0.022076621651649475, + -0.023016280839275458 + ], + [ + -0.005911553744226694, + 0.999954879283905, + -0.007438077591359615, + -0.04099706148472197 + ], + [ + -0.022120807319879532, + 0.007305620238184929, + 0.9997286200523376, + 0.001706981289752586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9997482299804688, + 0.004864264279603958, + 0.021904494613409042, + -0.023734039643745937 + ], + [ + -0.004783915355801582, + 0.9999816417694092, + -0.0037190685980021954, + -0.042427758881431854 + ], + [ + -0.02192218229174614, + 0.003613342996686697, + 0.9997531771659851, + 0.003521103568062811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9998794794082642, + 0.005745246075093746, + 0.014423276297748089, + -0.013779961758343402 + ], + [ + -0.005745763890445232, + 0.9999834895133972, + -5.509744369192049e-06, + -0.04158351895549965 + ], + [ + -0.014423069544136524, + -7.736365660093725e-05, + 0.9998959898948669, + 0.0040296846538890865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9998847246170044, + 0.004660379607230425, + 0.014450819231569767, + -0.015659890199793938 + ], + [ + -0.004736160393804312, + 0.9999752044677734, + 0.005214241798967123, + -0.0416403252367923 + ], + [ + -0.014426159672439098, + -0.005282082129269838, + 0.9998819828033447, + 0.005483431213195185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9998562335968018, + 0.004417748656123877, + 0.016370339319109917, + -0.02008229063678823 + ], + [ + -0.004619461949914694, + 0.9999136328697205, + 0.012304612435400486, + -0.04380816211422047 + ], + [ + -0.016314567998051643, + -0.012378466315567493, + 0.9997903108596802, + 0.0077608713863450965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996848106384277, + 0.00447346456348896, + 0.02470412291586399, + -0.03509463518969492 + ], + [ + -0.004984932020306587, + 0.9997736811637878, + 0.02068108692765236, + -0.045023768392397086 + ], + [ + -0.024606017395853996, + -0.020797718316316605, + 0.9994808435440063, + 0.012684504300757439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.999539852142334, + 0.0024569351226091385, + 0.030233394354581833, + -0.04587510193580996 + ], + [ + -0.0034084906801581383, + 0.9994991421699524, + 0.03146248310804367, + -0.04800785160037929 + ], + [ + -0.0301409512758255, + -0.0315510556101799, + 0.999047577381134, + 0.017518159793968688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9993760585784912, + 0.0023637558333575726, + 0.03524153307080269, + -0.056798552809015454 + ], + [ + -0.003805282525718212, + 0.9991562962532043, + 0.04089342802762985, + -0.048807694891211166 + ], + [ + -0.035115133970975876, + -0.04100201278924942, + 0.9985418319702148, + 0.022067131516997684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9991748929023743, + 0.0012345948489382863, + 0.040595777332782745, + -0.06815214564488409 + ], + [ + -0.0032525593414902687, + 0.9987598657608032, + 0.04968033730983734, + -0.050374937305104235 + ], + [ + -0.040484100580215454, + -0.04977138340473175, + 0.9979398250579834, + 0.027891119636461407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.999023973941803, + -0.0001724864123389125, + 0.044170405715703964, + -0.07612590508007104 + ], + [ + -0.0025449800305068493, + 0.9981063604354858, + 0.06145870313048363, + -0.056606356005468775 + ], + [ + -0.04409736767411232, + -0.06151113286614418, + 0.9971317648887634, + 0.035138200738740535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9988054633140564, + -0.0021301116794347763, + 0.04881652444601059, + -0.08574473435159571 + ], + [ + -0.0015392417553812265, + 0.9971819519996643, + 0.07500559836626053, + -0.06466711049977535 + ], + [ + -0.04883872717618942, + -0.0749911442399025, + 0.9959874749183655, + 0.04179538607508122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9982821345329285, + -0.0036016397643834352, + 0.05847873538732529, + -0.10085433903136319 + ], + [ + -0.001673331717029214, + 0.9959489703178406, + 0.08990459144115448, + -0.07328400360476114 + ], + [ + -0.058565638959407806, + -0.08984799683094025, + 0.9942320585250854, + 0.049117964274155164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.997722864151001, + -0.004041397478431463, + 0.06732542812824249, + -0.11205558248511154 + ], + [ + -0.0028166212141513824, + 0.9948357939720154, + 0.10145846009254456, + -0.0736709730532355 + ], + [ + -0.06738777458667755, + -0.10141706466674805, + 0.9925590753555298, + 0.055453116500270586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9964608550071716, + -0.003972629550844431, + 0.08396399766206741, + -0.13536157796722642 + ], + [ + -0.005858753342181444, + 0.9931710362434387, + 0.11652041226625443, + -0.07816901169494242 + ], + [ + -0.08385350555181503, + -0.11659995466470718, + 0.989632785320282, + 0.06703594124870386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9950811862945557, + -0.0038010680582374334, + 0.09898971021175385, + -0.15575155367723437 + ], + [ + -0.009370786137878895, + 0.9911710023880005, + 0.13225820660591125, + -0.08495829841066263 + ], + [ + -0.09861844778060913, + -0.13253527879714966, + 0.9862599968910217, + 0.07670893552239069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9948915243148804, + -0.0023323181085288525, + 0.10092268884181976, + -0.15327483113760318 + ], + [ + -0.01225791871547699, + 0.9895444512367249, + 0.14370636641979218, + -0.08415898877881958 + ], + [ + -0.10020264983177185, + -0.1442093402147293, + 0.9844608306884766, + 0.0803454748973875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9946932792663574, + -0.0017923330888152122, + 0.10286892205476761, + -0.1508175583924362 + ], + [ + -0.014321944676339626, + 0.9877012372016907, + 0.15569554269313812, + -0.0833383778968971 + ], + [ + -0.10188282281160355, + -0.15634261071681976, + 0.9824341535568237, + 0.0844370138770092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9945182204246521, + -0.004239181987941265, + 0.10447731614112854, + -0.14906091308444291 + ], + [ + -0.013343009166419506, + 0.9858643412590027, + 0.1670135259628296, + -0.08258630008308473 + ], + [ + -0.10370846092700958, + -0.16749203205108643, + 0.980403482913971, + 0.08890535463829954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.994388997554779, + -0.0068658022210001945, + 0.10556215792894363, + -0.14761228924226796 + ], + [ + -0.012134269811213017, + 0.9839017987251282, + 0.17829741537570953, + -0.08200183190896126 + ], + [ + -0.10508695989847183, + -0.17857791483402252, + 0.9782978296279907, + 0.09248339136738977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9943193793296814, + -0.007832661271095276, + 0.10614892095327377, + -0.1464570660523312 + ], + [ + -0.012615418061614037, + 0.9815863370895386, + 0.19060194492340088, + -0.08140439095789802 + ], + [ + -0.10568725317716599, + -0.19085833430290222, + 0.9759114980697632, + 0.09718000864732765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9940391182899475, + -0.008892891928553581, + 0.10866080969572067, + -0.14501253852319573 + ], + [ + -0.013330681249499321, + 0.9792751669883728, + 0.20209501683712006, + -0.08073605986055502 + ], + [ + -0.10820604115724564, + -0.20233885943889618, + 0.9733192920684814, + 0.10264256653671493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9934791922569275, + -0.007713403087109327, + 0.11375240236520767, + -0.14411077156668517 + ], + [ + -0.016878655180335045, + 0.9767652750015259, + 0.2136462926864624, + -0.07920555462558826 + ], + [ + -0.11275733262300491, + -0.21417313814163208, + 0.9702657461166382, + 0.10978421725020437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9927285313606262, + -0.009222326800227165, + 0.12002087384462357, + -0.14225598438726572 + ], + [ + -0.018174398690462112, + 0.9741479158401489, + 0.2251788228750229, + -0.07752506188423691 + ], + [ + -0.11899476498365402, + -0.22572274506092072, + 0.9668968319892883, + 0.11786980915390803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9918584823608398, + -0.011000482365489006, + 0.12686890363693237, + -0.14109652218057545 + ], + [ + -0.019471606239676476, + 0.9714460372924805, + 0.23646028339862823, + -0.07611666294093618 + ], + [ + -0.1258474588394165, + -0.23700548708438873, + 0.9633228182792664, + 0.12474306131194451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9910079836845398, + -0.013767373748123646, + 0.1330925077199936, + -0.1411696191720977 + ], + [ + -0.01992298662662506, + 0.9684212803840637, + 0.2485222965478897, + -0.07586571450183492 + ], + [ + -0.1323111206293106, + -0.2489391714334488, + 0.9594389200210571, + 0.12930190540894776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9902012944221497, + -0.017776211723685265, + 0.13851149380207062, + -0.13997469965234666 + ], + [ + -0.01898604817688465, + 0.9655185341835022, + 0.25964105129241943, + -0.07398437439146156 + ], + [ + -0.13835085928440094, + -0.25972670316696167, + 0.9557201862335205, + 0.13587509502550799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9892460107803345, + -0.022568240761756897, + 0.1445097029209137, + -0.14131590242157438 + ], + [ + -0.017672915011644363, + 0.9623408913612366, + 0.27127039432525635, + -0.07509675770328789 + ], + [ + -0.14518970251083374, + -0.27090704441070557, + 0.9515930414199829, + 0.1371932284025375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.988050639629364, + -0.02109021134674549, + 0.15267984569072723, + -0.14291105681394567 + ], + [ + -0.02290361188352108, + 0.9595052599906921, + 0.2807580828666687, + -0.07528786988493927 + ], + [ + -0.1524183601140976, + -0.28090012073516846, + 0.947556734085083, + 0.13934528941879729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9861018657684326, + -0.03631540387868881, + 0.1621243953704834, + -0.15019249018437847 + ], + [ + -0.012290949001908302, + 0.9571993947029114, + 0.28916820883750916, + -0.08162099340941735 + ], + [ + -0.16568663716316223, + -0.28714194893836975, + 0.9434497356414795, + 0.1276748950431447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9857988357543945, + -0.03328615054488182, + 0.16459842026233673, + -0.1414544432039211 + ], + [ + -0.01718241721391678, + 0.9550215601921082, + 0.29603809118270874, + -0.0735156838006959 + ], + [ + -0.16704900562763214, + -0.2946622371673584, + 0.9408872723579407, + 0.15402599833682626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9852051734924316, + -0.03808746114373207, + 0.16709324717521667, + -0.14239206894518372 + ], + [ + -0.014780589379370213, + 0.9524753093719482, + 0.30425694584846497, + -0.07377825451200594 + ], + [ + -0.17074057459831238, + -0.302225261926651, + 0.9378206729888916, + 0.15939385025444144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9848159551620483, + -0.04467657208442688, + 0.16775447130203247, + -0.14160770258146846 + ], + [ + -0.01054922491312027, + 0.9491313099861145, + 0.3147038519382477, + -0.07356804709680781 + ], + [ + -0.17328089475631714, + -0.31169506907463074, + 0.9342483282089233, + 0.1678094085818993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9840211272239685, + -0.05128028243780136, + 0.17050719261169434, + -0.14129363344814963 + ], + [ + -0.007079873234033585, + 0.9456015825271606, + 0.32524996995925903, + -0.07247255424004116 + ], + [ + -0.17791077494621277, + -0.3212600350379944, + 0.9301288723945618, + 0.1760425496779516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9827715754508972, + -0.05724567174911499, + 0.17573563754558563, + -0.14081942746025358 + ], + [ + -0.004911985248327255, + 0.9423990249633789, + 0.334454745054245, + -0.07150011300862194 + ], + [ + -0.18475918471813202, + -0.32955583930015564, + 0.9258817434310913, + 0.1837664677175933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9809181094169617, + -0.06229002773761749, + 0.1841726452112198, + -0.14161610733606145 + ], + [ + -0.004366079345345497, + 0.9399902820587158, + 0.34117332100868225, + -0.07132830002350724 + ], + [ + -0.19437219202518463, + -0.3354671895503998, + 0.9217815399169922, + 0.18952467605739298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9790257811546326, + -0.06576104462146759, + 0.1928316354751587, + -0.14223622061356814 + ], + [ + -0.005055898800492287, + 0.9383423328399658, + 0.34567058086395264, + -0.07053596945869887 + ], + [ + -0.20367375016212463, + -0.33939534425735474, + 0.9183288216590881, + 0.1943953761262094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9771909117698669, + -0.07149715721607208, + 0.1999652236700058, + -0.14096267583841335 + ], + [ + -0.0033394284546375275, + 0.9363310933113098, + 0.35110241174697876, + -0.0714274605981515 + ], + [ + -0.2123364955186844, + -0.3437618613243103, + 0.9147354960441589, + 0.20251076324971137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.975588321685791, + -0.07289101183414459, + 0.20715788006782532, + -0.14257531945041554 + ], + [ + -0.004241034388542175, + 0.9368799924850464, + 0.3496253192424774, + -0.07043776418121453 + ], + [ + -0.21956661343574524, + -0.34196892380714417, + 0.9137000441551208, + 0.20589134637824075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.974646806716919, + -0.07436783611774445, + 0.211028590798378, + -0.1434055164188682 + ], + [ + -0.00411190465092659, + 0.9370359778404236, + 0.3492085933685303, + -0.07019714432249884 + ], + [ + -0.2237112671136856, + -0.34122276306152344, + 0.9129733443260193, + 0.20945416323082175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.973723292350769, + -0.07560980319976807, + 0.21481651067733765, + -0.14563113848963183 + ], + [ + -0.0033274777233600616, + 0.9384520649909973, + 0.34539344906806946, + -0.06908382731127347 + ], + [ + -0.22771012783050537, + -0.3370324671268463, + 0.9135410189628601, + 0.20915557638613763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9726664423942566, + -0.07747045159339905, + 0.21890252828598022, + -0.14652466483101872 + ], + [ + -0.0026985593140125275, + 0.9388702511787415, + 0.344260573387146, + -0.06864562377690556 + ], + [ + -0.2321910858154297, + -0.3354414105415344, + 0.9129985570907593, + 0.21190473979818608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9708721041679382, + -0.08304299414157867, + 0.22474710643291473, + -0.14663068597723625 + ], + [ + -6.62095844745636e-05, + 0.9379227757453918, + 0.3468440771102905, + -0.06897388378570894 + ], + [ + -0.23959840834140778, + -0.3367561101913452, + 0.910597562789917, + 0.2168680329522687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9695166349411011, + -0.0871080681681633, + 0.229018896818161, + -0.14675648625560864 + ], + [ + 0.0016973987221717834, + 0.9370391368865967, + 0.3492202162742615, + -0.06871080641261118 + ], + [ + -0.2450195848941803, + -0.3381860852241516, + 0.9086229205131531, + 0.2204846439425817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9685829281806946, + -0.0894741341471672, + 0.23203767836093903, + -0.14638225821231654 + ], + [ + 0.0022243931889533997, + 0.9361165165901184, + 0.3516830503940582, + -0.06828060406120774 + ], + [ + -0.24868084490299225, + -0.34011808037757874, + 0.906905472278595, + 0.22500993530907318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9674249887466431, + -0.09223158657550812, + 0.23575879633426666, + -0.1465366076209588 + ], + [ + 0.00279887393116951, + 0.9351118803024292, + 0.35434162616729736, + -0.06808914292581425 + ], + [ + -0.2531423270702362, + -0.3421390652656555, + 0.9049087166786194, + 0.22906325455911145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.966227650642395, + -0.09620320051908493, + 0.23905876278877258, + -0.1464974976808368 + ], + [ + 0.004673823714256287, + 0.9340888857841492, + 0.35701003670692444, + -0.06745166165676125 + ], + [ + -0.25764763355255127, + -0.34383562207221985, + 0.9029921293258667, + 0.23230559866942332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9650055170059204, + -0.09830661118030548, + 0.24310530722141266, + -0.14724366259789037 + ], + [ + 0.004159752279520035, + 0.9326924085617065, + 0.36064887046813965, + -0.06656434449986248 + ], + [ + -0.2621966302394867, + -0.3470168709754944, + 0.9004622101783752, + 0.23544670730650782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9642744660377502, + -0.10098353028297424, + 0.244902104139328, + -0.14490760871750152 + ], + [ + 0.004100888967514038, + 0.930069625377655, + 0.3673604428768158, + -0.06470425594598056 + ], + [ + -0.26487335562705994, + -0.3532319962978363, + 0.8972565531730652, + 0.24187002574612282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.963081955909729, + -0.103729248046875, + 0.24842169880867004, + -0.14473948325225694 + ], + [ + 0.0035968199372291565, + 0.9276618957519531, + 0.373403936624527, + -0.0642860527635513 + ], + [ + -0.26918426156044006, + -0.35872510075569153, + 0.8937875628471375, + 0.24602826187710564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9621568322181702, + -0.1073666512966156, + 0.25045299530029297, + -0.1429578343194402 + ], + [ + 0.004570223391056061, + 0.9253345131874084, + 0.3791242837905884, + -0.06334058356186943 + ], + [ + -0.2724580764770508, + -0.3636323809623718, + 0.890807569026947, + 0.25217556924877055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9612036943435669, + -0.10919062793254852, + 0.2533077895641327, + -0.14289795677818937 + ], + [ + 0.004362072795629501, + 0.9242180585861206, + 0.38184019923210144, + -0.062338561642758875 + ], + [ + -0.2758050262928009, + -0.365921288728714, + 0.8888381123542786, + 0.255579251175869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9614848494529724, + -0.1103290319442749, + 0.25174275040626526, + -0.14021417284440138 + ], + [ + 0.00533955916762352, + 0.9232259392738342, + 0.3842204511165619, + -0.06053446676626713 + ], + [ + -0.27480611205101013, + -0.36807796359062195, + 0.888256847858429, + 0.26070581840540835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9607681035995483, + -0.11349338293075562, + 0.25306907296180725, + -0.13971851487716513 + ], + [ + 0.00702580064535141, + 0.9221101403236389, + 0.38686370849609375, + -0.060110701640655184 + ], + [ + -0.2772640287876129, + -0.36990827322006226, + 0.8867313861846924, + 0.2663942338463789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.960780680179596, + -0.11655630171298981, + 0.2516250014305115, + -0.1364519797131687 + ], + [ + 0.010498136281967163, + 0.9220172166824341, + 0.3870064914226532, + -0.057495551466004935 + ], + [ + -0.27711063623428345, + -0.36918678879737854, + 0.8870799541473389, + 0.27366068952097866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9601036310195923, + -0.12133573740720749, + 0.2519497871398926, + -0.13450403954989895 + ], + [ + 0.014718569815158844, + 0.9216417074203491, + 0.38776275515556335, + -0.05654780673989636 + ], + [ + -0.2792568802833557, + -0.3685840666294098, + 0.8866574168205261, + 0.27888618029520185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9587393999099731, + -0.1279728263616562, + 0.2538537383079529, + -0.13039323402914457 + ], + [ + 0.019249025732278824, + 0.9201236963272095, + 0.3911544978618622, + -0.055719887711732335 + ], + [ + -0.2836340069770813, + -0.3701287806034088, + 0.8846222162246704, + 0.2873676883067913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9253022074699402, + -0.30606701970100403, + 0.22391706705093384, + -0.18580750389370376 + ], + [ + 0.1614418923854828, + 0.8521894216537476, + 0.49770450592041016, + -0.10092837084642428 + ], + [ + -0.34315067529678345, + -0.42437744140625, + 0.837944746017456, + -0.018919337161643776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9247046113014221, + -0.3044438362121582, + 0.22855055332183838, + -0.18283936015503136 + ], + [ + 0.15690463781356812, + 0.8517982959747314, + 0.49982064962387085, + -0.09801699518711268 + ], + [ + -0.3468462824821472, + -0.42632579803466797, + 0.8354304432868958, + -0.012781299516826328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9240046143531799, + -0.30397188663482666, + 0.23198410868644714, + -0.17962846841640814 + ], + [ + 0.15329335629940033, + 0.8502649068832397, + 0.5035382509231567, + -0.09664331946722762 + ], + [ + -0.3503094017505646, + -0.4297100305557251, + 0.8322455286979675, + -0.00561219744696588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.924419641494751, + -0.30062928795814514, + 0.23467087745666504, + -0.17712959629332947 + ], + [ + 0.14804396033287048, + 0.8499398827552795, + 0.5056532025337219, + -0.09550936850245127 + ], + [ + -0.35147029161453247, + -0.43269413709640503, + 0.8302074670791626, + 0.0004448237845640704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.92434161901474, + -0.2998200058937073, + 0.23600956797599792, + -0.17406367979006854 + ], + [ + 0.1455904245376587, + 0.8488655686378479, + 0.5081640481948853, + -0.09333045260679579 + ], + [ + -0.35269811749458313, + -0.4353564381599426, + 0.828292727470398, + 0.00715258501380861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9245398044586182, + -0.29892322421073914, + 0.2363705337047577, + -0.17112025921930096 + ], + [ + 0.1437830924987793, + 0.848034143447876, + 0.5100632309913635, + -0.0910643066898613 + ], + [ + -0.3529200255870819, + -0.437587708234787, + 0.8270214200019836, + 0.013035566585060367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9250594973564148, + -0.2970941662788391, + 0.2366432398557663, + -0.16704830623672393 + ], + [ + 0.14079119265079498, + 0.8468649983406067, + 0.5128328204154968, + -0.08807127393425225 + ], + [ + -0.3527645170688629, + -0.4410836100578308, + 0.825228750705719, + 0.02117573196614931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9241390228271484, + -0.29908299446105957, + 0.23773188889026642, + -0.165240457493388 + ], + [ + 0.1411786675453186, + 0.8455287218093872, + 0.5149269104003906, + -0.08795998914914575 + ], + [ + -0.35501500964164734, + -0.4423013925552368, + 0.823610246181488, + 0.02442441772959547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9243143796920776, + -0.29986903071403503, + 0.23605391383171082, + -0.1625225043403888 + ], + [ + 0.1417478322982788, + 0.8440502882003784, + 0.5171911120414734, + -0.08558847230307 + ], + [ + -0.35433098673820496, + -0.4445870816707611, + 0.8226736187934875, + 0.029830805952855935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9245679974555969, + -0.30160200595855713, + 0.23283085227012634, + -0.15932910026547437 + ], + [ + 0.1432645320892334, + 0.8414187431335449, + 0.5210468173027039, + -0.08374657047142883 + ], + [ + -0.35305699706077576, + -0.4483868479728699, + 0.821157693862915, + 0.035108469933003726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.923893392086029, + -0.3059157431125641, + 0.2298620045185089, + -0.15639452502399148 + ], + [ + 0.14649930596351624, + 0.8377265930175781, + 0.5260723233222961, + -0.0828747283667326 + ], + [ + -0.353495329618454, + -0.4523601233959198, + 0.8187865614891052, + 0.04026758855956043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9226478934288025, + -0.3109970986843109, + 0.22803881764411926, + -0.15409693548422373 + ], + [ + 0.14982634782791138, + 0.8339424729347229, + 0.5311233997344971, + -0.08236486879205276 + ], + [ + -0.3553490936756134, + -0.45587363839149475, + 0.8160308003425598, + 0.045073036289589856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9223259091377258, + -0.31250011920928955, + 0.22728535532951355, + -0.1531578785466577 + ], + [ + 0.15062163770198822, + 0.8324172496795654, + 0.5332866907119751, + -0.08064930027875002 + ], + [ + -0.35584840178489685, + -0.4576300382614136, + 0.8148292303085327, + 0.048658927966154626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9217403531074524, + -0.3151185214519501, + 0.22604212164878845, + -0.15203041036328868 + ], + [ + 0.15241989493370056, + 0.8303343653678894, + 0.5360159277915955, + -0.07963430529493773 + ], + [ + -0.3565990626811981, + -0.45961421728134155, + 0.8133830428123474, + 0.05274406330001926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9219379425048828, + -0.3172074556350708, + 0.22228342294692993, + -0.14983061930376612 + ], + [ + 0.1545400470495224, + 0.827455997467041, + 0.5398462414741516, + -0.0793048265674514 + ], + [ + -0.3551729917526245, + -0.4633530080318451, + 0.8118842840194702, + 0.059042764033475324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9231804013252258, + -0.3163664638996124, + 0.21828919649124146, + -0.14703136744970333 + ], + [ + 0.15647608041763306, + 0.8280653357505798, + 0.5383521914482117, + -0.07483331841266085 + ], + [ + -0.3510742783546448, + -0.46283918619155884, + 0.8139574527740479, + 0.06428170645843723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9228270649909973, + -0.31831037998199463, + 0.21695317327976227, + -0.14588271190306384 + ], + [ + 0.1572735756635666, + 0.8254535794258118, + 0.5421175360679626, + -0.07459041955685634 + ], + [ + -0.35164642333984375, + -0.46615976095199585, + 0.8118127584457397, + 0.06918830296950426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9228472709655762, + -0.31892573833465576, + 0.21596139669418335, + -0.1448852126469869 + ], + [ + 0.1575971394777298, + 0.8242725729942322, + 0.5438178777694702, + -0.07219184019496877 + ], + [ + -0.35144859552383423, + -0.46782591938972473, + 0.8109394311904907, + 0.07254650124354277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9226131439208984, + -0.31971994042396545, + 0.2157873958349228, + -0.14335547016409342 + ], + [ + 0.15711605548858643, + 0.8224135637283325, + 0.5467636585235596, + -0.06992571188895379 + ], + [ + -0.3522776961326599, + -0.4705476760864258, + 0.809002697467804, + 0.07790490851073922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.92180335521698, + -0.3206610381603241, + 0.21784180402755737, + -0.1428990829669073 + ], + [ + 0.15613922476768494, + 0.8214601278305054, + 0.548474133014679, + -0.0692947650752114 + ], + [ + -0.35482263565063477, + -0.4715716540813446, + 0.8072924613952637, + 0.08162670189481296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9215361475944519, + -0.3202306628227234, + 0.2195984423160553, + -0.1401838902049436 + ], + [ + 0.15488901734352112, + 0.8217697143554688, + 0.5483648180961609, + -0.0662026894111521 + ], + [ + -0.35606256127357483, + -0.471324622631073, + 0.8068907260894775, + 0.08810039678822734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9193998575210571, + -0.3227190375328064, + 0.22484739124774933, + -0.1390706277714518 + ], + [ + 0.1546926498413086, + 0.8222765922546387, + 0.5476599335670471, + -0.06463441486821739 + ], + [ + -0.3616270422935486, + -0.4687362313270569, + 0.8059232234954834, + 0.09249858075005565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9181817770004272, + -0.3222098648548126, + 0.23048433661460876, + -0.13773166940597717 + ], + [ + 0.15239518880844116, + 0.824303150177002, + 0.54525226354599, + -0.06194507046017106 + ], + [ + -0.3656746447086334, + -0.46551600098609924, + 0.8059633374214172, + 0.09750965739527863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9158769845962524, + -0.3240938186645508, + 0.2369230091571808, + -0.13690288129323971 + ], + [ + 0.1513138711452484, + 0.8253099918365479, + 0.5440289974212646, + -0.06110001860554526 + ], + [ + -0.3718513548374176, + -0.4624139070510864, + 0.804922342300415, + 0.1021993056385817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.914202094078064, + -0.32499265670776367, + 0.24210390448570251, + -0.13503591571739335 + ], + [ + 0.15098626911640167, + 0.8275378942489624, + 0.5407256484031677, + -0.05649488316793107 + ], + [ + -0.37608203291893005, + -0.4577781856060028, + 0.8056063055992126, + 0.1088568518350938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9127700328826904, + -0.32623451948165894, + 0.24580873548984528, + -0.13321414563113343 + ], + [ + 0.1508706957101822, + 0.8284791707992554, + 0.5393146872520447, + -0.053372345240173244 + ], + [ + -0.3795905113220215, + -0.4551849663257599, + 0.8054301738739014, + 0.11508719239406244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9109768867492676, + -0.3268957734107971, + 0.25151604413986206, + -0.13444666096907176 + ], + [ + 0.1490490734577179, + 0.8294985294342041, + 0.5382532477378845, + -0.054780729942603745 + ], + [ + -0.384584903717041, + -0.45284801721572876, + 0.8043774962425232, + 0.11723602474806552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9087514281272888, + -0.33129629492759705, + 0.25379836559295654, + -0.13362535373893325 + ], + [ + 0.15113285183906555, + 0.8281028270721436, + 0.539819061756134, + -0.05422441826430624 + ], + [ + -0.3890112042427063, + -0.4522041082382202, + 0.802609384059906, + 0.12389831131625319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9089552164077759, + -0.3318856656551361, + 0.25229406356811523, + -0.13199812709214445 + ], + [ + 0.1543082594871521, + 0.830030620098114, + 0.5359460115432739, + -0.049146619561814264 + ], + [ + -0.3872845768928528, + -0.4482198655605316, + 0.805673360824585, + 0.12965565097189236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9069146513938904, + -0.33577969670295715, + 0.25447559356689453, + -0.13254353131005864 + ], + [ + 0.15644320845603943, + 0.8292094469070435, + 0.5365979075431824, + -0.04943748711647389 + ], + [ + -0.3911921977996826, + -0.44683751463890076, + 0.8045526146888733, + 0.1333063950349471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9061185121536255, + -0.3376712501049042, + 0.2548085153102875, + -0.13135683135001244 + ], + [ + 0.15875470638275146, + 0.8297652006149292, + 0.5350576639175415, + -0.046574311754749936 + ], + [ + -0.392104834318161, + -0.44437360763549805, + 0.8054724931716919, + 0.13892381013688926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9040566086769104, + -0.3416140079498291, + 0.25686872005462646, + -0.13141748400148517 + ], + [ + 0.1614120602607727, + 0.8293618559837341, + 0.5348879098892212, + -0.046536998963820006 + ], + [ + -0.3957623243331909, + -0.44210726022720337, + 0.8049306869506836, + 0.1432130885159898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9023385643959045, + -0.34412339329719543, + 0.2595461308956146, + -0.13131053317449765 + ], + [ + 0.1647651493549347, + 0.8318086862564087, + 0.5300441980361938, + -0.044139933015058155 + ], + [ + -0.39829328656196594, + -0.4355151653289795, + 0.8072725534439087, + 0.1466614452397038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9005838632583618, + -0.3479604721069336, + 0.2605230212211609, + -0.13033502744343467 + ], + [ + 0.17001937329769135, + 0.8335672616958618, + 0.5256034731864929, + -0.042259450185441694 + ], + [ + -0.4000527262687683, + -0.4290560483932495, + 0.8098572492599487, + 0.15037793021002216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.8981435298919678, + -0.35130545496940613, + 0.26442891359329224, + -0.13075833754268235 + ], + [ + 0.17348399758338928, + 0.8357157707214355, + 0.5210397839546204, + -0.040326972488693144 + ], + [ + -0.40403151512145996, + -0.42209431529045105, + 0.8115386366844177, + 0.15287526103550803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.8956528306007385, + -0.35496896505355835, + 0.2679609954357147, + -0.13097063474312515 + ], + [ + 0.17443297803401947, + 0.8345825672149658, + 0.5225371718406677, + -0.041955443623358624 + ], + [ + -0.4091200530529022, + -0.4212706685066223, + 0.8094145059585571, + 0.15623826859240048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.893543004989624, + -0.3583976626396179, + 0.27042925357818604, + -0.1300051079360311 + ], + [ + 0.17652569711208344, + 0.8342536687850952, + 0.5223595499992371, + -0.039271924675938624 + ], + [ + -0.4128190279006958, + -0.41901302337646484, + 0.8087079524993896, + 0.1605940552885661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.8919060826301575, + -0.361491322517395, + 0.2717123031616211, + -0.12993582936818016 + ], + [ + 0.17720937728881836, + 0.8321713805198669, + 0.5254403948783875, + -0.03958493410470244 + ], + [ + -0.4160533547401428, + -0.420493483543396, + 0.8062783479690552, + 0.16334602102904977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.8894999623298645, + -0.3666476011276245, + 0.2726891338825226, + -0.12981770984426944 + ], + [ + 0.18059825897216797, + 0.8302853107452393, + 0.5272670984268188, + -0.03909105655408192 + ], + [ + -0.4197309911251068, + -0.41975685954093933, + 0.8047546744346619, + 0.16600968584329068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.8879737854003906, + -0.3710331618785858, + 0.2717295289039612, + -0.12922095042502807 + ], + [ + 0.18396684527397156, + 0.8280940651893616, + 0.5295435786247253, + -0.038374332503644304 + ], + [ + -0.42149585485458374, + -0.4202316105365753, + 0.8035836219787598, + 0.16939287953034132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.8880909085273743, + -0.371340811252594, + 0.2709253430366516, + -0.12957008450688 + ], + [ + 0.18462610244750977, + 0.8279232978820801, + 0.5295811295509338, + -0.036451158141661555 + ], + [ + -0.4209604859352112, + -0.420296311378479, + 0.8038303852081299, + 0.17141533941922787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.8876202702522278, + -0.37372177839279175, + 0.2691883444786072, + -0.12854742322139398 + ], + [ + 0.1871071606874466, + 0.8266509771347046, + 0.5306968092918396, + -0.0342192163813614 + ], + [ + -0.4208577275276184, + -0.4206901788711548, + 0.8036781549453735, + 0.17455752970215804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.8872832655906677, + -0.3743845224380493, + 0.26937827467918396, + -0.1282128559615084 + ], + [ + 0.18707197904586792, + 0.825972855091095, + 0.5317639112472534, + -0.03380814368674856 + ], + [ + -0.4215833246707916, + -0.42143210768699646, + 0.8029087781906128, + 0.17735869977288618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.8874948620796204, + -0.37397316098213196, + 0.26925259828567505, + -0.12800794793460182 + ], + [ + 0.1863841712474823, + 0.8256787657737732, + 0.5324617624282837, + -0.03427590378030332 + ], + [ + -0.42144256830215454, + -0.4223726689815521, + 0.8024883270263672, + 0.17969603693770791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.8875479102134705, + -0.37381047010421753, + 0.26930370926856995, + -0.12762777601887365 + ], + [ + 0.18607163429260254, + 0.8255820274353027, + 0.5327209234237671, + -0.03384776094894924 + ], + [ + -0.4214690029621124, + -0.4227055609226227, + 0.8022991418838501, + 0.1824279099167464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.887708306312561, + -0.37434786558151245, + 0.2680254578590393, + -0.12713504283728 + ], + [ + 0.186318039894104, + 0.8244422078132629, + 0.5343974828720093, + -0.0333308527569571 + ], + [ + -0.4210219979286194, + -0.4244511127471924, + 0.8016119599342346, + 0.1849899904099767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.8879390954971313, + -0.3751997947692871, + 0.26606249809265137, + -0.12677765167401936 + ], + [ + 0.18681222200393677, + 0.8227651715278625, + 0.5368040800094604, + -0.03336458763408805 + ], + [ + -0.4203157424926758, + -0.42694562673568726, + 0.8006572723388672, + 0.18712009209358765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.8886164426803589, + -0.3746277093887329, + 0.2646034061908722, + -0.12637756764888763 + ], + [ + 0.18675597012043, + 0.8224692344665527, + 0.5372770428657532, + -0.03299267739057542 + ], + [ + -0.4189070165157318, + -0.4280169606208801, + 0.8008236289024353, + 0.18920044898986815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/move_left/transforms.json b/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..2056fbd7e1a34d65c5ce145cda7b8f2c1f8acd74 --- /dev/null +++ b/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/move_left/transforms.json @@ -0,0 +1,5893 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 168, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -6.386433960869908e-05, + 4.9870759539771825e-05, + -7.26116995792836e-05 + ], + [ + 6.386695895344019e-05, + 1.0, + -5.262265040073544e-05, + 2.3591896024299785e-05 + ], + [ + -4.986739804735407e-05, + 5.262583727017045e-05, + 1.0, + 0.000261035340372473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999998211860657, + -0.0004513963358476758, + 0.00043834978714585304, + -0.0018108017380142997 + ], + [ + 0.0004514788743108511, + 0.9999998807907104, + -0.0001882771757664159, + 7.766881638902245e-05 + ], + [ + -0.00043826474575325847, + 0.00018847505270969123, + 0.9999998807907104, + 0.00046623711133359034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999999463558197, + -0.0005155851249583066, + 0.0008805471006780863, + -0.0030645411808746395 + ], + [ + 0.0005157400737516582, + 0.9999998807907104, + -0.00017578608822077513, + -0.0009539550050401581 + ], + [ + -0.0008804562967270613, + 0.00017624013707973063, + 0.9999995827674866, + 0.0009607987081726823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999998211860657, + -0.00022963089577388018, + 0.0005722171626985073, + -0.0034604978824346634 + ], + [ + 0.00023016591148916632, + 0.9999995231628418, + -0.0009350882028229535, + -0.0007799469976261409 + ], + [ + -0.000572002143599093, + 0.0009352197521366179, + 0.9999994039535522, + -0.0006195982479668796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999997019767761, + -0.00046732480404898524, + 0.0006452467641793191, + -0.004398146586236126 + ], + [ + 0.00046829163329675794, + 0.9999987483024597, + -0.0014990560011938214, + -0.0004874904065958955 + ], + [ + -0.0006445454782806337, + 0.0014993577497079968, + 0.9999986886978149, + -0.0008193317537954423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999997019767761, + -0.00019359869475010782, + 0.0007237441022880375, + -0.005110864920686641 + ], + [ + 0.00019498301844578236, + 0.999998152256012, + -0.0019131302833557129, + -0.00015723331538440303 + ], + [ + -0.0007233723881654441, + 0.0019132709130644798, + 0.9999979138374329, + -0.0002684178812677476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999996423721313, + 0.00017050415044650435, + 0.0007969001890160143, + -0.005743438542491484 + ], + [ + -0.00016883565695025027, + 0.9999977946281433, + -0.0020933153573423624, + -0.00046235376935519146 + ], + [ + -0.0007972553721629083, + 0.002093180315569043, + 0.9999974966049194, + -0.0004469424977962731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999989867210388, + -0.0005578714772127569, + 0.001314881956204772, + -0.006526264056429535 + ], + [ + 0.000559780455660075, + 0.9999988079071045, + -0.0014519282849505544, + -0.002714689273260322 + ], + [ + -0.0013140703085809946, + 0.0014526628656312823, + 0.9999980926513672, + -0.00031279178341839486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999992847442627, + 0.0002549107011873275, + 0.0011836827034130692, + -0.006775010823590046 + ], + [ + -0.0002528218610677868, + 0.9999983906745911, + -0.001764523796737194, + -0.002585989252586074 + ], + [ + -0.0011841306695714593, + 0.001764223212376237, + 0.9999977350234985, + -0.000717851245834375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999985694885254, + 0.0011831024894490838, + 0.0012033168459311128, + -0.007173834886948416 + ], + [ + -0.001181108527816832, + 0.9999979138374329, + -0.0016564088873565197, + -0.0025994508610173925 + ], + [ + -0.0012052740203216672, + 0.00165498536080122, + 0.9999979138374329, + -0.0008217299097039162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999971389770508, + 0.0011831377632915974, + 0.0020694038830697536, + -0.007786813997914513 + ], + [ + -0.001178534235805273, + 0.9999968409538269, + -0.0022243561688810587, + -0.001796046975988917 + ], + [ + -0.0020720288157463074, + 0.0022219109814614058, + 0.9999954104423523, + -0.0012780085211608581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999939203262329, + 0.0023831583093851805, + 0.002556296531111002, + -0.00822492124300874 + ], + [ + -0.002378321485593915, + 0.9999953508377075, + -0.0018935262924060225, + -0.002282865066220705 + ], + [ + -0.0025607971474528313, + 0.00188743497710675, + 0.9999949336051941, + -0.0009620370173235675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999905228614807, + 0.0033453917130827904, + 0.002780444687232375, + -0.00882400327047032 + ], + [ + -0.0033397232182323933, + 0.999992311000824, + -0.002040930325165391, + -0.0021669865415771743 + ], + [ + -0.0027872512582689524, + 0.0020316250156611204, + 0.9999940395355225, + -0.0012455505176731747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999861717224121, + 0.004599347710609436, + 0.0025467174127697945, + -0.008659012283095367 + ], + [ + -0.0045942021533846855, + 0.9999874234199524, + -0.002022651256993413, + -0.003127808684851238 + ], + [ + -0.0025559882633388042, + 0.0020109231118112803, + 0.999994695186615, + -0.0013850341556582622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999824166297913, + 0.0049236249178647995, + 0.003302266588434577, + -0.010098817119581214 + ], + [ + -0.004911785013973713, + 0.9999815225601196, + -0.0035838696639984846, + -0.002111715887266094 + ], + [ + -0.003319851355627179, + 0.003567586885765195, + 0.9999881386756897, + -0.000550205151558837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999813437461853, + 0.005462336353957653, + 0.002723792102187872, + -0.009843699948466244 + ], + [ + -0.005448244512081146, + 0.999971866607666, + -0.005154474172741175, + -0.0008701533246450795 + ], + [ + -0.0027518710121512413, + 0.005139538552612066, + 0.999983012676239, + -0.0006911392688951984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999813437461853, + 0.005650729406625032, + 0.0023196707479655743, + -0.01039544256023427 + ], + [ + -0.005635865498334169, + 0.9999638795852661, + -0.006365066394209862, + -0.0005400545401554443 + ], + [ + -0.0023555541411042213, + 0.0063518742099404335, + 0.9999770522117615, + -0.001326161178392163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999671578407288, + 0.006521407049149275, + 0.004805780481547117, + -0.015667526999455013 + ], + [ + -0.006483227480202913, + 0.9999476075172424, + -0.0079177962616086, + 0.0006544113603230945 + ], + [ + -0.004857164341956377, + 0.007886379025876522, + 0.9999570846557617, + -0.0016852404991956707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999735355377197, + 0.006690052337944508, + 0.002863154746592045, + -0.013471414464174542 + ], + [ + -0.006668388843536377, + 0.99994957447052, + -0.007510227616876364, + -0.001519407697640984 + ], + [ + -0.00291325431317091, + 0.007490936201065779, + 0.9999676942825317, + -0.0017096757752162789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.99996018409729, + 0.00690375966951251, + 0.005653887987136841, + -0.019651330024851657 + ], + [ + -0.006850677076727152, + 0.9999327659606934, + -0.009354774840176105, + -0.0006492111407370937 + ], + [ + -0.005718090571463108, + 0.009315668605268002, + 0.9999402761459351, + -0.0017175969181158497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999510645866394, + 0.0071453070268034935, + 0.006842389237135649, + -0.022787380266466185 + ], + [ + -0.007081286050379276, + 0.9999313354492188, + -0.00933554396033287, + -0.002935881440633696 + ], + [ + -0.0069086248986423016, + 0.009286634624004364, + 0.9999330043792725, + -0.0011803768338178268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999123215675354, + 0.007235681638121605, + 0.011092716827988625, + -0.03069399562692214 + ], + [ + -0.007122356444597244, + 0.9999223947525024, + -0.010221858508884907, + -0.003112923984365638 + ], + [ + -0.011165818199515343, + 0.010141956619918346, + 0.9998862147331238, + -8.834924487519761e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.999873161315918, + 0.007011420093476772, + 0.01429921668022871, + -0.03632566866180497 + ], + [ + -0.006869880482554436, + 0.9999271631240845, + -0.009923621080815792, + -0.005513681416137668 + ], + [ + -0.014367754571139812, + 0.00982412789016962, + 0.9998485445976257, + 0.000604150708155528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9997297525405884, + 0.0072752260603010654, + 0.02208041027188301, + -0.04959452209358444 + ], + [ + -0.007036380935460329, + 0.9999160766601562, + -0.01087554357945919, + -0.005812652473488522 + ], + [ + -0.022157680243253708, + 0.010717237368226051, + 0.9996970295906067, + 0.002643909657507867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9995831251144409, + 0.0070657809264957905, + 0.02799452468752861, + -0.059212654289192784 + ], + [ + -0.006797217298299074, + 0.9999300837516785, + -0.009677005931735039, + -0.009878540413822242 + ], + [ + -0.028060942888259888, + 0.009482687339186668, + 0.9995612502098083, + 0.004673905183789794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9995039701461792, + 0.006694944575428963, + 0.030772455036640167, + -0.06313934012087519 + ], + [ + -0.006402663886547089, + 0.9999335408210754, + -0.009586879052221775, + -0.011455341905890825 + ], + [ + -0.030834592878818512, + 0.009385098703205585, + 0.9994804263114929, + 0.005503647598231624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9992969036102295, + 0.006890510208904743, + 0.03685363754630089, + -0.0723254503291881 + ], + [ + -0.00653367955237627, + 0.9999306797981262, + -0.00979406014084816, + -0.012072195187434107 + ], + [ + -0.03691856935620308, + 0.00954638421535492, + 0.9992727041244507, + 0.006457137834548415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9990857243537903, + 0.006756249349564314, + 0.042214710265398026, + -0.07985843906324067 + ], + [ + -0.006343595217913389, + 0.9999308586120605, + -0.009901443496346474, + -0.012886497039002126 + ], + [ + -0.04227868840098381, + 0.009624598547816277, + 0.9990594983100891, + 0.006868479966916545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9988430738449097, + 0.006525752600282431, + 0.04764325171709061, + -0.08679310693712292 + ], + [ + -0.00607175612822175, + 0.9999348521232605, + -0.009667590260505676, + -0.013898858840683263 + ], + [ + -0.04770323634147644, + 0.00936712697148323, + 0.9988176226615906, + 0.007950815874079387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.998616099357605, + 0.0065301088616251945, + 0.05218508094549179, + -0.0918024295461392 + ], + [ + -0.006033869460225105, + 0.9999351501464844, + -0.00966111570596695, + -0.013879364896231068 + ], + [ + -0.05224478244781494, + 0.009332867339253426, + 0.9985907077789307, + 0.009846683224651985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9984476566314697, + 0.006945790722966194, + 0.05526307597756386, + -0.09430845871478498 + ], + [ + -0.006409437395632267, + 0.9999306797981262, + -0.00987678486853838, + -0.013490738163138935 + ], + [ + -0.05532784387469292, + 0.009507247246801853, + 0.9984229803085327, + 0.010596086594560546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9983399510383606, + 0.006739707663655281, + 0.05720023065805435, + -0.09529443718716056 + ], + [ + -0.006165247410535812, + 0.9999288320541382, + -0.01021350733935833, + -0.012982678530503533 + ], + [ + -0.05726499855518341, + 0.009843898937106133, + 0.9983105063438416, + 0.010799169302834366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9983023405075073, + 0.0063195484690368176, + 0.05790082365274429, + -0.09450391382871273 + ], + [ + -0.0057501341216266155, + 0.9999334812164307, + -0.009995643049478531, + -0.013555382147520603 + ], + [ + -0.057960145175457, + 0.00964573584496975, + 0.9982722997665405, + 0.010814600838292502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9983341097831726, + 0.006686300504952669, + 0.057308658957481384, + -0.09271896866088855 + ], + [ + -0.006100588012486696, + 0.9999274015426636, + -0.010389178059995174, + -0.012859066800788759 + ], + [ + -0.05737396329641342, + 0.010022253729403019, + 0.9983024597167969, + 0.010070565932926661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9985660910606384, + 0.00668152654543519, + 0.0531141422688961, + -0.08561466062318779 + ], + [ + -0.0061379666440188885, + 0.9999271631240845, + -0.010390350595116615, + -0.012867336434139285 + ], + [ + -0.053179699927568436, + 0.01004943810403347, + 0.9985343813896179, + 0.007975793243971414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9986178874969482, + 0.006831558421254158, + 0.052112095057964325, + -0.08407475491483768 + ], + [ + -0.0062375618144869804, + 0.9999138116836548, + -0.011552577838301659, + -0.0111242240144241 + ], + [ + -0.052186526358127594, + 0.011211559176445007, + 0.998574435710907, + 0.0067709006458342436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9988216757774353, + 0.006778831593692303, + 0.048055801540613174, + -0.07775766050476514 + ], + [ + -0.006217414513230324, + 0.9999107718467712, + -0.011822468601167202, + -0.011149879942040244 + ], + [ + -0.048131655901670456, + 0.011509754694998264, + 0.9987747073173523, + 0.00543018694364739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9990420937538147, + 0.007431824691593647, + 0.04312368109822273, + -0.0703198513138794 + ], + [ + -0.006932663731276989, + 0.999907374382019, + -0.011713134124875069, + -0.011518001993058505 + ], + [ + -0.04320673272013664, + 0.011402951553463936, + 0.9990010857582092, + 0.004339925819048714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9991994500160217, + 0.007518649101257324, + 0.03929278627038002, + -0.06528593347725754 + ], + [ + -0.006993715651333332, + 0.9998846650123596, + -0.013479962944984436, + -0.008884487115962063 + ], + [ + -0.039389606565237045, + 0.013194369152188301, + 0.9991368055343628, + 0.0028568839573463105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9994207620620728, + 0.007818002253770828, + 0.033121947199106216, + -0.05646849725239292 + ], + [ + -0.007364784367382526, + 0.9998778700828552, + -0.013783303089439869, + -0.008866347398742766 + ], + [ + -0.033225659281015396, + 0.013531382195651531, + 0.9993562698364258, + 0.0010093778301578317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9994701743125916, + 0.00791752990335226, + 0.031570788472890854, + -0.05573167725505229 + ], + [ + -0.0074490830302238464, + 0.9998608231544495, + -0.014928106218576431, + -0.00741759617673512 + ], + [ + -0.03168458864092827, + 0.014685023576021194, + 0.9993900060653687, + 0.001039260712209643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9995211362838745, + 0.00805150717496872, + 0.029878228902816772, + -0.054892315282793105 + ], + [ + -0.007571677211672068, + 0.9998410940170288, + -0.01613805815577507, + -0.0055050864322166776 + ], + [ + -0.030003417283296585, + 0.015904102474451065, + 0.9994232654571533, + 0.001183692681983749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9995500445365906, + 0.007689427584409714, + 0.02899339236319065, + -0.054910759132600837 + ], + [ + -0.007216855883598328, + 0.9998399615287781, + -0.016368862241506577, + -0.005153696950591966 + ], + [ + -0.0291146207600832, + 0.01615225523710251, + 0.9994455575942993, + 0.0013357773103227027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9995750784873962, + 0.007741834502667189, + 0.02810276858508587, + -0.05492147306080707 + ], + [ + -0.007271723356097937, + 0.9998325705528259, + -0.01679210364818573, + -0.003591317810051277 + ], + [ + -0.028228064998984337, + 0.01658061146736145, + 0.9994639754295349, + 0.0009393363852440074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995899200439453, + 0.007595139555633068, + 0.02760970965027809, + -0.05551846930812933 + ], + [ + -0.007148189470171928, + 0.9998424053192139, + -0.016250966116786003, + -0.003555084125579385 + ], + [ + -0.027728784829378128, + 0.01604694314301014, + 0.9994866847991943, + 0.0009068110701209772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.999603807926178, + 0.007792814169079065, + 0.027045177295804024, + -0.056030446507348994 + ], + [ + -0.0073702954687178135, + 0.999849796295166, + -0.0156873669475317, + -0.0043088361066013214 + ], + [ + -0.027163362130522728, + 0.01548182126134634, + 0.9995111227035522, + 0.0012029680488965739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9996150732040405, + 0.0076269893907010555, + 0.026675716042518616, + -0.05703617954280919 + ], + [ + -0.007221064064651728, + 0.9998571872711182, + -0.015280402265489101, + -0.005110729418271138 + ], + [ + -0.02678845077753067, + 0.015081892721354961, + 0.9995273351669312, + 0.0010711483399085367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9996243119239807, + 0.007767193019390106, + 0.02628517709672451, + -0.05813371606706502 + ], + [ + -0.007372290827333927, + 0.9998589754104614, + -0.015087462030351162, + -0.005436959345183686 + ], + [ + -0.026398656889796257, + 0.01488801185041666, + 0.9995406270027161, + 0.00039227365221253816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9996458292007446, + 0.007948072627186775, + 0.02539803273975849, + -0.05812689663541175 + ], + [ + -0.007572000380605459, + 0.9998607635498047, + -0.014869149774312973, + -0.00575602857206396 + ], + [ + -0.025512678548693657, + 0.0146715696901083, + 0.9995668530464172, + 0.0005346145962740012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.99964439868927, + 0.008038237690925598, + 0.025424784049391747, + -0.05929924026800844 + ], + [ + -0.007659760769456625, + 0.9998589158058167, + -0.014948677271604538, + -0.005565064251255579 + ], + [ + -0.025541359558701515, + 0.01474861428141594, + 0.9995649456977844, + 0.00046647045375154683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9996656179428101, + 0.008111256174743176, + 0.024552104994654655, + -0.05893523721191698 + ], + [ + -0.00773939024657011, + 0.9998544454574585, + -0.015203287824988365, + -0.005054669362676893 + ], + [ + -0.024671850726008415, + 0.015008186921477318, + 0.9995829463005066, + 8.683094356075208e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9996684789657593, + 0.008222120814025402, + 0.02439887262880802, + -0.05987136168349646 + ], + [ + -0.007857277058064938, + 0.9998564720153809, + -0.015011711046099663, + -0.005315433882600712 + ], + [ + -0.024518797174096107, + 0.01481502503156662, + 0.9995895624160767, + 0.0006551918849031146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9996724724769592, + 0.008072137832641602, + 0.024285543709993362, + -0.0607128037507841 + ], + [ + -0.0077140615321695805, + 0.9998607039451599, + -0.014802145771682262, + -0.005571646629247123 + ], + [ + -0.024401646107435226, + 0.014609958045184612, + 0.9995954632759094, + 0.0007922392411666022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9996761679649353, + 0.007788644637912512, + 0.02422529086470604, + -0.061379821188078665 + ], + [ + -0.007430603262037039, + 0.9998623728752136, + -0.014834709465503693, + -0.00551191023439392 + ], + [ + -0.02433750033378601, + 0.014649897813796997, + 0.9995964765548706, + 0.001050486593105702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9996917247772217, + 0.007382367737591267, + 0.023706650361418724, + -0.06142537133199369 + ], + [ + -0.007038479670882225, + 0.9998692870140076, + -0.014556808397173882, + -0.005339601938752179 + ], + [ + -0.023811014369130135, + 0.014385461807250977, + 0.9996129870414734, + 0.0014852089688187453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9997141361236572, + 0.0077614495530724525, + 0.02261326089501381, + -0.060674618695399724 + ], + [ + -0.007453246973454952, + 0.9998786449432373, + -0.013681857846677303, + -0.005808168701537534 + ], + [ + -0.022716708481311798, + 0.013509404845535755, + 0.9996506571769714, + 0.0013037591257333355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9998139142990112, + 0.0081156762316823, + 0.01749923825263977, + -0.05249533589014751 + ], + [ + -0.007872235961258411, + 0.9998719096183777, + -0.013935769908130169, + -0.005047765117651688 + ], + [ + -0.0176100954413414, + 0.013795419596135616, + 0.9997497797012329, + 0.0005258885674854089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9997667670249939, + 0.008345414884388447, + 0.019920457154512405, + -0.05674558259145229 + ], + [ + -0.008046344853937626, + 0.9998544454574585, + -0.015046477317810059, + -0.0030379061478407617 + ], + [ + -0.020043127238750458, + 0.014882680028676987, + 0.9996883273124695, + 0.0008656472356677682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9997076392173767, + 0.007524171378463507, + 0.02297770231962204, + -0.06186684370040894 + ], + [ + -0.007193137425929308, + 0.9998696446418762, + -0.014455582946538925, + -0.0038731667815434362 + ], + [ + -0.02308347448706627, + 0.014286074787378311, + 0.9996314644813538, + 0.0015819342836910512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9996886253356934, + 0.007605462335050106, + 0.02376602776348591, + -0.06334125391782044 + ], + [ + -0.007280364632606506, + 0.9998791813850403, + -0.01373579166829586, + -0.003701913955169702 + ], + [ + -0.023867623880505562, + 0.013558488339185715, + 0.99962317943573, + 0.001227841040148807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9996670484542847, + 0.0071052988059818745, + 0.024805603548884392, + -0.06478287662173102 + ], + [ + -0.006769724655896425, + 0.9998847842216492, + -0.013586045242846012, + -0.002706268667048234 + ], + [ + -0.024899279698729515, + 0.013413594104349613, + 0.9995999932289124, + 0.0021394021777034608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9998008608818054, + 0.0071569811552762985, + 0.018628811463713646, + -0.05479327160976605 + ], + [ + -0.006944304332137108, + 0.9999102354049683, + -0.011456298641860485, + -0.004597015068224982 + ], + [ + -0.018709132447838783, + 0.011324652470648289, + 0.9997608065605164, + 0.0021533561743583953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9996729493141174, + 0.006316722370684147, + 0.02478105202317238, + -0.06517385089781114 + ], + [ + -0.006058220751583576, + 0.9999266266822815, + -0.01049266941845417, + -0.004124565334421789 + ], + [ + -0.024845510721206665, + 0.010339109227061272, + 0.9996378421783447, + 0.002718372497997598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9996913075447083, + 0.006148273125290871, + 0.024071862921118736, + -0.06384956469971263 + ], + [ + -0.005922340787947178, + 0.9999378323554993, + -0.009445813484489918, + -0.0029598305735201716 + ], + [ + -0.024128442630171776, + 0.009300335310399532, + 0.9996656179428101, + 0.0043167749199525506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9997377991676331, + 0.006074485834687948, + 0.022076621651649475, + -0.06109679105083743 + ], + [ + -0.005911553744226694, + 0.999954879283905, + -0.007438077591359615, + -0.00244888680579955 + ], + [ + -0.022120807319879532, + 0.007305620238184929, + 0.9997286200523376, + 0.00283470066922332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9997482299804688, + 0.004864264279603958, + 0.021904494613409042, + -0.062457068248869416 + ], + [ + -0.004783915355801582, + 0.9999816417694092, + -0.0037190685980021954, + -0.0033201174364386205 + ], + [ + -0.02192218229174614, + 0.003613342996686697, + 0.9997531771659851, + 0.004515001258929957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9998794794082642, + 0.005745246075093746, + 0.014423276297748089, + -0.053069099123606425 + ], + [ + -0.005745763890445232, + 0.9999834895133972, + -5.509744369192049e-06, + -0.0018361352880424012 + ], + [ + -0.014423069544136524, + -7.736365660093725e-05, + 0.9998959898948669, + 0.004596640694953367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9998847246170044, + 0.004660379607230425, + 0.014450819231569767, + -0.05558805254449745 + ], + [ + -0.004736160393804312, + 0.9999752044677734, + 0.005214241798967123, + -0.0013315459279745014 + ], + [ + -0.014426159672439098, + -0.005282082129269838, + 0.9998819828033447, + 0.005850289414028921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9998562335968018, + 0.004417748656123877, + 0.016370339319109917, + -0.06061511517329488 + ], + [ + -0.004619461949914694, + 0.9999136328697205, + 0.012304612435400486, + -0.0029050181335407103 + ], + [ + -0.016314567998051643, + -0.012378466315567493, + 0.9997903108596802, + 0.007921143790182775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996848106384277, + 0.00447346456348896, + 0.02470412291586399, + -0.0762141458957852 + ], + [ + -0.004984932020306587, + 0.9997736811637878, + 0.02068108692765236, + -0.003509789763832699 + ], + [ + -0.024606017395853996, + -0.020797718316316605, + 0.9994808435440063, + 0.012841853184882039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.999539852142334, + 0.0024569351226091385, + 0.030233394354581833, + -0.08766899666118766 + ], + [ + -0.0034084906801581383, + 0.9994991421699524, + 0.03146248310804367, + -0.005969807109656091 + ], + [ + -0.0301409512758255, + -0.0315510556101799, + 0.999047577381134, + 0.017459053624265208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9993760585784912, + 0.0023637558333575726, + 0.03524153307080269, + -0.09918650100955706 + ], + [ + -0.003805282525718212, + 0.9991562962532043, + 0.04089342802762985, + -0.00616681339821505 + ], + [ + -0.035115133970975876, + -0.04100201278924942, + 0.9985418319702148, + 0.021816851040292642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9991748929023743, + 0.0012345948489382863, + 0.040595777332782745, + -0.11117711657892444 + ], + [ + -0.0032525593414902687, + 0.9987598657608032, + 0.04968033730983734, + -0.00717440161207122 + ], + [ + -0.040484100580215454, + -0.04977138340473175, + 0.9979398250579834, + 0.027490709838039147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.999023973941803, + -0.0001724864123389125, + 0.044170405715703964, + -0.11980335514345569 + ], + [ + -0.0025449800305068493, + 0.9981063604354858, + 0.06145870313048363, + -0.012865309386296632 + ], + [ + -0.04409736767411232, + -0.06151113286614418, + 0.9971317648887634, + 0.03437700022435831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9988054633140564, + -0.0021301116794347763, + 0.04881652444601059, + -0.13009756821358276 + ], + [ + -0.0015392417553812265, + 0.9971819519996643, + 0.07500559836626053, + -0.020412398920210448 + ], + [ + -0.04883872717618942, + -0.0749911442399025, + 0.9959874749183655, + 0.04063653645668915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9982821345329285, + -0.0036016397643834352, + 0.05847873538732529, + -0.1458491193141766 + ], + [ + -0.001673331717029214, + 0.9959489703178406, + 0.08990459144115448, + -0.028480606806787948 + ], + [ + -0.058565638959407806, + -0.08984799683094025, + 0.9942320585250854, + 0.0477130679625594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.997722864151001, + -0.004041397478431463, + 0.06732542812824249, + -0.15764485427184022 + ], + [ + -0.0028166212141513824, + 0.9948357939720154, + 0.10145846009254456, + -0.028268827212427905 + ], + [ + -0.06738777458667755, + -0.10141706466674805, + 0.9925590753555298, + 0.05390447814932126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9964608550071716, + -0.003972629550844431, + 0.08396399766206741, + -0.18148934941091938 + ], + [ + -0.005858753342181444, + 0.9931710362434387, + 0.11652041226625443, + -0.03210596151644375 + ], + [ + -0.08385350555181503, + -0.11659995466470718, + 0.989632785320282, + 0.0655260750321214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9950811862945557, + -0.0038010680582374334, + 0.09898971021175385, + -0.20240593441946064 + ], + [ + -0.009370786137878895, + 0.9911710023880005, + 0.13225820660591125, + -0.038226406491489826 + ], + [ + -0.09861844778060913, + -0.13253527879714966, + 0.9862599968910217, + 0.0751247961096421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9948915243148804, + -0.0023323181085288525, + 0.10092268884181976, + -0.20044889314445907 + ], + [ + -0.01225791871547699, + 0.9895444512367249, + 0.14370636641979218, + -0.03676833774515255 + ], + [ + -0.10020264983177185, + -0.1442093402147293, + 0.9844608306884766, + 0.07826372128046916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9946932792663574, + -0.0017923330888152122, + 0.10286892205476761, + -0.19855339611004927 + ], + [ + -0.014321944676339626, + 0.9877012372016907, + 0.15569554269313812, + -0.03533726738776989 + ], + [ + -0.10188282281160355, + -0.15634261071681976, + 0.9824341535568237, + 0.08182816176178927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9945182204246521, + -0.004239181987941265, + 0.10447731614112854, + -0.1975036373930777 + ], + [ + -0.013343009166419506, + 0.9858643412590027, + 0.1670135259628296, + -0.03412175194867803 + ], + [ + -0.10370846092700958, + -0.16749203205108643, + 0.980403482913971, + 0.08581166047000599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.994388997554779, + -0.0068658022210001945, + 0.10556215792894363, + -0.1967756985725757 + ], + [ + -0.012134269811213017, + 0.9839017987251282, + 0.17829741537570953, + -0.03309467165747624 + ], + [ + -0.10508695989847183, + -0.17857791483402252, + 0.9782978296279907, + 0.08887485346037471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9943193793296814, + -0.007832661271095276, + 0.10614892095327377, + -0.19626462256123206 + ], + [ + -0.012615418061614037, + 0.9815863370895386, + 0.19060194492340088, + -0.03199196839649342 + ], + [ + -0.10568725317716599, + -0.19085833430290222, + 0.9759114980697632, + 0.09294695491473118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9940391182899475, + -0.008892891928553581, + 0.10866080969572067, + -0.19545941807909642 + ], + [ + -0.013330681249499321, + 0.9792751669883728, + 0.20209501683712006, + -0.030808580068949452 + ], + [ + -0.10820604115724564, + -0.20233885943889618, + 0.9733192920684814, + 0.09790774214410497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9934791922569275, + -0.007713403087109327, + 0.11375240236520767, + -0.19506967612012419 + ], + [ + -0.016878655180335045, + 0.9767652750015259, + 0.2136462926864624, + -0.028630863568427676 + ], + [ + -0.11275733262300491, + -0.21417313814163208, + 0.9702657461166382, + 0.10462233493338802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9927285313606262, + -0.009222326800227165, + 0.12002087384462357, + -0.19385345372968094 + ], + [ + -0.018174398690462112, + 0.9741479158401489, + 0.2251788228750229, + -0.02642343371080424 + ], + [ + -0.11899476498365402, + -0.22572274506092072, + 0.9668968319892883, + 0.11237363772477932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9918584823608398, + -0.011000482365489006, + 0.12686890363693237, + -0.19334127064236623 + ], + [ + -0.019471606239676476, + 0.9714460372924805, + 0.23646028339862823, + -0.024494007259919615 + ], + [ + -0.1258474588394165, + -0.23700548708438873, + 0.9633228182792664, + 0.11895219397223639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9910079836845398, + -0.013767373748123646, + 0.1330925077199936, + -0.19411586555178295 + ], + [ + -0.01992298662662506, + 0.9684212803840637, + 0.2485222965478897, + -0.023785298036601014 + ], + [ + -0.1323111206293106, + -0.2489391714334488, + 0.9594389200210571, + 0.12315623566597522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9902012944221497, + -0.017776211723685265, + 0.13851149380207062, + -0.1936932613571247 + ], + [ + -0.01898604817688465, + 0.9655185341835022, + 0.25964105129241943, + -0.021516764912375076 + ], + [ + -0.13835085928440094, + -0.25972670316696167, + 0.9557201862335205, + 0.1294065620281739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9892460107803345, + -0.022568240761756897, + 0.1445097029209137, + -0.19584481418132782 + ], + [ + -0.017672915011644363, + 0.9623408913612366, + 0.27127039432525635, + -0.02228164238977932 + ], + [ + -0.14518970251083374, + -0.27090704441070557, + 0.9515930414199829, + 0.13041804231212525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.988050639629364, + -0.02109021134674549, + 0.15267984569072723, + -0.1979001690527636 + ], + [ + -0.02290361188352108, + 0.9595052599906921, + 0.2807580828666687, + -0.021755410399577933 + ], + [ + -0.1524183601140976, + -0.28090012073516846, + 0.947556734085083, + 0.13234418749273894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9861018657684326, + -0.03631540387868881, + 0.1621243953704834, + -0.2065172739014654 + ], + [ + -0.012290949001908302, + 0.9571993947029114, + 0.28916820883750916, + -0.028211944534660815 + ], + [ + -0.16568663716316223, + -0.28714194893836975, + 0.9434497356414795, + 0.12098394373576798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9857988357543945, + -0.03328615054488182, + 0.16459842026233673, + -0.19820588256070715 + ], + [ + -0.01718241721391678, + 0.9550215601921082, + 0.29603809118270874, + -0.019374983262516066 + ], + [ + -0.16704900562763214, + -0.2946622371673584, + 0.9408872723579407, + 0.14691939322712894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9852051734924316, + -0.03808746114373207, + 0.16709324717521667, + -0.1999905765235067 + ], + [ + -0.014780589379370213, + 0.9524753093719482, + 0.30425694584846497, + -0.019333910510434718 + ], + [ + -0.17074057459831238, + -0.302225261926651, + 0.9378206729888916, + 0.1519929157581158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9848159551620483, + -0.04467657208442688, + 0.16775447130203247, + -0.2001716487421961 + ], + [ + -0.01054922491312027, + 0.9491313099861145, + 0.3147038519382477, + -0.018975441818108816 + ], + [ + -0.17328089475631714, + -0.31169506907463074, + 0.9342483282089233, + 0.15993554836618687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9840211272239685, + -0.05128028243780136, + 0.17050719261169434, + -0.20080796597960468 + ], + [ + -0.007079873234033585, + 0.9456015825271606, + 0.32524996995925903, + -0.01770763223221202 + ], + [ + -0.17791077494621277, + -0.3212600350379944, + 0.9301288723945618, + 0.16780211316968152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9827715754508972, + -0.05724567174911499, + 0.17573563754558563, + -0.20122761487246987 + ], + [ + -0.004911985248327255, + 0.9423990249633789, + 0.334454745054245, + -0.01647665912207372 + ], + [ + -0.18475918471813202, + -0.32955583930015564, + 0.9258817434310913, + 0.17535612311013443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9809181094169617, + -0.06229002773761749, + 0.1841726452112198, + -0.20283430939662958 + ], + [ + -0.004366079345345497, + 0.9399902820587158, + 0.34117332100868225, + -0.01591098061177188 + ], + [ + -0.19437219202518463, + -0.3354671895503998, + 0.9217815399169922, + 0.18124484985531447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9790257811546326, + -0.06576104462146759, + 0.1928316354751587, + -0.20417268513562437 + ], + [ + -0.005055898800492287, + 0.9383423328399658, + 0.34567058086395264, + -0.01460996650516273 + ], + [ + -0.20367375016212463, + -0.33939534425735474, + 0.9183288216590881, + 0.18634960497924669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9771909117698669, + -0.07149715721607208, + 0.1999652236700058, + -0.2037583685920624 + ], + [ + -0.0033394284546375275, + 0.9363310933113098, + 0.35110241174697876, + -0.0151597646840229 + ], + [ + -0.2123364955186844, + -0.3437618613243103, + 0.9147354960441589, + 0.19464098086614096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.975588321685791, + -0.07289101183414459, + 0.20715788006782532, + -0.20598634501060326 + ], + [ + -0.004241034388542175, + 0.9368799924850464, + 0.3496253192424774, + -0.013519666148740018 + ], + [ + -0.21956661343574524, + -0.34196892380714417, + 0.9137000441551208, + 0.19848857191865316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.974646806716919, + -0.07436783611774445, + 0.211028590798378, + -0.2074770694542788 + ], + [ + -0.00411190465092659, + 0.9370359778404236, + 0.3492085933685303, + -0.012713860481709777 + ], + [ + -0.2237112671136856, + -0.34122276306152344, + 0.9129733443260193, + 0.20227681437652267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.973723292350769, + -0.07560980319976807, + 0.21481651067733765, + -0.21035048510143145 + ], + [ + -0.0033274777233600616, + 0.9384520649909973, + 0.34539344906806946, + -0.010998023179789146 + ], + [ + -0.22771012783050537, + -0.3370324671268463, + 0.9135410189628601, + 0.2024129410882196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9726664423942566, + -0.07747045159339905, + 0.21890252828598022, + -0.21192241152246555 + ], + [ + -0.0026985593140125275, + 0.9388702511787415, + 0.344260573387146, + -0.010009003243225064 + ], + [ + -0.2321910858154297, + -0.3354414105415344, + 0.9129985570907593, + 0.20547477945596157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9708721041679382, + -0.08304299414157867, + 0.22474710643291473, + -0.2128948089248406 + ], + [ + -6.62095844745636e-05, + 0.9379227757453918, + 0.3468440771102905, + -0.009998528420657455 + ], + [ + -0.23959840834140778, + -0.3367561101913452, + 0.910597562789917, + 0.2107593151712846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9695166349411011, + -0.0871080681681633, + 0.229018896818161, + -0.21382368297990925 + ], + [ + 0.0016973987221717834, + 0.9370391368865967, + 0.3492202162742615, + -0.009341809858462054 + ], + [ + -0.2450195848941803, + -0.3381860852241516, + 0.9086229205131531, + 0.2145710816461883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9685829281806946, + -0.0894741341471672, + 0.23203767836093903, + -0.21417393825368253 + ], + [ + 0.0022243931889533997, + 0.9361165165901184, + 0.3516830503940582, + -0.008444402142689971 + ], + [ + -0.24868084490299225, + -0.34011808037757874, + 0.906905472278595, + 0.219151381898426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9674249887466431, + -0.09223158657550812, + 0.23575879633426666, + -0.21506529632442725 + ], + [ + 0.00279887393116951, + 0.9351118803024292, + 0.35434162616729736, + -0.007795846705397446 + ], + [ + -0.2531423270702362, + -0.3421390652656555, + 0.9049087166786194, + 0.2233077768794077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.966227650642395, + -0.09620320051908493, + 0.23905876278877258, + -0.21584178676862203 + ], + [ + 0.004673823714256287, + 0.9340888857841492, + 0.35701003670692444, + -0.006789241437828113 + ], + [ + -0.25764763355255127, + -0.34383562207221985, + 0.9029921293258667, + 0.22668015510736111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9650055170059204, + -0.09830661118030548, + 0.24310530722141266, + -0.21728218601135438 + ], + [ + 0.004159752279520035, + 0.9326924085617065, + 0.36064887046813965, + -0.005403510852532829 + ], + [ + -0.2621966302394867, + -0.3470168709754944, + 0.9004622101783752, + 0.2298597453418606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9642744660377502, + -0.10098353028297424, + 0.244902104139328, + -0.2157121821256455 + ], + [ + 0.004100888967514038, + 0.930069625377655, + 0.3673604428768158, + -0.00315783095105501 + ], + [ + -0.26487335562705994, + -0.3532319962978363, + 0.8972565531730652, + 0.2359970861566281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.963081955909729, + -0.103729248046875, + 0.24842169880867004, + -0.21628610291880762 + ], + [ + 0.0035968199372291565, + 0.9276618957519531, + 0.373403936624527, + -0.0023128261220847776 + ], + [ + -0.26918426156044006, + -0.35872510075569153, + 0.8937875628471375, + 0.24002312775143606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9621568322181702, + -0.1073666512966156, + 0.25045299530029297, + -0.21532678859319515 + ], + [ + 0.004570223391056061, + 0.9253345131874084, + 0.3791242837905884, + -0.0010373711385234389 + ], + [ + -0.2724580764770508, + -0.3636323809623718, + 0.890807569026947, + 0.2460062899632368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9612036943435669, + -0.10919062793254852, + 0.2533077895641327, + -0.21596679075392422 + ], + [ + 0.004362072795629501, + 0.9242180585861206, + 0.38184019923210144, + 0.0004540026567117896 + ], + [ + -0.2758050262928009, + -0.365921288728714, + 0.8888381123542786, + 0.24942760212335757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9614848494529724, + -0.1103290319442749, + 0.25174275040626526, + -0.21402171557534955 + ], + [ + 0.00533955916762352, + 0.9232259392738342, + 0.3842204511165619, + 0.0026732779715857107 + ], + [ + -0.27480611205101013, + -0.36807796359062195, + 0.888256847858429, + 0.25428290647303986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9607681035995483, + -0.11349338293075562, + 0.25306907296180725, + -0.21433787561819226 + ], + [ + 0.00702580064535141, + 0.9221101403236389, + 0.38686370849609375, + 0.003452042911848622 + ], + [ + -0.2772640287876129, + -0.36990827322006226, + 0.8867313861846924, + 0.2599590647720291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.960780680179596, + -0.11655630171298981, + 0.2516250014305115, + -0.2119300796421702 + ], + [ + 0.010498136281967163, + 0.9220172166824341, + 0.3870064914226532, + 0.006365366142890054 + ], + [ + -0.27711063623428345, + -0.36918678879737854, + 0.8870799541473389, + 0.2672098452994923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9601036310195923, + -0.12133573740720749, + 0.2519497871398926, + -0.21091712067227164 + ], + [ + 0.014718569815158844, + 0.9216417074203491, + 0.38776275515556335, + 0.007534187414242836 + ], + [ + -0.2792568802833557, + -0.3685840666294098, + 0.8866574168205261, + 0.27257443898452255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9587393999099731, + -0.1279728263616562, + 0.2538537383079529, + -0.20782961422454813 + ], + [ + 0.019249025732278824, + 0.9201236963272095, + 0.3911544978618622, + 0.008474175642038177 + ], + [ + -0.2836340069770813, + -0.3701287806034088, + 0.8846222162246704, + 0.28120428826994526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9253022074699402, + -0.30606701970100403, + 0.22391706705093384, + -0.2742891250077836 + ], + [ + 0.1614418923854828, + 0.8521894216537476, + 0.49770450592041016, + -0.05129381784511183 + ], + [ + -0.34315067529678345, + -0.42437744140625, + 0.837944746017456, + -0.024755991013821015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9247046113014221, + -0.3044438362121582, + 0.22855055332183838, + -0.271897421322183 + ], + [ + 0.15690463781356812, + 0.8517982959747314, + 0.49982064962387085, + -0.04766841276944755 + ], + [ + -0.3468462824821472, + -0.42632579803466797, + 0.8354304432868958, + -0.018539994955062863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9240046143531799, + -0.30397188663482666, + 0.23198410868644714, + -0.2693369313628374 + ], + [ + 0.15329335629940033, + 0.8502649068832397, + 0.5035382509231567, + -0.04572683493355791 + ], + [ + -0.3503094017505646, + -0.4297100305557251, + 0.8322455286979675, + -0.01141272242554647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.924419641494751, + -0.30062928795814514, + 0.23467087745666504, + -0.2673577509775847 + ], + [ + 0.14804396033287048, + 0.8499398827552795, + 0.5056532025337219, + -0.04381284247972295 + ], + [ + -0.35147029161453247, + -0.43269413709640503, + 0.8302074670791626, + -0.005537531301825344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.92434161901474, + -0.2998200058937073, + 0.23600956797599792, + -0.26495951301680354 + ], + [ + 0.1455904245376587, + 0.8488655686378479, + 0.5081640481948853, + -0.041111220350254794 + ], + [ + -0.35269811749458313, + -0.4353564381599426, + 0.828292727470398, + 0.0010150809644046688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9245398044586182, + -0.29892322421073914, + 0.2363705337047577, + -0.2626968332214984 + ], + [ + 0.1437830924987793, + 0.848034143447876, + 0.5100632309913635, + -0.038350904672713335 + ], + [ + -0.3529200255870819, + -0.437587708234787, + 0.8270214200019836, + 0.006698165189274061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9250594973564148, + -0.2970941662788391, + 0.2366432398557663, + -0.2592587024151922 + ], + [ + 0.14079119265079498, + 0.8468649983406067, + 0.5128328204154968, + -0.03479863949298502 + ], + [ + -0.3527645170688629, + -0.4410836100578308, + 0.825228750705719, + 0.01451213572865832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9241390228271484, + -0.29908299446105957, + 0.23773188889026642, + -0.25826392826919786 + ], + [ + 0.1411786675453186, + 0.8455287218093872, + 0.5149269104003906, + -0.03439564370511178 + ], + [ + -0.35501500964164734, + -0.4423013925552368, + 0.823610246181488, + 0.01778647124455004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9243143796920776, + -0.29986903071403503, + 0.23605391383171082, + -0.25635213100624654 + ], + [ + 0.1417478322982788, + 0.8440502882003784, + 0.5171911120414734, + -0.03175930203033422 + ], + [ + -0.35433098673820496, + -0.4445870816707611, + 0.8226736187934875, + 0.022912973526887554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9245679974555969, + -0.30160200595855713, + 0.23283085227012634, + -0.2540452262777054 + ], + [ + 0.1432645320892334, + 0.8414187431335449, + 0.5210468173027039, + -0.029817293091359255 + ], + [ + -0.35305699706077576, + -0.4483868479728699, + 0.821157693862915, + 0.027744667078117416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.923893392086029, + -0.3059157431125641, + 0.2298620045185089, + -0.2521281702789718 + ], + [ + 0.14649930596351624, + 0.8377265930175781, + 0.5260723233222961, + -0.02906661620084754 + ], + [ + -0.353495329618454, + -0.4523601233959198, + 0.8187865614891052, + 0.032571526768500225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9226478934288025, + -0.3109970986843109, + 0.22803881764411926, + -0.2508678899553722 + ], + [ + 0.14982634782791138, + 0.8339424729347229, + 0.5311233997344971, + -0.02870066975672802 + ], + [ + -0.3553490936756134, + -0.45587363839149475, + 0.8160308003425598, + 0.03718757799151773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9223259091377258, + -0.31250011920928955, + 0.22728535532951355, + -0.2507608939609128 + ], + [ + 0.15062163770198822, + 0.8324172496795654, + 0.5332866907119751, + -0.02675886867333672 + ], + [ + -0.35584840178489685, + -0.4576300382614136, + 0.8148292303085327, + 0.04061391238837007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9217403531074524, + -0.3151185214519501, + 0.22604212164878845, + -0.2505347398940675 + ], + [ + 0.15241989493370056, + 0.8303343653678894, + 0.5360159277915955, + -0.025644709745388544 + ], + [ + -0.3565990626811981, + -0.45961421728134155, + 0.8133830428123474, + 0.044539862364798254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9219379425048828, + -0.3172074556350708, + 0.22228342294692993, + -0.24925905244793006 + ], + [ + 0.1545400470495224, + 0.827455997467041, + 0.5398462414741516, + -0.025310373060896015 + ], + [ + -0.3551729917526245, + -0.4633530080318451, + 0.8118842840194702, + 0.050362451349992954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9231804013252258, + -0.3163664638996124, + 0.21828919649124146, + -0.24723425775231003 + ], + [ + 0.15647608041763306, + 0.8280653357505798, + 0.5383521914482117, + -0.020543169029458554 + ], + [ + -0.3510742783546448, + -0.46283918619155884, + 0.8139574527740479, + 0.055246818699165735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9228270649909973, + -0.31831037998199463, + 0.21695317327976227, + -0.2469573780805051 + ], + [ + 0.1572735756635666, + 0.8254535794258118, + 0.5421175360679626, + -0.020175760567835172 + ], + [ + -0.35164642333984375, + -0.46615976095199585, + 0.8118127584457397, + 0.059862665894502655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9228472709655762, + -0.31892573833465576, + 0.21596139669418335, + -0.24675521400874245 + ], + [ + 0.1575971394777298, + 0.8242725729942322, + 0.5438178777694702, + -0.017500502235830544 + ], + [ + -0.35144859552383423, + -0.46782591938972473, + 0.8109394311904907, + 0.06299937946532301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9226131439208984, + -0.31971994042396545, + 0.2157873958349228, + -0.2460153298285193 + ], + [ + 0.15711605548858643, + 0.8224135637283325, + 0.5467636585235596, + -0.014949031567346017 + ], + [ + -0.3522776961326599, + -0.4705476760864258, + 0.809002697467804, + 0.06813170058641606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.92180335521698, + -0.3206610381603241, + 0.21784180402755737, + -0.24631378397256315 + ], + [ + 0.15613922476768494, + 0.8214601278305054, + 0.548474133014679, + -0.013917755778365863 + ], + [ + -0.35482263565063477, + -0.4715716540813446, + 0.8072924613952637, + 0.07190926862423291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9215361475944519, + -0.3202306628227234, + 0.2195984423160553, + -0.24428410185668284 + ], + [ + 0.15488901734352112, + 0.8217697143554688, + 0.5483648180961609, + -0.010296523194581629 + ], + [ + -0.35606256127357483, + -0.471324622631073, + 0.8068907260894775, + 0.07843770900975444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9193998575210571, + -0.3227190375328064, + 0.22484739124774933, + -0.24394413927001155 + ], + [ + 0.1546926498413086, + 0.8222765922546387, + 0.5476599335670471, + -0.008269543083618859 + ], + [ + -0.3616270422935486, + -0.4687362313270569, + 0.8059232234954834, + 0.08345523005920256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9181817770004272, + -0.3222098648548126, + 0.23048433661460876, + -0.24320209643797963 + ], + [ + 0.15239518880844116, + 0.824303150177002, + 0.54525226354599, + -0.004812776739011983 + ], + [ + -0.3656746447086334, + -0.46551600098609924, + 0.8059633374214172, + 0.08902015284953003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9158769845962524, + -0.3240938186645508, + 0.2369230091571808, + -0.24308002193173964 + ], + [ + 0.1513138711452484, + 0.8253099918365479, + 0.5440289974212646, + -0.0033865783307812907 + ], + [ + -0.3718513548374176, + -0.4624139070510864, + 0.804922342300415, + 0.09444454817357892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.914202094078064, + -0.32499265670776367, + 0.24210390448570251, + -0.24188863674323716 + ], + [ + 0.15098626911640167, + 0.8275378942489624, + 0.5407256484031677, + 0.0018425024722418387 + ], + [ + -0.37608203291893005, + -0.4577781856060028, + 0.8056063055992126, + 0.10181239316028035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9127700328826904, + -0.32623451948165894, + 0.24580873548984528, + -0.24079238520767876 + ], + [ + 0.1508706957101822, + 0.8284791707992554, + 0.5393146872520447, + 0.00546192355498582 + ], + [ + -0.3795905113220215, + -0.4551849663257599, + 0.8054301738739014, + 0.10852360198954622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9109768867492676, + -0.3268957734107971, + 0.25151604413986206, + -0.2426678635938439 + ], + [ + 0.1490490734577179, + 0.8294985294342041, + 0.5382532477378845, + 0.004707665609831581 + ], + [ + -0.384584903717041, + -0.45284801721572876, + 0.8043774962425232, + 0.11126811183141377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9087514281272888, + -0.33129629492759705, + 0.25379836559295654, + -0.2427792551096328 + ], + [ + 0.15113285183906555, + 0.8281028270721436, + 0.539819061756134, + 0.005365154405910811 + ], + [ + -0.3890112042427063, + -0.4522041082382202, + 0.802609384059906, + 0.11833582216215704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9089552164077759, + -0.3318856656551361, + 0.25229406356811523, + -0.24196486394562408 + ], + [ + 0.1543082594871521, + 0.830030620098114, + 0.5359460115432739, + 0.01073775730670212 + ], + [ + -0.3872845768928528, + -0.4482198655605316, + 0.805673360824585, + 0.12425539784445735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9069146513938904, + -0.33577969670295715, + 0.25447559356689453, + -0.243418655780975 + ], + [ + 0.15644320845603943, + 0.8292094469070435, + 0.5365979075431824, + 0.010587764098615702 + ], + [ + -0.3911921977996826, + -0.44683751463890076, + 0.8045526146888733, + 0.12834163323312464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9061185121536255, + -0.3376712501049042, + 0.2548085153102875, + -0.24307447466664686 + ], + [ + 0.15875470638275146, + 0.8297652006149292, + 0.5350576639175415, + 0.013696091918798975 + ], + [ + -0.392104834318161, + -0.44437360763549805, + 0.8054724931716919, + 0.13422901013832605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9040566086769104, + -0.3416140079498291, + 0.25686872005462646, + -0.24404997688210653 + ], + [ + 0.1614120602607727, + 0.8293618559837341, + 0.5348879098892212, + 0.013858461607537583 + ], + [ + -0.3957623243331909, + -0.44210726022720337, + 0.8049306869506836, + 0.13902261826449525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9023385643959045, + -0.34412339329719543, + 0.2595461308956146, + -0.24476096285674387 + ], + [ + 0.1647651493549347, + 0.8318086862564087, + 0.5300441980361938, + 0.01657301166100416 + ], + [ + -0.39829328656196594, + -0.4355151653289795, + 0.8072725534439087, + 0.1432735856154008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9005838632583618, + -0.3479604721069336, + 0.2605230212211609, + -0.2447226222403749 + ], + [ + 0.17001937329769135, + 0.8335672616958618, + 0.5256034731864929, + 0.01853266174564818 + ], + [ + -0.4000527262687683, + -0.4290560483932495, + 0.8098572492599487, + 0.14772073962017448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.8981435298919678, + -0.35130545496940613, + 0.26442891359329224, + -0.24597698644606653 + ], + [ + 0.17348399758338928, + 0.8357157707214355, + 0.5210397839546204, + 0.020741107189905142 + ], + [ + -0.40403151512145996, + -0.42209431529045105, + 0.8115386366844177, + 0.15120958964267892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.8956528306007385, + -0.35496896505355835, + 0.2679609954357147, + -0.24704631038768565 + ], + [ + 0.17443297803401947, + 0.8345825672149658, + 0.5225371718406677, + 0.019315925432357956 + ], + [ + -0.4091200530529022, + -0.4212706685066223, + 0.8094145059585571, + 0.15511051685867194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.893543004989624, + -0.3583976626396179, + 0.27042925357818604, + -0.24695285892415192 + ], + [ + 0.17652569711208344, + 0.8342536687850952, + 0.5223595499992371, + 0.022168532558187036 + ], + [ + -0.4128190279006958, + -0.41901302337646484, + 0.8087079524993896, + 0.16001545451358407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.8919060826301575, + -0.361491322517395, + 0.2717123031616211, + -0.24777019619941712 + ], + [ + 0.17720937728881836, + 0.8321713805198669, + 0.5254403948783875, + 0.021989338055342256 + ], + [ + -0.4160533547401428, + -0.420493483543396, + 0.8062783479690552, + 0.16292859574634871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.8894999623298645, + -0.3666476011276245, + 0.2726891338825226, + -0.24866280866240315 + ], + [ + 0.18059825897216797, + 0.8302853107452393, + 0.5272670984268188, + 0.022376341158579924 + ], + [ + -0.4197309911251068, + -0.41975685954093933, + 0.8047546744346619, + 0.16600723841233167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.8879737854003906, + -0.3710331618785858, + 0.2717295289039612, + -0.2490904741479965 + ], + [ + 0.18396684527397156, + 0.8280940651893616, + 0.5295435786247253, + 0.022952750111054514 + ], + [ + -0.42149585485458374, + -0.4202316105365753, + 0.8035836219787598, + 0.16951324770193615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.8880909085273743, + -0.371340811252594, + 0.2709253430366516, + -0.2502342013720267 + ], + [ + 0.18462610244750977, + 0.8279232978820801, + 0.5295811295509338, + 0.025182106091590696 + ], + [ + -0.4209604859352112, + -0.420296311378479, + 0.8038303852081299, + 0.17147897290969324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.8876202702522278, + -0.37372177839279175, + 0.2691883444786072, + -0.25014986024645275 + ], + [ + 0.1871071606874466, + 0.8266509771347046, + 0.5306968092918396, + 0.027437403048583844 + ], + [ + -0.4208577275276184, + -0.4206901788711548, + 0.8036781549453735, + 0.17457368259658357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.8872832655906677, + -0.3743845224380493, + 0.26937827467918396, + -0.25060218629722825 + ], + [ + 0.18707197904586792, + 0.825972855091095, + 0.5317639112472534, + 0.028169067043387244 + ], + [ + -0.4215833246707916, + -0.42143210768699646, + 0.8029087781906128, + 0.17737336872580522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.8874948620796204, + -0.37397316098213196, + 0.26925259828567505, + -0.25113326994601837 + ], + [ + 0.1863841712474823, + 0.8256787657737732, + 0.5324617624282837, + 0.02812231113453825 + ], + [ + -0.42144256830215454, + -0.4223726689815521, + 0.8024883270263672, + 0.1796052546558266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.8875479102134705, + -0.37381047010421753, + 0.26930370926856995, + -0.25149770079258676 + ], + [ + 0.18607163429260254, + 0.8255820274353027, + 0.5327209234237671, + 0.028954457299794976 + ], + [ + -0.4214690029621124, + -0.4227055609226227, + 0.8022991418838501, + 0.18230647548230108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.887708306312561, + -0.37434786558151245, + 0.2680254578590393, + -0.2518292155094489 + ], + [ + 0.186318039894104, + 0.8244422078132629, + 0.5343974828720093, + 0.029717343474576573 + ], + [ + -0.4210219979286194, + -0.4244511127471924, + 0.8016119599342346, + 0.18465118565245303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.8879390954971313, + -0.3751997947692871, + 0.26606249809265137, + -0.2523351701076873 + ], + [ + 0.18681222200393677, + 0.8227651715278625, + 0.5368040800094604, + 0.029849897168889014 + ], + [ + -0.4203157424926758, + -0.42694562673568726, + 0.8006572723388672, + 0.18646107365985118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.8886164426803589, + -0.3746277093887329, + 0.2646034061908722, + -0.2527019828557968 + ], + [ + 0.18675597012043, + 0.8224692344665527, + 0.5372770428657532, + 0.030578649044036864 + ], + [ + -0.4189070165157318, + -0.4280169606208801, + 0.8008236289024353, + 0.18828945457935334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/orbit_left/transforms.json b/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..c71a607c9fd26c5a89d7c8123fcb0db9a88fe9b2 --- /dev/null +++ b/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/orbit_left/transforms.json @@ -0,0 +1,5893 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 168, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -6.386433960869908e-05, + 4.9870759539771825e-05, + -7.26116995792836e-05 + ], + [ + 6.386695895344019e-05, + 1.0, + -5.262265040073544e-05, + 2.3591896024299785e-05 + ], + [ + -4.986739804735407e-05, + 5.262583727017045e-05, + 1.0, + 0.000261035340372473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999979052224379, + -0.0004513963358476758, + 0.00200600933087241, + -0.0027617243745213004 + ], + [ + 0.00045177347420816865, + 0.9999998807907104, + -0.00018756917887929344, + 7.720103894653814e-05 + ], + [ + -0.002005924383024152, + 0.00018847505270969123, + 0.9999979649603254, + 0.0006706908504796759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999917876486262, + -0.0005155851249583066, + 0.004015857963513184, + -0.004966205324473162 + ], + [ + 0.0005162886839167174, + 0.9999998807907104, + -0.00017416821565622095, + -0.0009550076890130963 + ], + [ + -0.004015767533767368, + 0.00017624013707973063, + 0.999991907142029, + 0.0013705471240095595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999986071066134, + -0.00022963089577388018, + 0.005275175671164196, + -0.006313183850275268 + ], + [ + 0.00023456105380675714, + 0.9999995231628418, + -0.0009339953992966793, + -0.000781176047113612 + ], + [ + -0.0052749586922124884, + 0.0009352197521366179, + 0.9999856548494621, + -5.855764696499513e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999759954726041, + -0.00046732480404898535, + 0.006915835134150359, + -0.00820166782025835 + ], + [ + 0.0004776824114299893, + 0.9999987483024599, + -0.001496090058232253, + -0.0004904952622753394 + ], + [ + -0.006915127508169234, + 0.0014993577497079973, + 0.9999749866110497, + -7.330681240907272e-07 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999963309761445, + -0.00019359869475010782, + 0.008561944294565249, + -0.009865186381419973 + ], + [ + 0.00020997257385151923, + 0.999998152256012, + -0.001911543192503143, + -0.0001601122180912136 + ], + [ + -0.008561558576023398, + 0.0019132709130644798, + 0.999961524590611, + 0.0007552045121037479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999479111100413, + 0.00017050415044650435, + 0.010202688908647046, + -0.011448534395986096 + ], + [ + -0.0001491388255658858, + 0.9999977946281433, + -0.002094810796958053, + -0.0004639530630067513 + ], + [ + -0.010203023893366242, + 0.002093180315569043, + 0.9999457620969577, + 0.0007818254451997491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999243484065322, + -0.0005578714772127569, + 0.012288198461744216, + -0.0131814650421084 + ], + [ + 0.000575679351185205, + 0.9999988079071045, + -0.0014456981662150095, + -0.002720489509058079 + ], + [ + -0.012287377051999242, + 0.0014526628656312823, + 0.9999234632972318, + 0.0011242121493867919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999057993618472, + 0.0002549107011873275, + 0.013724539931261315, + -0.014381171230595211 + ], + [ + -0.00023067315783343917, + 0.9999983906745911, + -0.0017675556616244853, + -0.0025869459837866136 + ], + [ + -0.013724968427206228, + 0.001764223212376237, + 0.9999042441450292, + 0.0009234497858277508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998820630876176, + 0.001183102489449084, + 0.015311657852060945, + -0.015730723168058305 + ], + [ + -0.0011576215593529216, + 0.9999979138374331, + -0.0016729076728608245, + -0.002592383340781011 + ], + [ + -0.01531360558141382, + 0.0016549853608012204, + 0.9998813798890241, + 0.0010249150475472404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998418238848357, + 0.0011831377632915976, + 0.017745072706635535, + -0.01729268690151919 + ], + [ + -0.0011435204867635861, + 0.9999968409538271, + -0.0022425575148379835, + -0.0017893774799734806 + ], + [ + -0.017747670220317546, + 0.002221910981461406, + 0.9998400544141713, + 0.0007820570455151226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998011631868656, + 0.002383158309385181, + 0.019799228055006866, + -0.018680254981136218 + ], + [ + -0.0023453170173379535, + 0.9999953508377077, + -0.0019342551530383873, + -0.0022622349677882086 + ], + [ + -0.01980374547459373, + 0.0018874349771067504, + 0.999802098709172, + 0.0013091471071621915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9997612829111066, + 0.0033453917130827912, + 0.0215905969666222, + -0.020229234307392315 + ], + [ + -0.0033007407122331188, + 0.9999923110008242, + -0.002103392145365921, + -0.0021338702322601833 + ], + [ + -0.021597468484840978, + 0.002031625015661121, + 0.9997646709257112, + 0.001234687029368413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9997266204026078, + 0.004599347710609436, + 0.02292408916415723, + -0.02101524540299432 + ], + [ + -0.00455203018021179, + 0.9999874234199524, + -0.0021158527292849416, + -0.0030763748754298373 + ], + [ + -0.022933531782279942, + 0.0020109231118112803, + 0.9997349531737723, + 0.0012990324515152894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9996691196855361, + 0.0049236249178647995, + 0.025246577600220615, + -0.02340332147480951 + ], + [ + -0.004831952318664566, + 0.9999815225601196, + -0.003690798095558396, + -0.0020565569261013243 + ], + [ + -0.025264283705564137, + 0.003567586885765195, + 0.9996744544470159, + 0.0023504795930882052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9996408421907012, + 0.005462336353957654, + 0.026235348446483737, + -0.024100281191178425 + ], + [ + -0.005325542422276485, + 0.9999718666076662, + -0.0052811523524143545, + -0.0008082086651352038 + ], + [ + -0.02626345883480274, + 0.005139538552612067, + 0.9996418504470227, + 0.002408619210892778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9996086210776877, + 0.005650729406625032, + 0.027398419296908384, + -0.025603781843595838 + ], + [ + -0.0054744572073008695, + 0.9999638795852661, + -0.006504411457114683, + -0.00047507744805736006 + ], + [ + -0.027434183771426323, + 0.0063518742099404335, + 0.9996034309396058, + 0.00197419797307001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9994840129230544, + 0.006521407049149275, + 0.03145028135532691, + -0.03181753475055934 + ], + [ + -0.0062699391379887, + 0.9999476075172424, + -0.008087743777242135, + 0.0007317631552342403 + ], + [ + -0.03150137854851334, + 0.007886379025876522, + 0.9994725740850713, + 0.0018617658921124564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9994946661160435, + 0.006690052337944508, + 0.031075421742734356, + -0.030578666460429157 + ], + [ + -0.006453839453444803, + 0.99994957447052, + -0.007695380753091567, + -0.0014328393008423011 + ], + [ + -0.03112533655868201, + 0.007490936201065779, + 0.9994874136693892, + 0.0020127407361148924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9993482654720318, + 0.00690375966951251, + 0.035431349498695364, + -0.037697924817256895 + ], + [ + -0.006569042410746129, + 0.9999327659606934, + -0.009554646541123615, + -0.0005616903407052751 + ], + [ + -0.03549493072373085, + 0.009315668605268002, + 0.999326454323866, + 0.0022621954575257003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9992451209052904, + 0.0071453070268034935, + 0.03818557588144694, + -0.041778772418254825 + ], + [ + -0.006785154385213871, + 0.9999313354492188, + -0.00955294054893134, + -0.002839289567336856 + ], + [ + -0.03825121283709548, + 0.009286634624004364, + 0.9992249932129598, + 0.0030314928787434922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9990054097564586, + 0.007235681638121607, + 0.04399875528392588, + -0.050615971936425315 + ], + [ + -0.006782045436339578, + 0.9999223947525027, + -0.01045075176238457, + -0.003014479949601934 + ], + [ + -0.04407095774121156, + 0.010141956619918348, + 0.9989769109409745, + 0.004418934972373745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9987855045462644, + 0.007011420093476772, + 0.048768045130187815, + -0.05718109780932766 + ], + [ + -0.006523611786573724, + 0.9999271631240845, + -0.01015460498780087, + -0.005414493208158696 + ], + [ + -0.048835693437187286, + 0.00982412789016962, + 0.9987585391634536, + 0.005392890188388736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9982840104507417, + 0.0072752260603010654, + 0.05810470816572774, + -0.07135827249627213 + ], + [ + -0.006639761759374772, + 0.9999160766601562, + -0.011122125183451678, + -0.005709781029054617 + ], + [ + -0.05818074830543473, + 0.010717237368226051, + 0.9982485233110361, + 0.007819999315216524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9978227123278398, + 0.0070657809264957905, + 0.06557402068461121, + -0.08189034729050218 + ], + [ + -0.006428406482895526, + 0.9999300837516785, + -0.009925834821001107, + -0.009770785935323961 + ], + [ + -0.06563956905729268, + 0.009482687339186668, + 0.9977983545841045, + 0.010209115123222829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9975307507853666, + 0.006694944575428963, + 0.06991088301930841, + -0.08674588505146864 + ], + [ + -0.006022119113361428, + 0.9999335408210754, + -0.009830383318594954, + -0.011352018555231738 + ], + [ + -0.06997205066389427, + 0.009385098703205585, + 0.9975047903763148, + 0.011335023386248512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9969652385346839, + 0.006890510208904743, + 0.07754228084643551, + -0.09683887662678631 + ], + [ + -0.006129165668635855, + 0.9999306797981262, + -0.01005215950639991, + -0.01196259845531176 + ], + [ + -0.07760617264956951, + 0.00954638421535492, + 0.9969384133125707, + 0.012671101035461233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9964046138536177, + 0.006756249349564314, + 0.08445242365706603, + -0.10527973278995092 + ], + [ + -0.005918941837445487, + 0.9999308586120605, + -0.010160999514074044, + -0.012778157480964726 + ], + [ + -0.08451523475649604, + 0.009624598547816277, + 0.9963757041149532, + 0.01345790075105516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9957903733420521, + 0.006525752600282432, + 0.0914270089274639, + -0.11311845523223846 + ], + [ + -0.005641689893229181, + 0.9999348521232607, + -0.009924709520900767, + -0.013792409319166166 + ], + [ + -0.09148581896564285, + 0.009367126971483232, + 0.9957623145233948, + 0.014927354158370359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9952126729755939, + 0.0065301088616251945, + 0.097514778973544, + -0.11903483471087555 + ], + [ + -0.005588571110526014, + 0.9999351501464844, + -0.009925351897525473, + -0.013770120185554117 + ], + [ + -0.09757326483205013, + 0.009332867339253426, + 0.9951845944072184, + 0.017196293831748033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9947456193180381, + 0.006945790722966194, + 0.10214148739345805, + -0.12245626585737172 + ], + [ + -0.005938018187613563, + 0.9999306797981262, + -0.010167187766117459, + -0.013368331436761218 + ], + [ + -0.10220502358129624, + 0.009507247246801853, + 0.9947179253792211, + 0.018286066247215484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9943825915938149, + 0.006739707663655281, + 0.10563042062672559, + -0.1243650764721409 + ], + [ + -0.0056618130787848345, + 0.9999288320541382, + -0.010500946646143193, + -0.012865520456361195 + ], + [ + -0.10569368168210885, + 0.009843898937106133, + 0.9943500353439443, + 0.018801880188865087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9941430832608424, + 0.0063195484690368176, + 0.10788697070109551, + -0.1245065967929981 + ], + [ + -0.005241677742373333, + 0.9999334812164307, + -0.0102714038395144, + -0.013445655195130133 + ], + [ + -0.10794471123054405, + 0.00964573584496975, + 0.994110105686132, + 0.01909636920501364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9940350790061703, + 0.006686300504952669, + 0.10885558714765858, + -0.12366421967096741 + ], + [ + -0.0055552046737577234, + 0.9999274015426636, + -0.010690738790796538, + -0.012737562202838823 + ], + [ + -0.10891916750286709, + 0.010022253729403019, + 0.9940000944121823, + 0.018592946251887683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9943183246845908, + 0.00668152654543519, + 0.10623756172612647, + -0.11753424593151243 + ], + [ + -0.005575701481957266, + 0.9999271631240845, + -0.010702596553950271, + -0.012740949396617868 + ], + [ + -0.10630133694378792, + 0.01004943810403347, + 0.9942831674455203, + 0.01662241735409625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9942572298396855, + 0.006831558421254158, + 0.10679848590552635, + -0.11694203153596981 + ], + [ + -0.005594624636140786, + 0.9999138116836548, + -0.01187726430118701, + -0.010999104449468593 + ], + [ + -0.10687042227321025, + 0.011211559176445007, + 0.9942097615854663, + 0.015639065061518995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9945208468518452, + 0.006778831593692303, + 0.10431867158684204, + -0.11160077397557785 + ], + [ + -0.0055406596039272405, + 0.9999107718467712, + -0.012154344828427414, + -0.011023857741208955 + ], + [ + -0.10439175588633924, + 0.011509754694998264, + 0.9944696745399864, + 0.014414374214126563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9948620555000067, + 0.007431824691593647, + 0.10096656619777022, + -0.10514804160859259 + ], + [ + -0.006241983495952636, + 0.999907374382019, + -0.012095328828706195, + -0.011362485971040118 + ], + [ + -0.10104710087739031, + 0.011402951553463936, + 0.9948163018882958, + 0.013402087357656028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9950877046242005, + 0.007518649101257324, + 0.0987113168332287, + -0.10109081530453126 + ], + [ + -0.00617876835450873, + 0.9998846650123596, + -0.013872428815141918, + -0.008736260574564208 + ], + [ + -0.09880423578988982, + 0.013194369152188301, + 0.995019406980965, + 0.012027075989848651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9955296771799834, + 0.007818002253770828, + 0.09412536789257701, + -0.09327292525268745 + ], + [ + -0.0065088546248488815, + 0.9998778700828552, + -0.014207543922367019, + -0.008702871225589992 + ], + [ + -0.09422494567959189, + 0.013531382195651531, + 0.9954589685706344, + 0.01019401949530561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.995527416329962, + 0.00791752990335226, + 0.09414089101252887, + -0.0934943479525755 + ], + [ + -0.006498967512370371, + 0.9998608231544495, + -0.015365565871045025, + -0.007256064830799184 + ], + [ + -0.09424944374562133, + 0.014685023576021194, + 0.9954402743180143, + 0.01040105826527763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9955381817009544, + 0.00805150717496872, + 0.09401563282845057, + -0.0936151989652234 + ], + [ + -0.006519497539944384, + 0.9998410940170288, + -0.01659106291542502, + -0.0053448585432787354 + ], + [ + -0.09413427648222238, + 0.015904102474451065, + 0.995432472133034, + 0.010714262009336145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9954766365494977, + 0.007689427584409714, + 0.09469516575794887, + -0.09458684071428045 + ], + [ + -0.0061242423007235956, + 0.9998399615287781, + -0.016808221683690255, + -0.005005711408115655 + ], + [ + -0.09480925684405014, + 0.01615225523710251, + 0.995364399882607, + 0.011063489813870453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9954119315419917, + 0.00774183450266719, + 0.09536870387644385, + -0.09555106094565811 + ], + [ + -0.006124119195644585, + 0.9998325705528261, + -0.017243777706076196, + -0.0034412784242527643 + ], + [ + -0.09548623200044033, + 0.016580611467361454, + 0.9952926410525476, + 0.010862568290201501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9953099917314882, + 0.00759513955563307, + 0.09643819098209495, + -0.09709797886693837 + ], + [ + -0.006011135655858226, + 0.9998424053192141, + -0.01670499208492101, + -0.0034018665395257695 + ], + [ + -0.09654986778241625, + 0.016046943143010143, + 0.9951987950305187, + 0.011040127537874913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9952112314919591, + 0.007792814169079067, + 0.09743623118601964, + -0.09856072260549661 + ], + [ + -0.006246220072068107, + 0.9998497962951662, + -0.01616785303786517, + -0.004137456376114768 + ], + [ + -0.09754758903205742, + 0.015481821261346344, + 0.995110446394963, + 0.011542613968273075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9950951173329559, + 0.007626989390701057, + 0.09862857528734555, + -0.10051553335745929 + ], + [ + -0.006101344912669207, + 0.9998571872711184, + -0.015760966019810294, + -0.004938249961759601 + ], + [ + -0.09873469550903649, + 0.015081892721354965, + 0.9949994847956983, + 0.011624315250687182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9949772410330465, + 0.007767193019390106, + 0.09979962600513552, + -0.10256243133987271 + ], + [ + -0.0062416490263814345, + 0.9998589754104614, + -0.015589227049201373, + -0.005252120619406496 + ], + [ + -0.0999066375774163, + 0.01488801185041666, + 0.9948854295257031, + 0.01115756185842799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9949077155122923, + 0.007948072627186777, + 0.10047627341619605, + -0.10351057444759551 + ], + [ + -0.00643275916667939, + 0.9998607635498049, + -0.015396311710222781, + -0.005556002547358844 + ], + [ + -0.10058465763375614, + 0.014671569690108303, + 0.994820344144885, + 0.011488764679580554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.994745501133009, + 0.0080382376909256, + 0.10206238998979814, + -0.10562807725213373 + ], + [ + -0.006490013741425392, + 0.9998589158058169, + -0.015492404876325772, + -0.005357576519603725 + ], + [ + -0.10217252452310202, + 0.014748614281415943, + 0.9946573364473306, + 0.011650149451410671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9946737669723495, + 0.008111256174743177, + 0.10275334959837243, + -0.1062194725930372 + ], + [ + -0.006525167199758408, + 0.9998544454574587, + -0.015762623991370888, + -0.004841758255398426 + ], + [ + -0.10286625424291389, + 0.015008186921477321, + 0.9945819727358226, + 0.011457586250131099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9945265522565142, + 0.008222120814025404, + 0.10416001958545684, + -0.10810301505493625 + ], + [ + -0.006633259367225324, + 0.9998564720153811, + -0.015591284150636915, + -0.005090553325302389 + ], + [ + -0.10427325833440147, + 0.014815025031566623, + 0.9944383099530889, + 0.01224600779823394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9943752510779498, + 0.008072137832641603, + 0.10560634405731227, + -0.10989157571646943 + ], + [ + -0.00648313394577198, + 0.9998607039451601, + -0.01538113256588762, + -0.005347215563353194 + ], + [ + -0.10571579018963538, + 0.014609958045184616, + 0.9942890436081019, + 0.012604595233273334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9942171574814994, + 0.007788644637912512, + 0.10710531865385757, + -0.11150517660638565 + ], + [ + -0.006173830675574145, + 0.9998623728752136, + -0.015400204042578138, + -0.0052978026600904345 + ], + [ + -0.10721052741078502, + 0.014649897813796997, + 0.9941284286628717, + 0.013086781053863097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9941073845625346, + 0.007382367737591268, + 0.1081483139843255, + -0.11250300146725425 + ], + [ + -0.005782458661314368, + 0.9998692870140078, + -0.015099802602009238, + -0.0051385300601638415 + ], + [ + -0.10824564678409523, + 0.01438546180725098, + 0.9940201045348918, + 0.013721747729153083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9940531080497885, + 0.0077614495530724525, + 0.10861920599199652, + -0.11271157316372837 + ], + [ + -0.006247352721988617, + 0.9998786449432373, + -0.014272866164546705, + -0.0055718598623430565 + ], + [ + -0.10871680283357879, + 0.013509404845535755, + 0.9939809565681933, + 0.013710084784699313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9944293810475776, + 0.0081156762316823, + 0.10509182972365227, + -0.10554216384013894 + ], + [ + -0.006620083438729256, + 0.9998719096183777, + -0.014572312006896475, + -0.00478774700628378 + ], + [ + -0.10519663691939447, + 0.013795419596135616, + 0.9943557738832546, + 0.012886955078725896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9940003873674462, + 0.008345414884388447, + 0.10905797987410279, + -0.11070896054570145 + ], + [ + -0.00667152802834827, + 0.9998544454574585, + -0.015704485313146197, + -0.0027767244598707725 + ], + [ + -0.10917316075908329, + 0.014882680028676987, + 0.9939113137922233, + 0.013578621432566343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9934917213892643, + 0.007524171378463507, + 0.11365534850796137, + -0.11673750629004467 + ], + [ + -0.005850870189319352, + 0.9998696446418762, + -0.015049000710356355, + -0.0036474720508481036 + ], + [ + -0.11375376715676698, + 0.014286074787378311, + 0.9934062572951589, + 0.014684971825687622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9932205851307085, + 0.007605462335050108, + 0.11599586619287895, + -0.11914740554606498 + ], + [ + -0.005980605698994521, + 0.9998791813850405, + -0.014349496068213962, + -0.0034587686638668466 + ], + [ + -0.116090983458738, + 0.013558488339185718, + 0.9931460355327821, + 0.014600691690525813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9929184030295078, + 0.0071052988059818745, + 0.11858571017646852, + -0.12152093732052226 + ], + [ + -0.00546378478244887, + 0.9998847842216492, + -0.014161809669261583, + -0.002486306532985785 + ], + [ + -0.11867267434935187, + 0.013413594104349613, + 0.9928428460514432, + 0.015797494502094202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9934542521516964, + 0.0071569811552762985, + 0.11400632841322346, + -0.11256160727602418 + ], + [ + -0.0058187109197157276, + 0.9999102354049683, + -0.012067010585128927, + -0.004336751857156844 + ], + [ + -0.11408245797372175, + 0.011324652470648289, + 0.993406711651456, + 0.01568198363827085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9925499744795702, + 0.006316722370684147, + 0.12167437811785153, + -0.12380383880151002 + ], + [ + -0.0050113978065252284, + 0.9999266266822815, + -0.011031049008350719, + -0.003900091255089325 + ], + [ + -0.12173512572171606, + 0.010339109227061272, + 0.9925087778369988, + 0.016829042999520975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9924462071049167, + 0.006148273125290871, + 0.12252628684493111, + -0.12343541363047744 + ], + [ + -0.004962103160868015, + 0.9999378323554993, + -0.009983739029705153, + -0.0027264203950188516 + ], + [ + -0.12258005778689916, + 0.009300335310399532, + 0.9924150638083332, + 0.018612431666232387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9924990133126232, + 0.006074485834687948, + 0.12210140409332798, + -0.12165733140076426 + ], + [ + -0.005136812128189269, + 0.999954879283905, + -0.00799278594018721, + -0.0021862105048435975 + ], + [ + -0.12214444815867766, + 0.007305620238184929, + 0.9924854546300649, + 0.017235901017541785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9923342659833253, + 0.004864264279603958, + 0.12348698226405973, + -0.12396679464890045 + ], + [ + -0.004380790623257878, + 0.9999816417694092, + -0.004186405484815829, + -0.0030737196870460923 + ], + [ + -0.12350508143073018, + 0.003613342996686697, + 0.9923373882862134, + 0.019129267884807982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9930426771358011, + 0.005745246075093746, + 0.11761481891268531, + -0.11563411249128071 + ], + [ + -0.00571446767263439, + 0.9999834895133972, + -0.0005989092255457823, + -0.0014755662243563592 + ], + [ + -0.11761631848634452, + -7.736365660093725e-05, + 0.9930591206814575, + 0.018966969999200403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.992859405508973, + 0.004660379607230426, + 0.11919936908916584, + -0.11910097834839577 + ], + [ + -0.0052567222941931864, + 0.9999752044677737, + 0.004688966147848462, + -0.000958486938239846 + ], + [ + -0.1191745579745624, + -0.005282082129269839, + 0.9928592641201526, + 0.020438356393081208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9924387567513092, + 0.004417748656123877, + 0.12266128146126808, + -0.12504752020461637 + ], + [ + -0.005902440051864627, + 0.9999136328697205, + 0.011743258377735977, + -0.002435562405760569 + ], + [ + -0.12259881260206641, + -0.012378466315567493, + 0.9923791422467636, + 0.022847792370701274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9911751280520048, + 0.00447346456348896, + 0.13248350780879622, + -0.14146550995141383 + ], + [ + -0.007188482035288714, + 0.9997736811637878, + 0.020022053585597124, + -0.002891519564197881 + ], + [ + -0.1323639558307259, + -0.020797718316316605, + 0.9909829443034655, + 0.028527738076183994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9902165898159003, + 0.002456935122609139, + 0.13951730863333048, + -0.15377741034360431 + ], + [ + -0.0068336390358636635, + 0.9994991421699526, + 0.030899951934722794, + -0.005293535286359682 + ], + [ + -0.13937150955613092, + -0.03155105561017991, + 0.9897374000910395, + 0.03373454731174719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9892776019852964, + 0.0023637558333575726, + 0.14602841615001527, + -0.16615570992779932 + ], + [ + -0.008323943015706074, + 0.9991562962532043, + 0.04021771504726192, + -0.005317465861566271 + ], + [ + -0.14581013809273083, + -0.04100201278924942, + 0.9884625771659802, + 0.038653391351150604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9882445181361812, + 0.0012345948489382863, + 0.15287660421892882, + -0.17899712200702544 + ], + [ + -0.00882746230841261, + 0.9987598657608032, + 0.04899786696053907, + -0.0062218524714527474 + ], + [ + -0.1526265298306313, + -0.04977138340473175, + 0.987029887707767, + 0.04492316925516972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9874455279287926, + -0.0001724864123389125, + 0.15795966138539927, + -0.1885015846967899 + ], + [ + -0.009546279667040207, + 0.9981063604354858, + 0.060766089707626, + -0.011773218097626131 + ], + [ + -0.1576710304406077, + -0.06151113286614418, + 0.9855740360550104, + 0.05229038839225218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9864418717040432, + -0.0021301116794347763, + 0.16409704553714188, + -0.1996513412211628 + ], + [ + -0.010210561120063152, + 0.9971819519996643, + 0.0743233038358478, + -0.019171585223558368 + ], + [ + -0.16379292563422856, + -0.0749911442399025, + 0.9836402538421413, + 0.05911170890209927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9845302806103021, + -0.0036016397643834352, + 0.175177364923441, + -0.21615762265015379 + ], + [ + -0.012207936106061967, + 0.9959489703178406, + 0.08908760798936309, + -0.026985465364446067 + ], + [ + -0.17478857890940966, + -0.08984799683094025, + 0.9804979719247672, + 0.0671048230792569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9826476236123113, + -0.004041397478431464, + 0.1854380617117368, + -0.22871319799246242 + ], + [ + -0.01485606427681781, + 0.9948357939720156, + 0.10040443134452545, + -0.026491953453855535 + ], + [ + -0.18488619532301034, + -0.10141706466674807, + 0.9775130306105138, + 0.07416648425485076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9790993201274146, + -0.003972629550844432, + 0.20334382162006814, + -0.2531389825708048 + ], + [ + -0.019847156458209912, + 0.9931710362434389, + 0.11496704678274448, + -0.029846302742558024 + ], + [ + -0.2024119180585647, + -0.11659995466470721, + 0.97233424068165, + 0.08721446359517618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9755772433332152, + -0.0038010680582374334, + 0.21962370622396762, + -0.2746446074469092 + ], + [ + -0.02543275839881385, + 0.9911710023880005, + 0.130127705150292, + -0.03542641741242761 + ], + [ + -0.2181792682653447, + -0.13253527879714966, + 0.9668672021582558, + 0.09813642250969544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9748047611448871, + -0.0023323181085288525, + 0.22304755530134895, + -0.27356829617837225 + ], + [ + -0.029915921515938245, + 0.9895444512367249, + 0.14109150917283092, + -0.03353100921575612 + ], + [ + -0.22104453918623912, + -0.1442093402147293, + 0.9645429020469215, + 0.10166038896335185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9740137690814084, + -0.0017923330888152127, + 0.2264815943563597, + -0.2725515102482181 + ], + [ + -0.03368454234515379, + 0.9877012372016909, + 0.15268127495151615, + -0.03170622808465556 + ], + [ + -0.22396981467167368, + -0.1563426107168198, + 0.9619742708487112, + 0.10561573763682425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9732801902612274, + -0.004239181987941265, + 0.22958151404183108, + -0.2723866609065771 + ], + [ + -0.03438610403863441, + 0.9858643412590027, + 0.16397911329555395, + -0.030333681760071177 + ], + [ + -0.22703136466092966, + -0.16749203205108643, + 0.9593764608525113, + 0.11000365270164983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9726518611091389, + -0.0068658022210001945, + 0.2321663298705093, + -0.27255497614822577 + ], + [ + -0.03489089133554929, + 0.9839017987251282, + 0.17527074637634346, + -0.02916530518832216 + ], + [ + -0.229632254102375, + -0.17857791483402252, + 0.9567543783392907, + 0.1134377820025846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9721415463160801, + -0.007832661271095276, + 0.23426360250002143, + -0.27295260555023415 + ], + [ + -0.037239195246887395, + 0.9815863370895386, + 0.18735392314765295, + -0.027768325810988564 + ], + [ + -0.23141743257151104, + -0.19085833430290222, + 0.9539491702658555, + 0.11781640223741942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9711654521722105, + -0.008892891928553583, + 0.23824064464639969, + -0.273005912483422 + ], + [ + -0.03975100542505386, + 0.979275166988373, + 0.19859496584926048, + -0.026279930432899196 + ], + [ + -0.23506923230494634, + -0.20233885943889623, + 0.9506847256999436, + 0.12323360672054248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9695593612503699, + -0.007713403087109327, + 0.2447348759435566, + -0.27340577665692345 + ], + [ + -0.04511347805434019, + 0.9767652750015259, + 0.20950990782587534, + -0.02356116184995881 + ], + [ + -0.2406645537714526, + -0.21417313814163208, + 0.946683900098401, + 0.13056464819882055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9675881092510428, + -0.009222326800227165, + 0.2523652075303671, + -0.27293976711379264 + ], + [ + -0.04827594518674994, + 0.9741479158401489, + 0.22069264635566524, + -0.020985750024625452 + ], + [ + -0.24787635042521916, + -0.22572274506092072, + 0.94212873467712, + 0.1390721809476318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9653982418176312, + -0.011000482365489008, + 0.26054788895059683, + -0.2731536452928926 + ], + [ + -0.051440891684578695, + 0.9714460372924807, + 0.23161701953269334, + -0.018685506605298614 + ], + [ + -0.2556561044048598, + -0.2370054870843888, + 0.9372664463184301, + 0.14646472091436213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9632903351060486, + -0.013767373748123646, + 0.2681085034626289, + -0.274662699982004 + ], + [ + -0.053909749270133804, + 0.9684212803840637, + 0.24342143745199032, + -0.017655680898029665 + ], + [ + -0.2629932568057472, + -0.2489391714334488, + 0.9321286503310918, + 0.1514562000667798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9613163817508047, + -0.017776211723685265, + 0.274872427806288, + -0.274988717531606 + ], + [ + -0.05490973216161862, + 0.9655185341835022, + 0.25447763527576855, + -0.015194886894353766 + ], + [ + -0.26991808008765816, + -0.25972670316696167, + 0.9271926793718552, + 0.15847179139034745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.959095023207553, + -0.0225682407617569, + 0.2821833810514007, + -0.27786179159152635 + ], + [ + -0.055643854011251055, + 0.9623408913612368, + 0.2660896846425345, + -0.015787571118713945 + ], + [ + -0.27756179306342255, + -0.2709070444107056, + 0.9217205743746506, + 0.16031940330389363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9563066687385839, + -0.021090211346745494, + 0.2916037672566186, + -0.28057329824936733 + ], + [ + -0.0625873863195619, + 0.9595052599906924, + 0.2746497689894607, + -0.014560345846207395 + ], + [ + -0.28558776659928004, + -0.2809001207351685, + 0.9162612882680873, + 0.16312842555412105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9525623959809802, + -0.03631540387868881, + 0.3021689775757974, + -0.28975110727497505 + ], + [ + -0.0537241369775337, + 0.9571993947029114, + 0.28439943307904114, + -0.02170847854758566 + ], + [ + -0.29956404317515783, + -0.28714194893836975, + 0.909841112201997, + 0.1531902590566417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9514282941869642, + -0.03328615054488183, + 0.30606565561666715, + -0.2822706845796335 + ], + [ + -0.0600075204877013, + 0.9550215601921084, + 0.29040124720347366, + -0.012237846706955555 + ], + [ + -0.3019656463397397, + -0.29466223716735845, + 0.9066371810139764, + 0.17954764683518093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9499937809378358, + -0.03808746114373207, + 0.30993741837223465, + -0.2848583811466934 + ], + [ + -0.059293653139021754, + 0.9524753093719482, + 0.2987892528469969, + -0.01217710899554296 + ], + [ + -0.3065878738958029, + -0.302225261926651, + 0.9025872999768779, + 0.18524320340287082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9490237159924864, + -0.04467657208442689, + 0.3120224585945299, + -0.2858943211220768 + ], + [ + -0.05712754376351717, + 0.9491313099861147, + 0.309655040835097, + -0.011922293932820894 + ], + [ + -0.3099845912368069, + -0.3116950690746308, + 0.898195836354449, + 0.19369982606740524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9473348506586117, + -0.051280282437801375, + 0.316112262152352, + -0.28730649766999183 + ], + [ + -0.05576392865044495, + 0.9456015825271609, + 0.3205121711027165, + -0.010690410091463824 + ], + [ + -0.3153522028112058, + -0.32126003503799444, + 0.8929417401410136, + 0.20226380926276835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9448110040045548, + -0.05724567174911499, + 0.322575805865377, + -0.2884084248307329 + ], + [ + -0.05551776110263877, + 0.9423990249633789, + 0.32985130330276113, + -0.009404147558314983 + ], + [ + -0.3228776827667247, + -0.32955583930015564, + 0.8872107760436053, + 0.21072449117764108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9411814266276307, + -0.06229002773761751, + 0.33211055809387074, + -0.29057244581610864 + ], + [ + -0.056523436001354635, + 0.939990282058716, + 0.3364868478849419, + -0.008682092439979177 + ], + [ + -0.333140473900506, + -0.33546718955039984, + 0.8811805609599903, + 0.2177917787425322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9374515759935803, + -0.06576104462146759, + 0.3418480107776199, + -0.29245303689555774 + ], + [ + -0.05842756121447356, + 0.9383423328399658, + 0.34073440195852284, + -0.007151524400756332 + ], + [ + -0.3431775100215477, + -0.33939534425735474, + 0.8758082083483139, + 0.22407546165176365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9339884235659434, + -0.07149715721607208, + 0.3500768392336506, + -0.29261039118049037 + ], + [ + -0.058114266813771805, + 0.9363310933113098, + 0.3462755944470335, + -0.007678393781898747 + ], + [ + -0.352545568004785, + -0.3437618613243103, + 0.8703674152520264, + 0.23349842736342064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.930721842500417, + -0.07289101183414459, + 0.35839058661817996, + -0.295424731114203 + ], + [ + -0.059314468360505405, + 0.9368799924850464, + 0.3445832904700976, + -0.0059073198000108105 + ], + [ + -0.36088599154765566, + -0.34196892380714417, + 0.8676511796392473, + 0.23840772356269613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9286130620861466, + -0.07436783611774446, + 0.36352062513814426, + -0.2976290977776611 + ], + [ + -0.05966075115124732, + 0.9370359778404238, + 0.34409903256817626, + -0.005047343174618623 + ], + [ + -0.3662218049330502, + -0.3412227630615235, + 0.8657070220779235, + 0.24297812610866595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.926521565062713, + -0.07560980319976807, + 0.36856610370427306, + -0.30121628847626325 + ], + [ + -0.05881253055540831, + 0.9384520649909973, + 0.340365675438646, + -0.003413360237698842 + ], + [ + -0.3716165978298033, + -0.3370324671268463, + 0.8650492470730716, + 0.2439169208771108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9242365814288314, + -0.07747045159339906, + 0.3738784115172223, + -0.30347917446985057 + ], + [ + -0.05854157459480406, + 0.9388702511787417, + 0.3392572897598205, + -0.0024369455902098266 + ], + [ + -0.3773057303399996, + -0.3354414105415345, + 0.8632030186662674, + 0.2478133899237287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9209215419358712, + -0.08304299414157869, + 0.38079839561099216, + -0.3050275358606207 + ], + [ + -0.05689991227155275, + 0.9379227757453921, + 0.34214502508978245, + -0.002561170509939463 + ], + [ + -0.3855722435515202, + -0.33675611019134527, + 0.8590281506687195, + 0.2541932567604624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9182800600484861, + -0.08710806816816331, + 0.386230361111957, + -0.3066048333326231 + ], + [ + -0.05608992795423259, + 0.9370391368865969, + 0.34469052873433154, + -0.0019600136113998717 + ], + [ + -0.39193831252856487, + -0.33818608522415167, + 0.8555784989326399, + 0.25892246658016765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9162488534554877, + -0.08947413414716722, + 0.39048996335850666, + -0.30766946415071916 + ], + [ + -0.05652179936861743, + 0.9361165165901186, + 0.3471184265573676, + -0.0009928238897058813 + ], + [ + -0.39660222511006143, + -0.3401180803775788, + 0.8526584153741028, + 0.2642562445028083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9138671818790631, + -0.09223158657550813, + 0.39539865045905814, + -0.309233682480209 + ], + [ + -0.0569475962355973, + 0.9351118803024294, + 0.3497467555434285, + -0.0002750477060189712 + ], + [ + -0.40199965448479347, + -0.3421390652656556, + 0.8493156663276542, + 0.2692484155753154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9115051657875068, + -0.09620320051908496, + 0.3998791038235317, + -0.31068459460560316 + ], + [ + -0.05610191584290224, + 0.9340888857841494, + 0.35260542533595174, + 0.0006661821962701715 + ], + [ + -0.4074443862224575, + -0.3438356220722199, + 0.8460296453644504, + 0.27347056670659076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9089788195987334, + -0.09830661118030551, + 0.40508436623989186, + -0.31277644139300476 + ], + [ + -0.057785444556032094, + 0.9326924085617068, + 0.35601369876232813, + 0.002255759095787479 + ], + [ + -0.4128175940772194, + -0.34701687097549444, + 0.8421169152134179, + 0.2774985217699023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9073115712506744, + -0.10098353028297427, + 0.4081519314408437, + -0.3119567015941539 + ], + [ + -0.05956345477783536, + 0.9300696253776553, + 0.36252269878712823, + 0.004729286860616421 + ], + [ + -0.4162185358232629, + -0.35323199629783636, + 0.8378480453938458, + 0.2842789017659501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9048816432611024, + -0.103729248046875, + 0.4128309653199257, + -0.31319024158419284 + ], + [ + -0.06168367463762845, + 0.9276618957519531, + 0.36829140810444355, + 0.005837143664873203 + ], + [ + -0.4211701605656586, + -0.35872510075569153, + 0.8330258519524844, + 0.2891198099438633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9029647500743874, + -0.1073666512966156, + 0.41608548732453027, + -0.3129498910026095 + ], + [ + -0.062310827656564066, + 0.9253345131874084, + 0.3739966179771212, + 0.007212649372623621 + ], + [ + -0.4251729901527037, + -0.3636323809623718, + 0.8288543037940277, + 0.2958244466260205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9008659239270937, + -0.10919062793254852, + 0.42014041150616765, + -0.314284076476811 + ], + [ + -0.06358467701006218, + 0.9242180585861206, + 0.3765341342802952, + 0.00886277170360717 + ], + [ + -0.4294153758050088, + -0.365921288728714, + 0.8256537031492882, + 0.3000036783345984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.900763398992721, + -0.11032903194427493, + 0.4200628847503627, + -0.31326890502581595 + ], + [ + -0.06364002547322732, + 0.9232259392738345, + 0.3789509375975812, + 0.011104754805312101 + ], + [ + -0.42962224331350213, + -0.368077963590622, + 0.824586778355231, + 0.3051797458765429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.8991589858742829, + -0.11349338293075562, + 0.42264929043540583, + -0.3143376227689605 + ], + [ + -0.06305360453111644, + 0.9221101403236389, + 0.38175533235528275, + 0.011833376502964715 + ], + [ + -0.433055898858352, + -0.36990827322006226, + 0.8219674454432785, + 0.31153353135532136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.8987710598119498, + -0.11655630171298981, + 0.4226407916845893, + -0.3128277663004163 + ], + [ + -0.060263940070359054, + 0.9220172166824341, + 0.38242972268884, + 0.014435999825831712 + ], + [ + -0.43425668810831786, + -0.36918678879737854, + 0.8216582492724146, + 0.3192201727321101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.8973821619504465, + -0.12133573740720749, + 0.42424395452379193, + -0.31259338298136025 + ], + [ + -0.05685405659918343, + 0.9216417074203491, + 0.383854408378299, + 0.015218394242918615 + ], + [ + -0.43757614533615025, + -0.3685840666294098, + 0.8201663837424679, + 0.32525997628460235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8950222989502085, + -0.1279728263616562, + 0.4272681146242274, + -0.31016692042054417 + ], + [ + -0.053632960766877076, + 0.9201236963272095, + 0.3879379740481539, + 0.01579314196669898 + ], + [ + -0.442785060278874, + -0.3701287806034088, + 0.8166676837894081, + 0.3347822591208194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.8671026136323235, + -0.3060670197010041, + 0.3930090145243875, + -0.3744034895458156 + ], + [ + 0.06551710392368454, + 0.8521894216537478, + 0.5191153714964898, + -0.057531789627215404 + ], + [ + -0.49380219572826994, + -0.4243774414062501, + 0.7589882573721658, + 0.03492147299543524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.86502491544413, + -0.3044438362121582, + 0.3988055531793767, + -0.37266291165567855 + ], + [ + 0.05984835354293701, + 0.8517982959747314, + 0.5204401231035468, + -0.0533840101486314 + ], + [ + -0.4981466694088449, + -0.42632579803466797, + 0.7550471938886335, + 0.04199796964927839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.8630587399766521, + -0.30397188663482666, + 0.40339901509414716, + -0.37076850844025744 + ], + [ + 0.05478028955128459, + 0.8502649068832397, + 0.5234966505193365, + -0.050978134727505106 + ], + [ + -0.502124266383125, + -0.4297100305557251, + 0.7504801916785057, + 0.04994807861492183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.8623177578243627, + -0.3006292879581452, + 0.4074680096011577, + -0.3696018534004665 + ], + [ + 0.04840215931952044, + 0.8499398827552798, + 0.5246517000800223, + -0.048440062230469025 + ], + [ + -0.5040489698402675, + -0.43269413709640514, + 0.7474693574218068, + 0.05641087333347754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.8613427815931809, + -0.2998200058937073, + 0.4101177360421394, + -0.36799179781146873 + ], + [ + 0.04468728392670577, + 0.8488655686378479, + 0.5267165445000976, + -0.045423199431171256 + ], + [ + -0.5060549627184994, + -0.4353564381599426, + 0.7445624078427221, + 0.0635634791389555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.8608229082124507, + -0.29892322421073914, + 0.41186017035993, + -0.36657437684259675 + ], + [ + 0.04171899151763657, + 0.848034143447876, + 0.5282968891112392, + -0.04243437047824084 + ], + [ + -0.5071916919101128, + -0.437587708234787, + 0.7424779870540547, + 0.06974494137872504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.8606322644068309, + -0.29709416627883917, + 0.4135785319388659, + -0.36402252899914955 + ], + [ + 0.03741351364808753, + 0.8468649983406069, + 0.5304902361211288, + -0.03848505858990473 + ], + [ + -0.5078507378911558, + -0.4410836100578309, + 0.7399546766644284, + 0.07799856480210768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.8588652510759398, + -0.29908299446105957, + 0.4158122953948257, + -0.3637198303801326 + ], + [ + 0.03654749032288925, + 0.8455287218093872, + 0.5326775949629023, + -0.03810385523937608 + ], + [ + -0.5108960403906097, + -0.4423013925552368, + 0.7371259937074441, + 0.0820066322937037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.8587186301142109, + -0.29986903071403503, + 0.4155488383278094, + -0.3627035638912689 + ], + [ + 0.035818839131364424, + 0.8440502882003784, + 0.5350664492371375, + -0.035506862712500475 + ], + [ + -0.5111939922412385, + -0.4445870816707611, + 0.7355426796033707, + 0.0875310776768589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.8589619454773041, + -0.30160200595855713, + 0.4137880664177391, + -0.36134347716496484 + ], + [ + 0.03569135554474082, + 0.8414187431335449, + 0.5392037083657745, + -0.033678716073832715 + ], + [ + -0.5107939399793072, + -0.4483868479728699, + 0.7335112488873293, + 0.09267140606474884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.8582524258009768, + -0.3059157431125641, + 0.4120901778351854, + -0.3602535361274526 + ], + [ + 0.036996751984500455, + 0.8377265930175781, + 0.5448351827443854, + -0.033224592367005285 + ], + [ + -0.5118925811628086, + -0.4523601233959198, + 0.7302988201330255, + 0.09799287173528337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.8567578168492599, + -0.3109970986843109, + 0.4113962577234078, + -0.3597185535964592 + ], + [ + 0.038369689133707315, + 0.8339424729347229, + 0.5505159100378146, + -0.03317011246717139 + ], + [ + -0.5142896599842656, + -0.45587363839149475, + 0.7264195696132277, + 0.10326945252070015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.8559515239448728, + -0.31250011920928955, + 0.4119353153960528, + -0.36042235175595316 + ], + [ + 0.03784047863223815, + 0.8324172496795654, + 0.5528559219285274, + -0.031304001225204395 + ], + [ + -0.5156695913937138, + -0.4576300382614136, + 0.7243339230837539, + 0.10723054691923077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.8549891618928157, + -0.31511852145195013, + 0.4119391367082733, + -0.36098664000061653 + ], + [ + 0.038168124675479496, + 0.8303343653678896, + 0.5559569169249019, + -0.030377663938417142 + ], + [ + -0.5172395223584607, + -0.45961421728134166, + 0.7219543907686785, + 0.1117168703644082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.8553193591288712, + -0.3172074556350708, + 0.4096440941189285, + -0.36066936430771707 + ], + [ + 0.038571354833562506, + 0.827455997467041, + 0.5602042852050849, + -0.030244371890266512 + ], + [ + -0.5166634157119575, + -0.4633530080318451, + 0.7199742075749456, + 0.11782183987760028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.8567298825986563, + -0.3163664638996125, + 0.4073403183559044, + -0.35974552591024545 + ], + [ + 0.03989977288038368, + 0.8280653357505801, + 0.5592100266483527, + -0.02580370318438845 + ], + [ + -0.5142196747178145, + -0.46283918619155895, + 0.7220512516309048, + 0.12274052081778053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.8560276120066753, + -0.31831037998199463, + 0.4073023431778976, + -0.3602934366881081 + ], + [ + 0.03900580046664105, + 0.8254535794258118, + 0.5631207224426739, + -0.025473923163639677 + ], + [ + -0.5154563680218288, + -0.46615976095199585, + 0.719027047119043, + 0.12787080807653312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.8556191598439168, + -0.31892573833465576, + 0.40767911854631966, + -0.3609549817931961 + ], + [ + 0.038076719898702475, + 0.8242725729942322, + 0.5649114142544911, + -0.022832248849522223 + ], + [ + -0.5162035165124096, + -0.46782591938972473, + 0.7174070015656767, + 0.13145739461853884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.8547876864070624, + -0.31971994042396545, + 0.4087997366727184, + -0.3610228451594266 + ], + [ + 0.03608889120221765, + 0.8224135637283325, + 0.5677442603022551, + -0.02017361407787871 + ], + [ + -0.5177215801972255, + -0.4705476760864258, + 0.714527329848765, + 0.1371436873794895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.852911006416805, + -0.3206610381603241, + 0.41197001396258853, + -0.3619893752028222 + ], + [ + 0.0338753074315632, + 0.8214601278305054, + 0.569258988197529, + -0.019002558639405313 + ], + [ + -0.520956111757578, + -0.4715716540813446, + 0.7114948704088542, + 0.14170925537780343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.8516208851211736, + -0.32023066282272344, + 0.41496290824155646, + -0.36070613642290494 + ], + [ + 0.031786442560477454, + 0.821769714355469, + 0.5689325122443143, + -0.015254575211127296 + ], + [ + -0.5231935729920215, + -0.4713246226310731, + 0.710015265025862, + 0.148893464125105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.8477341999083947, + -0.3227190375328064, + 0.42095032208840555, + -0.36076029070905213 + ], + [ + 0.03085746283984096, + 0.8222765922546387, + 0.5682508563448682, + -0.013256957276448232 + ], + [ + -0.5295229698805991, + -0.4687362313270569, + 0.7070302569594606, + 0.1551325627131372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.8446407363621399, + -0.3222098648548126, + 0.4275076976125233, + -0.360518916448165 + ], + [ + 0.02825738001819613, + 0.824303150177002, + 0.5654430519057542, + -0.0095950629599766 + ], + [ + -0.5345872865302083, + -0.46551600098609924, + 0.7053447952104868, + 0.1617536009751414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.840291056771323, + -0.32409381866455084, + 0.43459648306371634, + -0.3607217140678981 + ], + [ + 0.026588597234537083, + 0.8253099918365481, + 0.5640536181368283, + -0.008091180683306679 + ], + [ + -0.5414831095726209, + -0.46241390705108654, + 0.7021178314758676, + 0.16849983042466732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.8368166856140076, + -0.3249926567077637, + 0.440587793818584, + -0.3599714073331256 + ], + [ + 0.0261244210403703, + 0.8275378942489626, + 0.5608017429787663, + -0.00294719225342243 + ], + [ + -0.5468595559614993, + -0.4577781856060029, + 0.7009877610623736, + 0.17698501370467112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.8338948279106132, + -0.326234519481659, + 0.4451858975256444, + -0.35938808965583796 + ], + [ + 0.025450613781923176, + 0.8284791707992556, + 0.5594412971599153, + 0.0006131604662890228 + ], + [ + -0.5513363280574062, + -0.45518496632576, + 0.6991673438000613, + 0.1846968515598349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.8301546143345898, + -0.3268957734107971, + 0.45164424600579317, + -0.36166247779259936 + ], + [ + 0.02304027671206924, + 0.8294985294342041, + 0.5580334493988832, + 4.677135242346642e-05 + ], + [ + -0.5570570162340908, + -0.45284801721572876, + 0.6961437964191077, + 0.18862879586121217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.8267576323580448, + -0.33129629492759705, + 0.4546587575740329, + -0.36220932980863024 + ], + [ + 0.023836483724324217, + 0.8281028270721436, + 0.5600692639164748, + 0.0004279906376310587 + ], + [ + -0.5620530802931613, + -0.4522041082382202, + 0.6925372736108517, + 0.19679213363685133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.8265880897634179, + -0.3318856656551361, + 0.4545371379853165, + -0.3622814974118638 + ], + [ + 0.026939340511102194, + 0.830030620098114, + 0.5570668166099326, + 0.0052031130367985595 + ], + [ + -0.5621622142280026, + -0.4482198655605316, + 0.6950342097592946, + 0.20309492759857367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.8233844195113769, + -0.33577969670295715, + 0.4574823606873141, + -0.3641927679257497 + ], + [ + 0.027992097440742478, + 0.8292094469070435, + 0.5582367189039158, + 0.004733018175760169 + ], + [ + -0.5667931937121847, + -0.44683751463890076, + 0.692157294972458, + 0.20823350324468543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.821814434835502, + -0.33767125010490423, + 0.4589108543477019, + -0.36453539134591184 + ], + [ + 0.029723680385182104, + 0.8297652006149294, + 0.5573206109053658, + 0.00742517297788757 + ], + [ + -0.5689794058814133, + -0.44437360763549816, + 0.6919498349119885, + 0.2148154098552739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.8186064618617461, + -0.34161400794982916, + 0.461717826852172, + -0.36596106374448534 + ], + [ + 0.03147301250964647, + 0.8293618559837344, + 0.557824684669704, + 0.007158902901538793 + ], + [ + -0.5734918830344305, + -0.4421072602272035, + 0.6896725949681722, + 0.22065479380985975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.8155801743156342, + -0.34412339329719543, + 0.46519679504724165, + -0.3671480217751435 + ], + [ + 0.035000129492876356, + 0.8318086862564087, + 0.5539579381589073, + 0.009194162005483415 + ], + [ + -0.5775845635400114, + -0.4355151653289795, + 0.690451004506819, + 0.22588486171369987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.8129133629803539, + -0.34796047210693365, + 0.46700685609049564, + -0.3676290453843675 + ], + [ + 0.040290414583370376, + 0.833567261695862, + 0.5509467132263739, + 0.010202122814214992 + ], + [ + -0.5809893366540437, + -0.4290560483932496, + 0.6916374329576582, + 0.23121220615345606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.808876866899261, + -0.3513054549694062, + 0.47148983533706035, + -0.3692065886086877 + ], + [ + 0.04388190983183277, + 0.8357157707214358, + 0.547406185451445, + 0.011705306829966098 + ], + [ + -0.5863382659548014, + -0.42209431529045116, + 0.6914071607382025, + 0.23588230112156872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.8048693748723631, + -0.35496896505355835, + 0.4755863511819761, + -0.37059725384839215 + ], + [ + 0.04358453506991726, + 0.8345825672149658, + 0.5491560325479449, + 0.010128920764601777 + ], + [ + -0.5918494185943006, + -0.4212706685066223, + 0.6872010811805618, + 0.24101595954694638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.8014781536817764, + -0.358397662639618, + 0.4787315031701937, + -0.370909331845215 + ], + [ + 0.04479704851567406, + 0.8342536687850954, + 0.5495580457609522, + 0.012606131801271313 + ], + [ + -0.5963438275535924, + -0.41901302337646495, + 0.6846912746423471, + 0.24700140861136619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.798826478600503, + -0.361491322517395, + 0.48083291589572547, + -0.3722357538227623 + ], + [ + 0.043847916407690236, + 0.8321713805198669, + 0.5527821742745967, + 0.01236225148815584 + ], + [ + -0.59996135451726, + -0.420493483543396, + 0.6806111529207044, + 0.2508772364944667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.7954995406126496, + -0.36664760112762457, + 0.48244173493541626, + -0.37352810614501264 + ], + [ + 0.04581890025306744, + 0.8302853107452395, + 0.5554520254772815, + 0.012237611406132415 + ], + [ + -0.6042194316325082, + -0.41975685954093944, + 0.677290978363799, + 0.2550195430442096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.7934999670341032, + -0.3710331618785858, + 0.4823817811169331, + -0.37454641505214326 + ], + [ + 0.047650992699412496, + 0.8280940651893616, + 0.5585602784995534, + 0.012314337350530453 + ], + [ + -0.6067018921195878, + -0.4202316105365753, + 0.6747727078584392, + 0.2593177969257032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.793055841405746, + -0.371340811252594, + 0.4828751761280842, + -0.376523248418947 + ], + [ + 0.04740460861213542, + 0.8279232978820801, + 0.5588342988433437, + 0.014377697095793111 + ], + [ + -0.6073015926107248, + -0.420296311378479, + 0.6741926983549561, + 0.2617749236467761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.7922759225736173, + -0.3737217783927918, + 0.4823183300227092, + -0.3772132133316316 + ], + [ + 0.04865233003613912, + 0.8266509771347048, + 0.5606078341899191, + 0.016222234322494786 + ], + [ + -0.60822023348973, + -0.4206901788711549, + 0.6731180811193601, + 0.26541324862381777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.7911449244766072, + -0.3743845224380493, + 0.4836589260432156, + -0.3783965545241278 + ], + [ + 0.047471275745225944, + 0.825972855091095, + 0.5617074511062099, + 0.016924931084234304 + ], + [ + -0.6097837319734724, + -0.42143210768699646, + 0.671236773394102, + 0.26886351307591605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.7906222309024816, + -0.37397316098213196, + 0.48483046511548206, + -0.3797534726754314 + ], + [ + 0.04574878958967207, + 0.8256787657737732, + 0.5622825232842692, + 0.016938596604530076 + ], + [ + -0.6105927960044476, + -0.4223726689815521, + 0.6699087929398785, + 0.2716243502597855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.7898995182988428, + -0.3738104701042176, + 0.4861322163170895, + -0.3809135479471078 + ], + [ + 0.0444991029821625, + 0.825582027435303, + 0.5625247240571513, + 0.017759548227030526 + ], + [ + -0.611619696234421, + -0.4227055609226228, + 0.6687610789389242, + 0.27488789779839384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.789618480630353, + -0.37434786558151245, + 0.4861752134815966, + -0.3821023863006815 + ], + [ + 0.043426562957184174, + 0.8244422078132629, + 0.5642776048361711, + 0.018471950745937275 + ], + [ + -0.61205942682153, + -0.4244511127471924, + 0.6672514631593635, + 0.27770385140219445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.789583449700325, + -0.3751997947692872, + 0.48557498510827396, + -0.38350079521763203 + ], + [ + 0.04240022891338473, + 0.8227651715278628, + 0.5667977127626258, + 0.01853984676150234 + ], + [ + -0.6121765769235454, + -0.42694562673568737, + 0.6655503210144632, + 0.27993386440382295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.7898531707288821, + -0.3746277093887329, + 0.48557812292074953, + -0.38481505531763827 + ], + [ + 0.041334883562972526, + 0.8224692344665527, + 0.5673057734300143, + 0.019225515491818647 + ], + [ + -0.6119015129943103, + -0.4280169606208801, + 0.6651151114580474, + 0.282107270372168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/orbit_right/transforms.json b/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..fff32b8941f659ae003d592caebba5d59c02e401 --- /dev/null +++ b/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/orbit_right/transforms.json @@ -0,0 +1,5893 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 168, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -6.386433960869908e-05, + 4.9870759539771825e-05, + -7.26116995792836e-05 + ], + [ + 6.386695895344019e-05, + 1.0, + -5.262265040073544e-05, + 2.3591896024299785e-05 + ], + [ + -4.986739804735407e-05, + 5.262583727017045e-05, + 1.0, + 0.000261035340372473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999992795896104, + -0.0004513963358476758, + -0.0011293108338518362, + 0.000337904353886712 + ], + [ + 0.00045118316487687536, + 0.9999998807907104, + -0.0001889847099509839, + 7.860045608585665e-05 + ], + [ + 0.0011293959685797726, + 0.00018847505270969123, + 0.999999339060866, + 0.0006693323922401794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999973092369903, + -0.0005155851249583066, + -0.002254772418142865, + 0.0012330499153152341 + ], + [ + 0.0005151863937399331, + 0.9999998807907104, + -0.00017740223276658761, + -0.0009518104829434075 + ], + [ + 0.0022548635954064747, + 0.00017624013707973063, + 0.9999974281609947, + 0.0013650889477706757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999914533014865, + -0.00022963089577388018, + -0.00413075400207123, + 0.002985702334948769 + ], + [ + 0.00022576567835999662, + 0.9999995231628418, + -0.0009361603240604413, + -0.0007790357601162427 + ], + [ + 0.004130967056562557, + 0.0009352197521366179, + 0.9999910350623599, + -1.117474847864004e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999984087645097, + -0.00046732480404898535, + -0.00562536697744138, + 0.00419684561535528 + ], + [ + 0.0004588824415395955, + 0.9999987483024599, + -0.0015019630000028682, + -0.00048468914043776494 + ], + [ + 0.00562606189568247, + 0.0014993577497079973, + 0.999983069988572, + -8.724476278042389e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999746554993317, + -0.00019359869475010782, + -0.007114500555893975, + 0.005632955413097065 + ], + [ + 0.00017998148353470857, + 0.999998152256012, + -0.0019145998339495343, + -0.0001570903427232289 + ], + [ + 0.0071148582427596726, + 0.0019132709130644798, + 0.99997286450134, + 0.0007439935809206036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999629021212033, + 0.00017050415044650435, + -0.008608959033605678, + 0.007149234648920538 + ], + [ + -0.000188517551183251, + 0.9999977946281433, + -0.002091634718883552, + -0.00046709303068419707 + ], + [ + 0.008608583683454688, + 0.002093180315569043, + 0.9999607597897026, + 0.0007669982686158408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999532058757133, + -0.0005578714772127569, + -0.009658592886475557, + 0.008515917951022058 + ], + [ + 0.0005438141517744805, + 0.9999988079071045, + -0.0014579835635247273, + -0.0027083437258124867 + ], + [ + 0.009659394674240113, + 0.0014526628656312823, + 0.9999523029533337, + 0.0010957002337310846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.999935488395024, + 0.0002549107011873275, + -0.011357360696233658, + 0.01041584529450312 + ], + [ + -0.0002749308000135841, + 0.9999983906745911, + -0.0017612144042931039, + -0.0025932152161375222 + ], + [ + 0.011356893330318736, + 0.001764223212376237, + 0.9999339444140567, + 0.0008940868570445084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999160170332227, + 0.001183102489449084, + -0.012905263691416383, + 0.012165900469428665 + ], + [ + -0.0012043603858318066, + 0.9999979138374331, + -0.0016395803785220079, + -0.0026253323279904475 + ], + [ + 0.012903297461581602, + 0.0016549853608012204, + 0.9999153890601444, + 0.0009912919237240216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999067037027372, + 0.0011831377632915976, + -0.013606773498713786, + 0.013703517244024882 + ], + [ + -0.0012132583587979174, + 0.9999968409538271, + -0.002205608185016397, + -0.001825907672252732 + ], + [ + 0.013604121792122703, + 0.002221910981461406, + 0.9999050165287938, + 0.0007178318335969948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998893217580503, + 0.002383158309385181, + -0.014687395126769944, + 0.015415459836094682 + ], + [ + -0.00241061874208213, + 0.9999953508377077, + -0.0018522343775000288, + -0.002343326031911927 + ], + [ + 0.014682912651965243, + 0.0018874349771067504, + 0.9998904124923601, + 0.0012218343670848857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998658878141927, + 0.0033453917130827912, + -0.016030691531339573, + 0.016965964577193873 + ], + [ + -0.0033775238684850125, + 0.9999923110008242, + -0.0019777462639060358, + -0.0022580930788589316 + ], + [ + 0.01602395231618333, + 0.002031625015661121, + 0.9998695319031968, + 0.001131013681949112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998304153464719, + 0.004599347710609436, + -0.01783171202458403, + 0.01927937805870581 + ], + [ + -0.004634466092662652, + 0.9999874234199524, + -0.0019286097504528207, + -0.0032614990812563113 + ], + [ + 0.01782261679187755, + 0.0020109231118112803, + 0.999839125963804, + 0.001196038442641783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998140594166998, + 0.0049236249178647995, + -0.018643635001750175, + 0.019990725455490743 + ], + [ + -0.00498925188601174, + 0.9999815225601196, + -0.0034752150163628237, + -0.0022697029033338714 + ], + [ + 0.01862618004263365, + 0.003567586885765195, + 0.9998201659909213, + 0.0022064152744242496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9997689298654789, + 0.005462336353957654, + -0.020789270296903604, + 0.022393290636735928 + ], + [ + -0.005567934127193445, + 0.9999718666076662, + -0.005024945951561343, + -0.0010615217385666813 + ], + [ + 0.02076123839084827, + 0.005139538552612067, + 0.9997712585464704, + 0.0022806725113220672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9997249755123557, + 0.005650729406625032, + -0.02276053711196645, + 0.02398936143951281 + ], + [ + -0.005793728251509273, + 0.9999638795852661, + -0.00622171705123887, + -0.0007545829477661202 + ], + [ + 0.02272455737454442, + 0.0063518742099404335, + 0.9997215852814055, + 0.0018573764595873018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9997401329813531, + 0.006521407049149275, + -0.02184213342437715, + 0.020874432479928373 + ], + [ + -0.006691911478986367, + 0.9999476075172424, + -0.007742225581692376, + 0.00039013792558938783 + ], + [ + 0.02179049938920825, + 0.007886379025876522, + 0.9997314326033087, + 0.0016058239420867109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9996562290909929, + 0.006690052337944508, + -0.025351391884596324, + 0.025213184087139177 + ], + [ + -0.006877628882840486, + 0.99994957447052, + -0.007319094860418956, + -0.0018048909007394867 + ], + [ + 0.025301147456507817, + 0.007490936201065779, + 0.9996518036780607, + 0.0018502005853297124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9996850241021189, + 0.00690375966951251, + -0.02412858916727972, + 0.021192686677155414 + ], + [ + -0.00712623441156352, + 0.9999327659606934, + -0.009146604388046676, + -0.0009651469668942661 + ], + [ + 0.02406382217867032, + 0.009315668605268002, + 0.9996670370081959, + 0.0019254401989771924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.999674112483828, + 0.0071453070268034935, + -0.02450752309183457, + 0.020210779602239323 + ], + [ + -0.007370457208724051, + 0.9999313354492188, + -0.009108971055886135, + -0.0032782767993505 + ], + [ + 0.024440753830408248, + 0.009286634624004364, + 0.999658137513595, + 0.0026032093579678992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9997356418609679, + 0.007235681638121607, + -0.021825342655795953, + 0.014470535816166773 + ], + [ + -0.0074549490510885386, + 0.9999223947525027, + -0.009981887964970996, + -0.003478089906144201 + ], + [ + 0.021751421589000095, + 0.010141956619918348, + 0.9997119552992537, + 0.0036921271341950014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9997716273000439, + 0.007011420093476772, + -0.02018661842354838, + 0.011002097045514747 + ], + [ + -0.007207978543615034, + 0.9999271631240845, + -0.009680834598059159, + -0.0058829630278256426 + ], + [ + 0.020117272463693225, + 0.00982412789016962, + 0.9997493885239582, + 0.004413126506902086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9998759369828273, + 0.0072752260603010654, + -0.013972590144776737, + -8.606533457043014e-05 + ], + [ + -0.00742385345702958, + 0.9999160766601562, + -0.010614824759089314, + -0.006211414994059991 + ], + [ + 0.01389419078566927, + 0.010717237368226051, + 0.9998460207594247, + 0.006240345641304476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999287397650465, + 0.0070657809264957905, + -0.009624594428783283, + -0.007530256289003792 + ], + [ + -0.007156407412710408, + 0.9999300837516785, + -0.009414480322696248, + -0.010276438426006626 + ], + [ + 0.009557400407538157, + 0.009482687339186668, + 0.9999093786609982, + 0.008121630636607511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999421722497452, + 0.006694944575428963, + -0.008413232637775155, + -0.009293590701345139 + ], + [ + -0.006773375582674774, + 0.9999335408210754, + -0.009328651457850065, + -0.011848165666976801 + ], + [ + 0.008350220028000514, + 0.009385098703205585, + 0.9999210811475525, + 0.008945628211092587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.999968655316015, + 0.006890510208904743, + -0.003896222640893422, + -0.016305178069613388 + ], + [ + -0.006927340463388024, + 0.9999306797981262, + -0.009519692045439152, + -0.012489150051378219 + ], + [ + 0.003830358681236301, + 0.00954638421535492, + 0.9999471217638831, + 0.00969582019054608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999771780615844, + 0.006756249349564314, + -9.862210582613368e-05, + -0.021666257878264435 + ], + [ + -0.0067568853509710845, + 0.9999308586120605, + -0.009624151077051309, + -0.0133090529053248 + ], + [ + 3.3591537768851304e-05, + 0.009624598547816277, + 0.999953682691415, + 0.009919597714845572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999715845642143, + 0.006525752600282432, + 0.0037677136648515564, + -0.02642924449889028 + ], + [ + -0.006490125619835827, + 0.9999348521232607, + -0.009391847175309725, + -0.014319374725748782 + ], + [ + -0.003828757319953693, + 0.009367126971483232, + 0.999948790045864, + 0.010787208407596439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999559326326402, + 0.0065301088616251945, + 0.006747544907021599, + -0.02926998330330141 + ], + [ + -0.006466699103046225, + 0.9999351501464844, + -0.009376915274106919, + -0.014312500181088166 + ], + [ + -0.006808338682820805, + 0.009332867339253426, + 0.9999332805141677, + 0.012500049563038577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999417295128349, + 0.006945790722966194, + 0.008262455945770152, + -0.029611738046279576 + ], + [ + -0.006866682791228136, + 0.9999306797981262, + -0.009564540475766171, + -0.013964337831868498 + ], + [ + -0.008328312324638525, + 0.009507247246801853, + 0.9999201253749312, + 0.013141192096594152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999399789018901, + 0.006739707663655281, + 0.008634976566153951, + -0.028436080337065205 + ], + [ + -0.006654124043368183, + 0.9999288320541382, + -0.009901951374335992, + -0.013457929880026892 + ], + [ + -0.00870109837174272, + 0.009843898937106133, + 0.999913715289048, + 0.013299371930669351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9999498543045844, + 0.0063195484690368176, + 0.0077689972759627905, + -0.025486847430118253 + ], + [ + -0.006244123078408562, + 0.9999334812164307, + -0.00969473307373487, + -0.014016000286414759 + ], + [ + -0.007829750538111387, + 0.00964573584496975, + 0.9999228259803098, + 0.013347410382186235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9999619108253732, + 0.006686300504952669, + 0.005608390725760282, + -0.02154685353225192 + ], + [ + -0.006629648086349692, + 0.9999274015426636, + -0.01005981913910689, + -0.013361577723923108 + ], + [ + -0.005675244314436264, + 0.010022253729403019, + 0.9999336799722851, + 0.01272429170091621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999776620913474, + 0.00668152654543519, + -0.00016013558861770725, + -0.01229796624956727 + ], + [ + -0.0066827983356457996, + 0.9999271631240845, + -0.010048593255656157, + -0.013387813715575798 + ], + [ + 9.298169025660713e-05, + 0.01004943810403347, + 0.9999494900523418, + 0.011017947279376212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999729479098776, + 0.006831558421254158, + -0.002731140535985376, + -0.008604947916221517 + ], + [ + -0.00686172544707988, + 0.9999138116836548, + -0.011193120922623019, + -0.011675798973310166 + ], + [ + 0.0026544383234744324, + 0.011211559176445007, + 0.9999336433713344, + 0.009977504077411402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999421028408677, + 0.006778831593692303, + -0.008360085570036408, + -0.00014560505717121225 + ], + [ + -0.006874372218312451, + 0.9999107718467712, + -0.011452947815257231, + -0.011717638224365239 + ], + [ + 0.00828170267937316, + 0.011509754694998264, + 0.9998994877873625, + 0.00904352377211166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9998618960008692, + 0.007431824691593647, + -0.014864248686504662, + 0.009428383142732658 + ], + [ + -0.0076000262441167764, + 0.999907374382019, + -0.01129154278772447, + -0.01215756740884852 + ], + [ + 0.01477895946292946, + 0.011402951553463936, + 0.9998257715500354, + 0.008446867761594383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9997663666984987, + 0.007518649101257324, + -0.020265142084209972, + 0.016600803926177785 + ], + [ + -0.007783851561376808, + 0.9998846650123596, + -0.013039674630921975, + -0.009560021756009389 + ], + [ + 0.020164763937495882, + 0.013194369152188301, + 0.9997095976202892, + 0.007387535228042806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9995772253229943, + 0.007818002253770828, + -0.02800524312657609, + 0.027542595279157228 + ], + [ + -0.008193193485993053, + 0.9998778700828552, + -0.013307557000985782, + -0.009593167175730409 + ], + [ + 0.027897784299639662, + 0.013531382195651531, + 0.9995191904747023, + 0.006177517664017582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9994842055779706, + 0.00791752990335226, + -0.031123412817611266, + 0.030425132825405293 + ], + [ + -0.008369917622771084, + 0.9998608231544495, + -0.01443196702644152, + -0.008179640666378551 + ], + [ + 0.031004812541394706, + 0.014685023576021194, + 0.999411326221569, + 0.0064726391148530885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.999376330375075, + 0.00805150717496872, + -0.03438256428228395, + 0.03340874532416506 + ], + [ + -0.008592587839738913, + 0.9998410940170288, + -0.015618407442927825, + -0.006307103631850337 + ], + [ + 0.034251348170317344, + 0.015904102474451065, + 0.9992867024704325, + 0.0069012837068919905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9992918306801509, + 0.007689427584409714, + -0.036834025977876106, + 0.03553901196217446 + ], + [ + -0.008278194703635633, + 0.9998399615287781, + -0.015858567160205443, + -0.005945233676789763 + ], + [ + 0.03670618562214932, + 0.01615225523710251, + 0.9991955462641213, + 0.007273219509281663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9991978456447673, + 0.00774183450266719, + -0.03929081819060542, + 0.03767636294491149 + ], + [ + -0.0083862970954646, + 0.9998325705528261, + -0.016264154651430086, + -0.004410483230202746 + ], + [ + 0.03915832262194791, + 0.016580611467361454, + 0.99909543468301, + 0.0071002172050572175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9991158466503128, + 0.00759513955563307, + -0.04135008213610627, + 0.039229781353357154 + ], + [ + -0.008251246838287818, + 0.9998424053192141, + -0.015719651333412233, + -0.004376762985116175 + ], + [ + 0.04122417489406687, + 0.016046943143010143, + 0.9990210638436519, + 0.007258373586961283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9990238576437581, + 0.007792814169079067, + -0.04348041276323494, + 0.04086733292951372 + ], + [ + -0.008457707348444995, + 0.9998497962951662, + -0.015128844088388644, + -0.005165489640667632 + ], + [ + 0.0433559888500088, + 0.015481821261346344, + 0.9989397333579177, + 0.007753778097880092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.998939083888305, + 0.007626989390701057, + -0.04541580213422282, + 0.04201252964817882 + ], + [ + -0.008303248515451538, + 0.9998571872711184, + -0.014720411805096383, + -0.005967850556592119 + ], + [ + 0.045297038874956314, + 0.015081892721354965, + 0.9988596964089241, + 0.007804738993193136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.99884712460524, + 0.007767193019390106, + -0.04737190298417694, + 0.04306541373858434 + ], + [ + -0.008462928390126878, + 0.9998589754104614, + -0.014503827964494908, + -0.006326134940256628 + ], + [ + 0.047252570745352766, + 0.01488801185041666, + 0.998772020369275, + 0.0073117375122520745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9987263979568952, + 0.007948072627186777, + -0.04982394935711009, + 0.04521893680765965 + ], + [ + -0.008668387484476436, + 0.9998607635498049, + -0.014257835151025317, + -0.006682581464546425 + ], + [ + 0.049703690800416644, + 0.014671569690108303, + 0.998656263985093, + 0.00769293209516065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9986476903099705, + 0.0080382376909256, + -0.05136276972041126, + 0.04619974821889837 + ], + [ + -0.008784332802142919, + 0.9998589158058169, + -0.014316786805603025, + -0.006520955039785296 + ], + [ + 0.051240440762846, + 0.014748614281415943, + 0.9985774176028372, + 0.007770880897056659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9985187646916955, + 0.008111256174743177, + -0.053799908133931866, + 0.048710168519405586 + ], + [ + -0.008906087574054979, + 0.9998544454574587, + -0.01455059195364256, + -0.006041220287310425 + ], + [ + 0.053674056645273374, + 0.015008186921477321, + 0.9984457233101298, + 0.007633906701737426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9984238116427421, + 0.008222120814025404, + -0.0555181516987931, + 0.0499256711533915 + ], + [ + -0.00903109686848245, + 0.9998564720153811, + -0.014336232442691171, + -0.0063326402739130455 + ], + [ + 0.05539230752054611, + 0.014815025031566623, + 0.9983547250219121, + 0.008370049531709882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9983303032825619, + 0.008072137832641603, + -0.05719655067602643, + 0.051236355859239 + ], + [ + -0.008893755670629232, + 0.9998607039451601, + -0.014124849551035226, + -0.00659057357604957 + ], + [ + 0.057074563115188284, + 0.014609958045184616, + 0.9982630038119931, + 0.008671520278642035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9982380941163601, + 0.007788644637912512, + -0.058821874923145126, + 0.05272197613415183 + ], + [ + -0.008636109749558796, + 0.9998623728752136, + -0.014166865502194754, + -0.006518504779410835 + ], + [ + 0.0587034389107844, + 0.014649897813796997, + 0.9981679899312824, + 0.009088607932685167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9981163034683385, + 0.007382367737591268, + -0.06090479956550918, + 0.05482538069563861 + ], + [ + -0.008244091304556484, + 0.9998692870140078, + -0.013909558776308853, + -0.006316630655602489 + ], + [ + 0.06079415180168382, + 0.01438546180725098, + 0.9980466719417374, + 0.009736260590173493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9979477702980157, + 0.0077614495530724525, + -0.06356068982472714, + 0.05771930342053394 + ], + [ + -0.008603767194384087, + 0.9998786449432373, + -0.012989199923353281, + -0.0068424865036850625 + ], + [ + 0.06345216005938997, + 0.013509404845535755, + 0.9978934355041993, + 0.0098373491699053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9974979178338433, + 0.0081156762316823, + -0.07022813170290385, + 0.06800477537457582 + ], + [ + -0.009063756814145051, + 0.9998719096183777, + -0.01319189502596635, + -0.0061542037401953855 + ], + [ + 0.070112078339202, + 0.013795419596135616, + 0.9974437497649051, + 0.00983020809869757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9975557033731265, + 0.008345414884388447, + -0.06937601695543139, + 0.06592870122793526 + ], + [ + -0.009356957445062077, + 0.9998544454574585, + -0.01426840890061532, + -0.004198343569148832 + ], + [ + 0.0692468364938721, + 0.014882680028676987, + 0.9974885234176396, + 0.010037424378557985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9976644311338981, + 0.007524171378463507, + -0.06788977510454276, + 0.06298843192203116 + ], + [ + -0.008475978260889843, + 0.9998696446418762, + -0.013742739787738642, + -0.004940643496027423 + ], + [ + 0.06777752325958566, + 0.014286074787378311, + 0.9975981750766827, + 0.010535059444673589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9976106543848415, + 0.007605462335050108, + -0.06866697866567155, + 0.0636737785155507 + ], + [ + -0.00851788610968254, + 0.9998791813850405, + -0.013004664477064026, + -0.00479018811668545 + ], + [ + 0.06855977220947335, + 0.013558488339185718, + 0.9975548716584388, + 0.010235825323154608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9975779385614595, + 0.0071052988059818745, + -0.06919380194926814, + 0.0643948980577244 + ], + [ + -0.0080158154324183, + 0.9998847842216492, + -0.012890170681985377, + -0.0037453247397255 + ], + [ + 0.0690942419850907, + 0.013413594104349613, + 0.9975199779038327, + 0.011166782313807435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9970116711867573, + 0.0071569811552762985, + -0.07691892845027996, + 0.07647812626256903 + ], + [ + -0.00800644334372371, + 0.9999102354049683, + -0.01074090341696521, + -0.005649762769550215 + ], + [ + 0.07683514998500492, + 0.011324652470648289, + 0.9969794690455099, + 0.012144509776167621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9973595813331381, + 0.006316722370684147, + -0.07234619307709805, + 0.06831032509897658 + ], + [ + -0.007047857546008057, + 0.9999266266822815, + -0.009855245010199317, + -0.005064342038521642 + ], + [ + 0.07227863173826118, + 0.010339109227061272, + 0.9973308950955143, + 0.012054306899919497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9971932827266099, + 0.006148273125290871, + -0.07461716859992007, + 0.07178095075046559 + ], + [ + -0.006824858489203839, + 0.9999378323554993, + -0.008815827777055122, + -0.0038829152334980918 + ], + [ + 0.07455833155719774, + 0.009300335310399532, + 0.9971732971936947, + 0.013900710344972787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9969214933540225, + 0.006074485834687948, + -0.07817020146371928, + 0.07666692826560217 + ], + [ + -0.006626838555838333, + 0.999954879283905, + -0.00680855907522445, + -0.003358922510709358 + ], + [ + 0.07812531860007735, + 0.007305620238184929, + 0.9969167861270423, + 0.012847657681549014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9967905916790526, + 0.004864264279603958, + -0.07990523495662534, + 0.07745838313219194 + ], + [ + -0.005137410725659328, + 0.9999816417694092, + -0.0032131492968738157, + -0.0040375633550172344 + ], + [ + 0.07988814226238564, + 0.003613342996686697, + 0.996797312424035, + 0.014712476403666026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9960219814778225, + 0.005745246075093746, + -0.08892253175598867, + 0.0889167646003536 + ], + [ + -0.005715605777804373, + 0.9999834895133972, + 0.0005879486667699975, + -0.002651008932759141 + ], + [ + 0.0889244426255193, + -7.736365660093725e-05, + 0.9960383823159886, + 0.016016362864675802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9958894611687634, + 0.004660379607230426, + -0.09045700543283794, + 0.08855024375632266 + ], + [ + -0.004163397229275052, + 0.9999752044677737, + 0.00568204684292565, + -0.001942069814990101 + ], + [ + 0.09048124164245748, + -0.005282082129269839, + 0.995884149150132, + 0.017442401346956043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9959223376212426, + 0.004417748656123877, + -0.09010645536721838, + 0.08569696868297941 + ], + [ + -0.0032840390733420016, + 0.9999136328697205, + 0.012726272166541343, + -0.003409228533808183 + ], + [ + 0.09015489597804634, + -0.012378466315567493, + 0.9958508550727093, + 0.01940909270704763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9965091333679742, + 0.00447346456348896, + -0.08336402955975866, + 0.07234149961041032 + ], + [ + -0.0027231129150077343, + 0.9997736811637878, + 0.02109837813217664, + -0.0039576690112921855 + ], + [ + 0.08343954186195658, + -0.020797718316316605, + 0.9962957671080362, + 0.023265140364737345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.996838680402296, + 0.002456935122609139, + -0.07941422674010129, + 0.06309679929876165 + ], + [ + 5.766171491800354e-05, + 0.9994991421699526, + 0.03164652156505184, + -0.006033089312893286 + ], + [ + 0.07945220173298435, + -0.03155105561017991, + 0.9963392426551843, + 0.02719474304901242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9971064562340001, + 0.0023637558333575726, + -0.075981491493222, + 0.05378065605725485 + ], + [ + 0.0007604713063090543, + 0.9991562962532043, + 0.04106305291066119, + -0.006154908386898851 + ], + [ + 0.07601444734805106, + -0.04100201278924942, + 0.9962633520423216, + 0.030925474627149774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9973892918992691, + 0.0012345948489382863, + -0.07220169075858818, + 0.04399204446412698 + ], + [ + 0.00236373724537628, + 0.9987598657608032, + 0.049730552015073724, + -0.006947736900303924 + ], + [ + 0.07217354862386084, + -0.04977138340473175, + 0.9961495047007687, + 0.035888198593033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9975331322866547, + -0.0001724864123389125, + -0.07019668967933856, + 0.037550504654353084 + ], + [ + 0.004489613177548297, + 0.9981063604354858, + 0.06134731035141297, + -0.012349078205350156 + ], + [ + 0.07005317932997304, + -0.06151113286614418, + 0.9956449600393348, + 0.04231234746668043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9977425938184529, + -0.0021301116794347763, + -0.06712021368723721, + 0.02944723175010959 + ], + [ + 0.007152768895361745, + 0.9971819519996643, + 0.07467962873897967, + -0.0195246450560963 + ], + [ + 0.06677198678458156, + -0.0749911442399025, + 0.9949461157506428, + 0.04790944468472769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9982498451430825, + -0.0036016397643834352, + -0.05902736053672511, + 0.01591521759180914 + ], + [ + 0.008884377807715126, + 0.9959489703178406, + 0.0894801845785194, + -0.027374468463674747 + ], + [ + 0.05846596733117792, + -0.08984799683094025, + 0.9942379247090619, + 0.05348994036851476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9986523008966589, + -0.004041397478431464, + -0.051741751382586444, + 0.006322198441250995 + ], + [ + 0.00926275615541156, + 0.9948357939720156, + 0.10107400174040727, + -0.02715547005496601 + ], + [ + 0.051066076030640645, + -0.10141706466674807, + 0.9935325289658121, + 0.05829182318026162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9993207003854704, + -0.003972629550844432, + -0.03663777075795407, + -0.015312220689669365 + ], + [ + 0.008214913355860323, + 0.9931710362434389, + 0.11637803342546277, + -0.03124461992584694 + ], + [ + 0.03592524340368803, + -0.11659995466470721, + 0.9925290106896089, + 0.06720102543796282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9997254019232459, + -0.0038010680582374334, + -0.02312251704706024, + -0.0340627503208403 + ], + [ + 0.006831121767322417, + 0.9911710023880005, + 0.13241367234109092, + -0.037692002535363284 + ], + [ + 0.022415059821693194, + -0.13253527879714966, + 0.9909247927079656, + 0.07429333348265993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9997384945576091, + -0.0023323181085288525, + -0.022748115885372563, + -0.029948498932890533 + ], + [ + 0.0055878514328584475, + 0.9895444512367249, + 0.14411992310981545, + -0.03653261451556261 + ], + [ + 0.02217414820055453, + -0.1442093402147293, + 0.9892987442348917, + 0.0771236946214367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9997483601040602, + -0.0017923330888152127, + -0.022359593279218888, + -0.02589707699349847 + ], + [ + 0.005265619037158871, + 0.9877012372016909, + 0.15626417814066806, + -0.03525764561293471 + ], + [ + 0.021804522644795297, + -0.1563426107168198, + 0.9874621706431118, + 0.08035181915783163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9997421163226363, + -0.004239181987941265, + -0.022309217722873413, + -0.022692999254640495 + ], + [ + 0.0079149402312407, + 0.9858643412590027, + 0.1673586193456668, + -0.0336837106964903 + ], + [ + 0.021284398352861375, + -0.16749203205108643, + 0.9856436519170865, + 0.0839655723313428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9997168286307595, + -0.0068658022210001945, + -0.022783989928682843, + -0.019811521223415895 + ], + [ + 0.010822590190479367, + 0.9839017987251282, + 0.1783818386918314, + -0.032249467706830764 + ], + [ + 0.021192468552273917, + -0.17857791483402252, + 0.9836975103517347, + 0.08672787131612653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.99968698483931, + -0.007832661271095276, + -0.023760342442747204, + -0.017144823997440634 + ], + [ + 0.012221638731883817, + 0.9815863370895386, + 0.19062759959711964, + -0.031013884707646183 + ], + [ + 0.02182970298841712, + -0.19085833430290222, + 0.9813748068991487, + 0.09062632394297314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9997004929106724, + -0.008892891928553583, + -0.022800542286201132, + -0.014189080713483071 + ], + [ + 0.013320470433039914, + 0.979275166988373, + 0.20209569010845854, + -0.0297508247094401 + ], + [ + 0.02053079247380143, + -0.20233885943889623, + 0.9791003412398606, + 0.09506012316703398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9997850133600727, + -0.007713403087109327, + -0.01924685823536967, + -0.011655314993705063 + ], + [ + 0.01165541985900968, + 0.9767652750015259, + 0.2139948096736844, + -0.028008155627121296 + ], + [ + 0.017149033337919468, + -0.21417313814163208, + 0.9766451478418896, + 0.10085664414597692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9998523134238104, + -0.009222326800227165, + -0.01450167152115414, + -0.008309990517151644 + ], + [ + 0.01225698782645756, + 0.9741479158401489, + 0.22557831741672973, + -0.02583046528494282 + ], + [ + 0.012046409691412832, + -0.22572274506092072, + 0.9741170986169906, + 0.10735197035729566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9998974676304186, + -0.011000482365489008, + -0.00916634973487148, + -0.005681402424776272 + ], + [ + 0.012859314897723854, + 0.9714460372924807, + 0.23691189732656692, + -0.023936370801947545 + ], + [ + 0.006298484038139857, + -0.2370054870843888, + 0.9714879125406907, + 0.1125277201489789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9998953022377032, + -0.013767373748123646, + -0.004452403919916406, + -0.004348051810671966 + ], + [ + 0.014442336451760025, + 0.9684212803840637, + 0.24890093650964049, + -0.023090021699680184 + ], + [ + 0.0008850841605872965, + -0.2489391714334488, + 0.968518709431772, + 0.11536604276139548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.999841859644384, + -0.017776211723685265, + -0.0005413810503739001, + -0.0018248509464053875 + ], + [ + 0.01730662553737167, + 0.9655185341835022, + 0.2597583997758628, + -0.02043251116366688 + ], + [ + -0.0040948195299367, + -0.25972670316696167, + 0.9656734785070907, + 0.12030535404028678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9997374703455291, + -0.0225682407617569, + 0.003964148107597609, + -0.0018951603418500274 + ], + [ + 0.020649242151958815, + 0.9623408913612368, + 0.2710600810907771, + -0.020717724757926662 + ], + [ + -0.009932221477192263, + -0.2709070444107056, + 0.9625542671302465, + 0.11981632049393465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.999720808118822, + -0.021090211346745494, + 0.010653992978665422, + -0.0018775449724280913 + ], + [ + 0.017245485442648964, + 0.9595052599906924, + 0.2811623548132388, + -0.021020682098846225 + ], + [ + -0.016152334973406107, + -0.2809001207351685, + 0.9596010748664086, + 0.1201363480416075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.999165161633646, + -0.03631540387868881, + 0.018713338126551588, + -0.008548487142951311 + ], + [ + 0.02939745764652259, + 0.9571993947029114, + 0.2879324745727403, + -0.025213438007886824 + ], + [ + -0.02836878699735694, + -0.28714194893836975, + 0.9574678466354436, + 0.10594208104529787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9992528726217894, + -0.03328615054488183, + 0.01963876484605635, + 0.0019011326656480088 + ], + [ + 0.02600725953812492, + 0.9550215601921084, + 0.29539365149530805, + -0.01719094519647522 + ], + [ + -0.028587948768316666, + -0.29466223716735845, + 0.9551737845814062, + 0.13139317781321863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9990615123753459, + -0.03808746114373207, + 0.02062720577531171, + 0.002196074541177262 + ], + [ + 0.03005285462998773, + 0.9524753093719482, + 0.30312964363127887, + -0.01648365767514511 + ], + [ + -0.031192346567819478, + -0.302225261926651, + 0.9527260865616584, + 0.1354953498350583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9988058222659584, + -0.04467657208442689, + 0.019772647551227686, + 0.004099294280234339 + ], + [ + 0.03626263821055381, + 0.9491313099861147, + 0.31278558413240315, + -0.015028669145582853 + ], + [ + -0.03274101495696083, + -0.3116950690746308, + 0.9496179406415542, + 0.14267470519366468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9984624578375298, + -0.051280282437801375, + 0.021047608996994628, + 0.005503169597626284 + ], + [ + 0.04176423097917643, + 0.9456015825271609, + 0.32263511367212794, + -0.01279712840126537 + ], + [ + -0.036447466388388, + -0.32126003503799444, + 0.9462893560099936, + 0.14932389428117898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.998051086818944, + -0.05724567174911499, + 0.024839724582141665, + 0.007075647852785721 + ], + [ + 0.045807152688592215, + 0.9423990249633789, + 0.3313394163858924, + -0.01088100488955311 + ], + [ + -0.04237669056577921, + -0.32955583930015564, + 0.943184592353691, + 0.15517404819586006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9975482560253027, + -0.06229002773761751, + 0.03189635601634933, + 0.0073948387767136525 + ], + [ + 0.047894124805672435, + 0.939990282058716, + 0.3378231052282272, + -0.010008348724127774 + ], + [ + -0.05102527300931973, + -0.33546718955039984, + 0.9406690054842571, + 0.15874856840510318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9970659222122685, + -0.06576104462146759, + 0.03917992558009167, + 0.007974044099771038 + ], + [ + 0.048437298560536905, + 0.9383423328399658, + 0.3422974447694003, + -0.00870299418600377 + ], + [ + -0.05927403027308351, + -0.33939534425735474, + 0.93877441940546, + 0.1615754627606063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.996427478774668, + -0.07149715721607208, + 0.04494939672318256, + 0.010282565307100672 + ], + [ + 0.05151731046070331, + 0.9363310933113098, + 0.34731832954775677, + -0.00871349280443464 + ], + [ + -0.06691980223095167, + -0.3437618613243103, + 0.9366693947822146, + 0.16768198543460439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9960482638148663, + -0.07289101183414459, + 0.05074265301779617, + 0.009995443987840219 + ], + [ + 0.050938498601480364, + 0.9368799924850464, + 0.3459206839556086, + -0.007235028872341748 + ], + [ + -0.07275428243784132, + -0.34196892380714417, + 0.9368906461330835, + 0.16966963800809468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9958133810866268, + -0.07436783611774446, + 0.053152366143545175, + 0.010517368022611967 + ], + [ + 0.05154185311811956, + 0.9370359778404238, + 0.345408434783281, + -0.006347371941099512 + ], + [ + -0.07549295276409919, + -0.3412227630615235, + 0.9369460350342514, + 0.17224908267908529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9955929585054903, + -0.07560980319976807, + 0.0554783227963236, + 0.009656378232620583 + ], + [ + 0.0522441416618046, + 0.9384520649909973, + 0.3414355816682817, + -0.004475696818739274 + ], + [ + -0.07787962692407388, + -0.3370324671268463, + 0.9382664117160184, + 0.17121777191828175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9952990950022036, + -0.07747045159339906, + 0.0581208786727175, + 0.010070985789667308 + ], + [ + 0.053216027570212994, + 0.9388702511787417, + 0.3401333253606064, + -0.0033068570711648508 + ], + [ + -0.0809182337507853, + -0.3354414105415345, + 0.9385794079504463, + 0.17296393589193274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9945766060093002, + -0.08304299414157869, + 0.0626201188155152, + 0.010953542538531258 + ], + [ + 0.05676928297868009, + 0.9379227757453921, + 0.3421667235724199, + -0.002582719152456659 + ], + [ + -0.08714739218454763, + -0.33675611019134527, + 0.9375503456743567, + 0.1762133012900943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9940433429786893, + -0.08710806816816331, + 0.06549803666580938, + 0.011940234746961181 + ], + [ + 0.05943796261778915, + 0.9370391368865969, + 0.3441290008367652, + -0.001402315092338095 + ], + [ + -0.09135064766716194, + -0.33818608522415167, + 0.9366350771962143, + 0.17841865928274078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9937281966811459, + -0.08947413414716722, + 0.06707193200632713, + 0.013571072585249727 + ], + [ + 0.060908145460181674, + 0.9361165165901186, + 0.34637568285913223, + -0.00025508090338936286 + ], + [ + -0.09377881791064895, + -0.3401180803775788, + 0.9356950526650278, + 0.18177867261059735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9933177459310094, + -0.09223158657550813, + 0.06937704605244899, + 0.014621470501085448 + ], + [ + 0.06246530586524277, + 0.9351118803024294, + 0.348803536813102, + 0.0006619032262994012 + ], + [ + -0.09704599390661779, + -0.3421390652656556, + 0.9346244691544071, + 0.1845064996510802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9928065263904364, + -0.09620320051908496, + 0.0712752838547611, + 0.01576468503643183 + ], + [ + 0.0653134273747026, + 0.9340888857841494, + 0.35101590724945925, + 0.002245278368562925 + ], + [ + -0.10034629924374638, + -0.3438356220722199, + 0.933652884603147, + 0.18642184240359064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9924073781371279, + -0.09830661118030551, + 0.07391504630366807, + 0.016251088035917877 + ], + [ + 0.06598155891071422, + 0.9326924085617068, + 0.3545861604641162, + 0.003674064992953049 + ], + [ + -0.10379816100882586, + -0.34701687097549444, + 0.9320972087928666, + 0.18810016295020054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9921131072853017, + -0.10098353028297427, + 0.0742554295453345, + 0.019810462637538634 + ], + [ + 0.06764137240728252, + 0.9300696253776553, + 0.36110269594650424, + 0.0061402340042981274 + ], + [ + -0.10552813079953412, + -0.35323199629783636, + 0.9295649683282525, + 0.19314687953372184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9916689126672946, + -0.103729248046875, + 0.07637382985788053, + 0.02115182601593521 + ], + [ + 0.06876671758082496, + 0.9276618957519531, + 0.367034842424413, + 0.007085810205886953 + ], + [ + -0.10892134180018942, + -0.35872510075569153, + 0.92706661868094, + 0.19567021095255274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9912347326075304, + -0.1073666512966156, + 0.07698166997065292, + 0.024053341554920532 + ], + [ + 0.07130823275020293, + 0.9253345131874084, + 0.3723858824440229, + 0.00881340717501346 + ], + [ + -0.11121560080656724, + -0.3636323809623718, + 0.9248797860319512, + 0.20039379599342927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9909237166605049, + -0.10919062793254852, + 0.07840641576631002, + 0.025364686928793345 + ], + [ + 0.07216987510576497, + 0.9242180585861206, + 0.3749832990359752, + 0.010404143880638383 + ], + [ + -0.11340930811283563, + -0.365921288728714, + 0.9237098740055005, + 0.2025458380530184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9910413912118506, + -0.11032903194427493, + 0.07526279967285344, + 0.0294594533075411 + ], + [ + 0.07414607100960578, + 0.9232259392738345, + 0.377036107159722, + 0.013008080009848197 + ], + [ + -0.11108260445542081, + -0.368077963590622, + 0.9231355707453729, + 0.20722308260015299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9906930953663003, + -0.11349338293075562, + 0.07514316587394547, + 0.03111327117208143 + ], + [ + 0.07687350958651261, + 0.9221101403236389, + 0.37921412730792503, + 0.014359552283046403 + ], + [ + -0.11232856997890588, + -0.36990827322006226, + 0.9222527773181592, + 0.21184130984679217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9905586588876514, + -0.11655630171298981, + 0.07216786025627754, + 0.035605713568480774 + ], + [ + 0.08090802802680246, + 0.9220172166824341, + 0.3786002195845653, + 0.01824321850989183 + ], + [ + -0.11066825803789317, + -0.36918678879737854, + 0.9227424811002648, + 0.21872416434677622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9900648163441494, + -0.12133573740720749, + 0.07105868683186062, + 0.03857052585258641 + ], + [ + 0.08578897489851096, + 0.9216417074203491, + 0.37844001158585194, + 0.02060180322268431 + ], + [ + -0.11140892026458556, + -0.3685840666294098, + 0.9228942693905516, + 0.22312002547019333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9891875631106476, + -0.1279728263616562, + 0.07163045706874233, + 0.04346974906971568 + ], + [ + 0.09146305737418108, + 0.9201236963272095, + 0.38079768293015487, + 0.022893258381581478 + ], + [ + -0.11464065228935626, + -0.3701287806034088, + 0.9218797297884327, + 0.23016218656411544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9508528484206674, + -0.3060670197010041, + 0.04692428705628046, + -0.03023223143521761 + ], + [ + 0.2516702622113889, + 0.8521894216537478, + 0.4587323173147236, + 0.0025174124232103176 + ], + [ + -0.18039120770984512, + -0.4243774414062501, + 0.8873346581284207, + -0.09271531278650291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9512120148970787, + -0.3044438362121582, + 0.0500966695626827, + -0.025847691244052978 + ], + [ + 0.24833222029213997, + 0.8517982959747314, + 0.4612709133715363, + 0.005463881255665763 + ], + [ + -0.18310334242903367, + -0.42632579803466797, + 0.8858439677694604, + -0.08808851249630258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9512548343891187, + -0.30397188663482666, + 0.05210944329336572, + -0.021351753724329486 + ], + [ + 0.24621627786172698, + 0.8502649068832397, + 0.46521733388192205, + 0.0069904795473750905 + ], + [ + -0.1857198124788761, + -0.4297100305557251, + 0.883661387775549, + -0.08252309350346147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9522575555536547, + -0.3006292879581452, + 0.05317557896763864, + -0.017162795999994845 + ], + [ + 0.24219845500793555, + 0.8499398827552798, + 0.46791247452426277, + 0.008002349301573217 + ], + [ + -0.18586423182889544, + -0.43269413709640514, + 0.8821736176106483, + -0.07758872243517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.95252178590911, + -0.2998200058937073, + 0.05301124585904168, + -0.012717370475454126 + ], + [ + 0.24100937519155471, + 0.8488655686378479, + 0.47046971492822554, + 0.010535067122224212 + ], + [ + -0.18605562192670258, + -0.4353564381599426, + 0.8808224054904834, + -0.07199746406399277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9528683937674526, + -0.29892322421073914, + 0.05183341963720578, + -0.008358045481442838 + ], + [ + 0.24034365519502873, + 0.848034143447876, + 0.4723060498292973, + 0.013274915004426034 + ], + [ + -0.18513975516763734, + -0.437587708234787, + 0.8799092252380079, + -0.0669952143398464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9535115844520146, + -0.29709416627883917, + 0.050504999104500715, + -0.002737499216281941 + ], + [ + 0.23869356578934647, + 0.8468649983406069, + 0.4752315680530004, + 0.016501404848792256 + ], + [ + -0.18395944357825028, + -0.4410836100578309, + 0.8784100515206612, + -0.05977477779885865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9529026089656294, + -0.29908299446105957, + 0.05025935070957135, + 7.019342373082438e-05 + ], + [ + 0.2402322647399416, + 0.8455287218093872, + 0.47683288288695247, + 0.017471539326031717 + ], + [ + -0.18510831437992784, + -0.4423013925552368, + 0.8775559279233501, + -0.05774606250449027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9528176175023488, + -0.29986903071403503, + 0.047086203053193235, + 0.004020521572004637 + ], + [ + 0.24198851935087462, + 0.8440502882003784, + 0.4785610210185617, + 0.020731950950990237 + ], + [ + -0.1832487647175305, + -0.4445870816707611, + 0.8767908652872368, + -0.053050644211050886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9524913506964918, + -0.30160200595855713, + 0.04238413071255359, + 0.008347049830977199 + ], + [ + 0.24499866356907987, + 0.8414187431335449, + 0.48165357553472926, + 0.023605919035376066 + ], + [ + -0.18093047923376326, + -0.4483868479728699, + 0.8753361428891614, + -0.0484992029788238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.951295119925592, + -0.3059157431125641, + 0.03812001924513538, + 0.012030975454709464 + ], + [ + 0.24993836610133355, + 0.8377265930175781, + 0.4855357341783467, + 0.02580756765809302 + ], + [ + -0.18046717767537868, + -0.4523601233959198, + 0.8733853554526174, + -0.04444871001090081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9497625933965838, + -0.3109970986843109, + 0.035097774654958745, + 0.014923948479534155 + ], + [ + 0.25498637580874317, + 0.8339424729347229, + 0.4894097959797117, + 0.027667091223348116 + ], + [ + -0.18147455847801225, + -0.45587363839149475, + 0.8713473647799762, + -0.04102055725792343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9493465280990351, + -0.31250011920928955, + 0.03293759250922406, + 0.01694827653239353 + ], + [ + 0.2569760785576984, + 0.8324172496795654, + 0.49096320359439, + 0.030323002299567442 + ], + [ + -0.18084388632675674, + -0.4576300382614136, + 0.8705574354379476, + -0.03836520576055029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9485667831594361, + -0.31511852145195013, + 0.03035419563579867, + 0.019001460803649867 + ], + [ + 0.2600696672636013, + 0.8303343653678896, + 0.492857654284972, + 0.0324575436180116 + ], + [ + -0.18051267795533016, + -0.45961421728134166, + 0.8695803809523174, + -0.03529134091763994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9480226657553326, + -0.3172074556350708, + 0.025149854100840606, + 0.022257858706272393 + ], + [ + 0.2637142421934954, + 0.827455997467041, + 0.49575335504678847, + 0.03394388670373475 + ], + [ + -0.17806705648353546, + -0.4633530080318451, + 0.8680991119126935, + -0.029699377279250566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9484366464794999, + -0.3163664638996125, + 0.019497546269143306, + 0.026559269782307493 + ], + [ + 0.26607009234397977, + 0.8280653357505801, + 0.49347193612202883, + 0.03967370533699358 + ], + [ + -0.17226320078119703, + -0.46283918619155895, + 0.8695431406809372, + -0.024166494515318555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9478380206841751, + -0.31831037998199463, + 0.016779684787335467, + 0.02872392722541911 + ], + [ + 0.2684195112006967, + 0.8254535794258118, + 0.4965655712201375, + 0.04082468698656458 + ], + [ + -0.17191282820735848, + -0.46615976095199585, + 0.8678370476770008, + -0.020365594849751652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9476715329063093, + -0.31892573833465576, + 0.014320478683336278, + 0.03093138436498996 + ], + [ + 0.2698761383536684, + 0.8242725729942322, + 0.49773648901860224, + 0.04409125219982541 + ], + [ + -0.17054498589705305, + -0.46782591938972473, + 0.8672100576795718, + -0.01778497443254872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9474267985535304, + -0.31971994042396545, + 0.012715145277592725, + 0.03362385785126232 + ], + [ + 0.27081854111340037, + 0.8224135637283325, + 0.500293185006122, + 0.04703259656107486 + ], + [ + -0.17041078696234993, + -0.4705476760864258, + 0.8657627292680082, + -0.013542688854139215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9470990594133147, + -0.3206610381603241, + 0.013410776624679911, + 0.03516819030099372 + ], + [ + 0.2710185451044677, + 0.8214601278305054, + 0.5017492205342375, + 0.04826978750408438 + ], + [ + -0.17190784034333179, + -0.4715716540813446, + 0.8649091949009318, + -0.011165534416688917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9472405674565004, + -0.32023066282272344, + 0.013698706345803911, + 0.03919272351361289 + ], + [ + 0.27056076699197007, + 0.821769714355469, + 0.5014892349632185, + 0.051959219509836875 + ], + [ + -0.17184939179353698, + -0.4713246226310731, + 0.8650554767933061, + -0.005619207668689237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9463273683556044, + -0.3227190375328064, + 0.01780334973579008, + 0.04106132893082934 + ], + [ + 0.27100046731200866, + 0.8222765922546387, + 0.5004197892432523, + 0.054351114007374045 + ], + [ + -0.17613428394269307, + -0.4687362313270569, + 0.8655998347431252, + -0.002915714814081767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9464105810527078, + -0.3222098648548126, + 0.02208658216688273, + 0.04361636698941157 + ], + [ + 0.2690123006922238, + 0.824303150177002, + 0.4981532962354687, + 0.05748127678706427 + ], + [ + -0.17871597275490766, + -0.46551600098609924, + 0.866807618870832, + 0.0008028721684315981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9456282547279623, + -0.32409381866455084, + 0.02739282828343825, + 0.04523800020269683 + ], + [ + 0.26846670945071766, + 0.8253099918365481, + 0.49677868669343217, + 0.058978236856846694 + ], + [ + -0.18361046388809016, + -0.46241390705108654, + 0.8674448713201376, + 0.0036778376245336433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9451972838658449, + -0.3249926567077637, + 0.03133470849664001, + 0.048079604342100096 + ], + [ + 0.26818647860420775, + 0.8275378942489626, + 0.4932110025096678, + 0.0644450181354051 + ], + [ + -0.18622062474818077, + -0.4577781856060029, + 0.8693452099275896, + 0.009122070708238977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9446849364896784, + -0.326234519481659, + 0.033785176354089855, + 0.05085297507218228 + ], + [ + 0.2685287641164423, + 0.8284791707992556, + 0.49144135108061604, + 0.06842142828258888 + ], + [ + -0.18831547674990115, + -0.45518496632576, + 0.8702551364333992, + 0.014091321234089231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9442852609852376, + -0.3268957734107971, + 0.03826949878421083, + 0.05059635477124785 + ], + [ + 0.2672839051303647, + 0.8294985294342041, + 0.4903993261182634, + 0.06749831475839155 + ], + [ + -0.19205396399803507, + -0.45284801721572876, + 0.8706572112726556, + 0.01458648399330971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9426987759733008, + -0.33129629492759705, + 0.03951944179114628, + 0.0518591731725454 + ], + [ + 0.27043869969642564, + 0.8281028270721436, + 0.4910281743920489, + 0.06929099516818593 + ], + [ + -0.1954019805241242, + -0.4522041082382202, + 0.870246865213907, + 0.01954092720340221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9426120025191842, + -0.3318856656551361, + 0.03653070836149026, + 0.05469728498860471 + ], + [ + 0.2734078955205604, + 0.830030620098114, + 0.4861041955199684, + 0.07599127618698671 + ], + [ + -0.191652601738768, + -0.4482198655605316, + 0.8731369812854218, + 0.02543001253985984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9411879052575869, + -0.33577969670295715, + 0.03764757138197177, + 0.054661014414664394 + ], + [ + 0.2763974673493989, + 0.8292094469070435, + 0.48581501818550177, + 0.07698549472641456 + ], + [ + -0.19434449972117604, + -0.44683751463890076, + 0.8732505143715487, + 0.027563435318643845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9405491049610234, + -0.33767125010490423, + 0.0366813126694088, + 0.056759329729510116 + ], + [ + 0.27904774691419615, + 0.8297652006149294, + 0.4833447170060735, + 0.08123728347761475 + ], + [ + -0.19364850041515883, + -0.44437360763549816, + 0.8746613039564824, + 0.032508465906216616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9390841928489955, + -0.34161400794982916, + 0.037693099846646115, + 0.05717722720921001 + ], + [ + 0.2823485636560113, + 0.8293618559837344, + 0.48211846878612147, + 0.0827068527340332 + ], + [ + -0.19595964499001975, + -0.4421072602272035, + 0.8752948335800315, + 0.03542060389857761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9381045942424538, + -0.34412339329719543, + 0.03922816743293779, + 0.057983063860920836 + ], + [ + 0.2852190700560096, + 0.8318086862564087, + 0.4761769507128321, + 0.08682221602437201 + ], + [ + -0.1964939227654905, + -0.4355151653289795, + 0.8784740496909458, + 0.03823150852801928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9366925375405192, + -0.34796047210693365, + 0.039123259877730444, + 0.05946680006545346 + ], + [ + 0.2900140810448882, + 0.833567261695862, + 0.4701674500834072, + 0.0908326681125759 + ], + [ + -0.19621158705215824, + -0.4290560483932496, + 0.8817096807228774, + 0.0414898889757071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9353169825953855, + -0.3513054549694062, + 0.042030854138316115, + 0.059515857125845756 + ], + [ + 0.29302384242258517, + 0.8357157707214358, + 0.4644525612513026, + 0.0945166629933856 + ], + [ + -0.1982905380422823, + -0.42209431529045116, + 0.8846000715384599, + 0.043020722151516214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9338140229659085, + -0.35496896505355835, + 0.0445921355200676, + 0.0597124659805324 + ], + [ + 0.2950329655746316, + 0.8345825672149658, + 0.46521770065776574, + 0.09393394358398927 + ], + [ + -0.2023536695472124, + -0.4212706685066223, + 0.8840724250234946, + 0.044457282578875226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9324333590649049, + -0.358397662639618, + 0.046033833858160504, + 0.06115639007423915 + ], + [ + 0.29774935026882465, + 0.8342536687850954, + 0.4640755818084004, + 0.09796375010745781 + ], + [ + -0.2047274820094227, + -0.41901302337646495, + 0.8845986436473393, + 0.04738600082909317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9312293951970132, + -0.361491322517395, + 0.046215251195583486, + 0.06180302532109841 + ], + [ + 0.2998902080890449, + 0.8321713805198669, + 0.4664296678614642, + 0.09859974136429206 + ], + [ + -0.2070693006148679, + -0.420493483543396, + 0.8833501418673715, + 0.04840828413841369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9292074974959151, + -0.36664760112762457, + 0.04629225982613133, + 0.06209687442137185 + ], + [ + 0.3043543448402714, + 0.8302853107452395, + 0.4668990865316232, + 0.10068406040766503 + ], + [ + -0.20962320486363295, + -0.41975685954093944, + 0.8830981275702053, + 0.04945988863674024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9275631945320699, + -0.3710331618785858, + 0.044282057157827494, + 0.06308352299492942 + ], + [ + 0.30891196620349254, + 0.8280940651893616, + 0.4677965358561672, + 0.10298075163398995 + ], + [ + -0.21023775234972694, + -0.4202316105365753, + 0.8827261640276861, + 0.05158733474326828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9275453299519796, + -0.371340811252594, + 0.04201980714826782, + 0.06391716529944366 + ], + [ + 0.31029288055724624, + 0.8279232978820801, + 0.4671844376227528, + 0.10594129285428824 + ], + [ + -0.2082738155380638, + -0.420296311378479, + 0.8831608215177325, + 0.05300349179883465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9267205684949724, + -0.3737217783927918, + 0.03900124221260855, + 0.06574508549964991 + ], + [ + 0.3137059479965726, + 0.8266509771347048, + 0.4671581864471915, + 0.10959625063885386 + ], + [ + -0.20682757592262033, + -0.4206901788711549, + 0.8833131706218831, + 0.055388275914870194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9265020933331466, + -0.3743845224380493, + 0.037816918378822624, + 0.06714381458690113 + ], + [ + 0.31467195335083675, + 0.825972855091095, + 0.46770754155078925, + 0.11086124412733166 + ], + [ + -0.206338208404891, + -0.42143210768699646, + 0.8830739207383946, + 0.05716968612219965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9267331992649609, + -0.37397316098213196, + 0.03618935315036529, + 0.06864405254738337 + ], + [ + 0.3149156855139663, + 0.8256787657737732, + 0.4680627081461559, + 0.11110725571343051 + ], + [ + -0.2049236808813494, + -0.4223726689815521, + 0.8829539276795436, + 0.058694886975433916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9268530938617435, + -0.3738104701042176, + 0.03477244813100184, + 0.07026184878447156 + ], + [ + 0.3154126950682483, + 0.825582027435303, + 0.46789856500268884, + 0.11234705438460423 + ], + [ + -0.203612927777838, + -0.4227055609226228, + 0.8830978480141238, + 0.060638681014413845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9267345634630675, + -0.37434786558151245, + 0.032042659686439545, + 0.07190611271668193 + ], + [ + 0.31681286779696266, + 0.8244422078132629, + 0.46896128676915816, + 0.113762231382779 + ], + [ + -0.20197191955256272, + -0.4244511127471924, + 0.8826372985330183, + 0.0623768526869643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9265015969690956, + -0.3751997947692872, + 0.02863356452280299, + 0.07337802037226904 + ], + [ + 0.3186444219436173, + 0.8227651715278628, + 0.4706624681967635, + 0.11466191995289728 + ], + [ + -0.20015116518088583, + -0.42694562673568737, + 0.8818485710217022, + 0.0636652491601956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9268219725712741, + -0.3746277093887329, + 0.025596404606890815, + 0.07516666299622043 + ], + [ + 0.3194499459430132, + 0.8224692344665527, + 0.47063376972248516, + 0.1158975191993478 + ], + [ + -0.19736469913818286, + -0.4280169606208801, + 0.8819573394607425, + 0.06526504236947284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/pan_right/transforms.json b/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..7f554283c5c4abdbc8c287e88ffcd9ddc6574e7f --- /dev/null +++ b/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/pan_right/transforms.json @@ -0,0 +1,5893 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 168, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -6.386433960869908e-05, + 4.9870759539771825e-05, + -7.26116995792836e-05 + ], + [ + 6.386695895344019e-05, + 1.0, + -5.262265040073544e-05, + 2.3591896024299785e-05 + ], + [ + -4.986739804735407e-05, + 5.262583727017045e-05, + 1.0, + 0.000261035340372473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999979052224379, + -0.0004513963358476758, + 0.00200600933087241, + -0.001211999449878931 + ], + [ + 0.00045177347420816865, + 0.9999998807907104, + -0.00018756917887929344, + 7.793916302034631e-05 + ], + [ + -0.002005924383024152, + 0.00018847505270969123, + 0.9999979649603254, + 0.00046597467735409737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999917876486262, + -0.0005155851249583066, + 0.004015857963513184, + -0.0018669370329007506 + ], + [ + 0.0005162886839167174, + 0.9999998807907104, + -0.00017416821565622095, + -0.0009533373522572219 + ], + [ + -0.004015767533767368, + 0.00017624013707973063, + 0.999991907142029, + 0.0009597442694939673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999986071066134, + -0.00022963089577388018, + 0.005275175671164196, + -0.0016640910180285573 + ], + [ + 0.00023456105380675714, + 0.9999995231628418, + -0.0009339953992966793, + -0.0007795335259288549 + ], + [ + -0.0052749586922124884, + 0.0009352197521366179, + 0.9999856548494621, + -0.0006206257967278361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999759954726041, + -0.00046732480404898535, + 0.006915835134150359, + -0.0020029377192258835 + ], + [ + 0.0004776824114299893, + 0.9999987483024599, + -0.001496090058232253, + -0.00048636874998919666 + ], + [ + -0.006915127508169234, + 0.0014993577497079973, + 0.9999749866110497, + -0.0008208755753003061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999963309761445, + -0.00019359869475010782, + 0.008561944294565249, + -0.0021168538369238377 + ], + [ + 0.00020997257385151923, + 0.999998152256012, + -0.001911543192503143, + -0.00015664953389205039 + ], + [ + -0.008561558576023398, + 0.0019132709130644798, + 0.999961524590611, + -0.0002705836668610573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999479111100413, + 0.00017050415044650435, + 0.010202688908647046, + -0.002150625456124544 + ], + [ + -0.0001491388255658858, + 0.9999977946281433, + -0.002094810796958053, + -0.000462960364529863 + ], + [ + -0.010203023893366242, + 0.002093180315569043, + 0.9999457620969577, + -0.0004498068883549422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999243484065322, + -0.0005578714772127569, + 0.012288198461744216, + -0.0023346515372395515 + ], + [ + 0.000575679351185205, + 0.9999988079071045, + -0.0014456981662150095, + -0.0027123428881168365 + ], + [ + -0.012287377051999242, + 0.0014526628656312823, + 0.9999234632972318, + -0.0003182998625561595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999057993618472, + 0.0002549107011873275, + 0.013724539931261315, + -0.001984595088288188 + ], + [ + -0.00023067315783343917, + 0.9999983906745911, + -0.0017675556616244853, + -0.0025872003752738237 + ], + [ + -0.013724968427206228, + 0.001764223212376237, + 0.9999042441450292, + -0.0007235237280838192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998820630876176, + 0.001183102489449084, + 0.015311657852060945, + -0.0017846210394054651 + ], + [ + -0.0011576215593529216, + 0.9999979138374331, + -0.0016729076728608245, + -0.0026058161165565252 + ], + [ + -0.01531360558141382, + 0.0016549853608012204, + 0.9998813798890241, + -0.0008282253984361887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998418238848357, + 0.0011831377632915976, + 0.017745072706635535, + -0.0017988071776926517 + ], + [ + -0.0011435204867635861, + 0.9999968409538271, + -0.0022425575148379835, + -0.001803104067221284 + ], + [ + -0.017747670220317546, + 0.002221910981461406, + 0.9998400544141713, + -0.0012904158793389797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998011631868656, + 0.002383158309385181, + 0.019799228055006866, + -0.001638134941458702 + ], + [ + -0.0023453170173379535, + 0.9999953508377077, + -0.0019342551530383873, + -0.0022985306568443775 + ], + [ + -0.01980374547459373, + 0.0018874349771067504, + 0.999802098709172, + -0.0009789045434445143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9997612829111066, + 0.0033453917130827912, + 0.0215905969666222, + -0.0016384426271542907 + ], + [ + -0.0033007407122331188, + 0.9999923110008242, + -0.002103392145365921, + -0.0021909845527261496 + ], + [ + -0.021597468484840978, + 0.002031625015661121, + 0.9997646709257112, + -0.0012655786704272032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9997266204026078, + 0.004599347710609436, + 0.02292408916415723, + -0.0008746887906454504 + ], + [ + -0.00455203018021179, + 0.9999874234199524, + -0.0021158527292849416, + -0.003163571935147047 + ], + [ + -0.022933531782279942, + 0.0020109231118112803, + 0.9997349531737723, + -0.0014049310702830553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9996691196855361, + 0.0049236249178647995, + 0.025246577600220615, + -0.0017157309921458364 + ], + [ + -0.004831952318664566, + 0.9999815225601196, + -0.003690798095558396, + -0.002152892528101802 + ], + [ + -0.025264283705564137, + 0.003567586885765195, + 0.9996744544470159, + -0.0005780362407676876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9996408421907012, + 0.005462336353957654, + 0.026235348446483737, + -0.0008618315914645791 + ], + [ + -0.005325542422276485, + 0.9999718666076662, + -0.0052811523524143545, + -0.0009190896525979042 + ], + [ + -0.02626345883480274, + 0.005139538552612067, + 0.9996418504470227, + -0.0007158566731959581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9996086210776877, + 0.005650729406625032, + 0.027398419296908384, + -0.0008147829794324934 + ], + [ + -0.0054744572073008695, + 0.9999638795852661, + -0.006504411457114683, + -0.0005940508563071489 + ], + [ + -0.027434183771426323, + 0.0063518742099404335, + 0.9996034309396058, + -0.0013487293617799878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9994840129230544, + 0.006521407049149275, + 0.03145028135532691, + -0.005488220602273941 + ], + [ + -0.0062699391379887, + 0.9999476075172424, + -0.008087743777242135, + 0.0005884144338779151 + ], + [ + -0.03150137854851334, + 0.007886379025876522, + 0.9994725740850713, + -0.0017346846871078014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9994946661160435, + 0.006690052337944508, + 0.031075421742734356, + -0.0026932565961033106 + ], + [ + -0.006453839453444803, + 0.99994957447052, + -0.007695380753091567, + -0.0015912825474515557 + ], + [ + -0.03112533655868201, + 0.007490936201065779, + 0.9994874136693892, + -0.0017410761211067438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9993482654720318, + 0.00690375966951251, + 0.035431349498695364, + -0.00827453751116991 + ], + [ + -0.006569042410746129, + 0.9999327659606934, + -0.009554646541123615, + -0.0007271529757417738 + ], + [ + -0.03549493072373085, + 0.009315668605268002, + 0.999326454323866, + -0.0017826530383899808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9992451209052904, + 0.0071453070268034935, + 0.03818557588144694, + -0.010811918415129185 + ], + [ + -0.006785154385213871, + 0.9999313354492188, + -0.00955294054893134, + -0.003020687261596322 + ], + [ + -0.03825121283709548, + 0.009286634624004364, + 0.9992249932129598, + -0.001263114856556058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9990054097564586, + 0.007235681638121607, + 0.04399875528392588, + -0.01812024787068367 + ], + [ + -0.006782045436339578, + 0.9999223947525027, + -0.01045075176238457, + -0.003202486550435424 + ], + [ + -0.04407095774121156, + 0.010141956619918348, + 0.9989769109409745, + -0.0002287577372044325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9987855045462644, + 0.007011420093476772, + 0.048768045130187815, + -0.02315368689596653 + ], + [ + -0.006523611786573724, + 0.9999271631240845, + -0.01015460498780087, + -0.005604182835668325 + ], + [ + -0.048835693437187286, + 0.00982412789016962, + 0.9987585391634536, + 0.00041487489943392575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9982840104507417, + 0.0072752260603010654, + 0.05810470816572774, + -0.03582578897476196 + ], + [ + -0.006639761759374772, + 0.9999160766601562, + -0.011122125183451678, + -0.005909560713917017 + ], + [ + -0.05818074830543473, + 0.010717237368226051, + 0.9982485233110361, + 0.0023387440014630556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9978227123278398, + 0.0070657809264957905, + 0.06557402068461121, + -0.044847387820482254 + ], + [ + -0.006428406482895526, + 0.9999300837516785, + -0.009925834821001107, + -0.009976224973797798 + ], + [ + -0.06563956905729268, + 0.009482687339186668, + 0.9977983545841045, + 0.004270634148269892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9975307507853666, + 0.006694944575428963, + 0.06991088301930841, + -0.048176705837249756 + ], + [ + -0.006022119113361428, + 0.9999335408210754, + -0.009830383318594954, + -0.011551190167665482 + ], + [ + -0.06997205066389427, + 0.009385098703205585, + 0.9975047903763148, + 0.005042051896452904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9969652385346839, + 0.006890510208904743, + 0.07754228084643551, + -0.0567675344645977 + ], + [ + -0.006129165668635855, + 0.9999306797981262, + -0.01005215950639991, + -0.012173917144536972 + ], + [ + -0.07760617264956951, + 0.00954638421535492, + 0.9969384133125707, + 0.0058823577128350735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9964046138536177, + 0.006756249349564314, + 0.08445242365706603, + -0.06370555609464645 + ], + [ + -0.005918941837445487, + 0.9999308586120605, + -0.010160999514074044, + -0.012989058159291744 + ], + [ + -0.08451523475649604, + 0.009624598547816277, + 0.9963757041149532, + 0.0061849323101341724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9957903733420521, + 0.006525752600282432, + 0.0914270089274639, + -0.07004603743553162 + ], + [ + -0.005641689893229181, + 0.9999348521232607, + -0.009924709520900767, + -0.014000660739839077 + ], + [ + -0.09148581896564285, + 0.009367126971483232, + 0.9957623145233948, + 0.0071510011330246925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9952126729755939, + 0.0065301088616251945, + 0.097514778973544, + -0.0744611918926239 + ], + [ + -0.005588571110526014, + 0.9999351501464844, + -0.009925351897525473, + -0.013984144665300846 + ], + [ + -0.09757326483205013, + 0.009332867339253426, + 0.9951845944072184, + 0.008939438499510288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9947456193180381, + 0.006945790722966194, + 0.10214148739345805, + -0.07637227326631546 + ], + [ + -0.005938018187613563, + 0.9999306797981262, + -0.010167187766117459, + -0.013605877757072449 + ], + [ + -0.10220502358129624, + 0.009507247246801853, + 0.9947179253792211, + 0.00960217323154211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9943825915938149, + 0.006739707663655281, + 0.10563042062672559, + -0.0767623782157898 + ], + [ + -0.0056618130787848345, + 0.9999288320541382, + -0.010500946646143193, + -0.013097123242914677 + ], + [ + -0.10569368168210885, + 0.009843898937106133, + 0.9943500353439443, + 0.009736166335642338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9941430832608424, + 0.0063195484690368176, + 0.10788697070109551, + -0.07537476718425751 + ], + [ + -0.005241677742373333, + 0.9999334812164307, + -0.0102714038395144, + -0.013665564358234406 + ], + [ + -0.10794471123054405, + 0.00964573584496975, + 0.994110105686132, + 0.009703987278044224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9940350790061703, + 0.006686300504952669, + 0.10885558714765858, + -0.07299140840768814 + ], + [ + -0.0055552046737577234, + 0.9999274015426636, + -0.010690738790796538, + -0.012979617342352867 + ], + [ + -0.10891916750286709, + 0.010022253729403019, + 0.9940000944121823, + 0.008936828933656216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9943183246845908, + 0.00668152654543519, + 0.10623756172612647, + -0.06528457254171371 + ], + [ + -0.005575701481957266, + 0.9999271631240845, + -0.010702596553950271, + -0.012992301024496555 + ], + [ + -0.10630133694378792, + 0.01004943810403347, + 0.9942831674455203, + 0.006893092766404152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9942572298396855, + 0.006831558421254158, + 0.10679848590552635, + -0.06314563751220703 + ], + [ + -0.005594624636140786, + 0.9999138116836548, + -0.01187726430118701, + -0.011254951357841492 + ], + [ + -0.10687042227321025, + 0.011211559176445007, + 0.9942097615854663, + 0.005677171051502228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9945208468518452, + 0.006778831593692303, + 0.10431867158684204, + -0.05622617527842522 + ], + [ + -0.0055406596039272405, + 0.9999107718467712, + -0.012154344828427414, + -0.011283908039331436 + ], + [ + -0.10439175588633924, + 0.011509754694998264, + 0.9944696745399864, + 0.00439261831343174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9948620555000067, + 0.007431824691593647, + 0.10096656619777022, + -0.04818538576364517 + ], + [ + -0.006241983495952636, + 0.999907374382019, + -0.012095328828706195, + -0.011671599932014942 + ], + [ + -0.10104710087739031, + 0.011402951553463936, + 0.9948163018882958, + 0.003382650902494788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9950877046242005, + 0.007518649101257324, + 0.0987113168332287, + -0.04254965856671333 + ], + [ + -0.00617876835450873, + 0.9998846650123596, + -0.013872428815141918, + -0.009043625555932522 + ], + [ + -0.09880423578988982, + 0.013194369152188301, + 0.995019406980965, + 0.001960593508556485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9955296771799834, + 0.007818002253770828, + 0.09412536789257701, + -0.033128730952739716 + ], + [ + -0.0065088546248488815, + 0.9998778700828552, + -0.014207543922367019, + -0.009038339368999004 + ], + [ + -0.09422494567959189, + 0.013531382195651531, + 0.9954589685706344, + 0.00023344926012214273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.995527416329962, + 0.00791752990335226, + 0.09414089101252887, + -0.03179227188229561 + ], + [ + -0.006498967512370371, + 0.9998608231544495, + -0.015365565871045025, + -0.007596017327159643 + ], + [ + -0.09424944374562133, + 0.014685023576021194, + 0.9954402743180143, + 0.00028034840943291783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9955381817009544, + 0.00805150717496872, + 0.09401563282845057, + -0.03035317361354828 + ], + [ + -0.006519497539944384, + 0.9998410940170288, + -0.01659106291542502, + -0.005690977908670902 + ], + [ + -0.09413427648222238, + 0.015904102474451065, + 0.995432472133034, + 0.0004470818385016173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9954766365494977, + 0.007689427584409714, + 0.09469516575794887, + -0.029772374778985977 + ], + [ + -0.0061242423007235956, + 0.9998399615287781, + -0.016808221683690255, + -0.00533519871532917 + ], + [ + -0.09480925684405014, + 0.01615225523710251, + 0.995364399882607, + 0.0006035533151589334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9954119315419917, + 0.00774183450266719, + 0.09536870387644385, + -0.02918391115963459 + ], + [ + -0.006124119195644585, + 0.9998325705528261, + -0.017243777706076196, + -0.0037785538006573915 + ], + [ + -0.09548623200044033, + 0.016580611467361454, + 0.9952926410525476, + 0.00021250596910249442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9953099917314882, + 0.00759513955563307, + 0.09643819098209495, + -0.029181968420743942 + ], + [ + -0.006011135655858226, + 0.9998424053192141, + -0.01670499208492101, + -0.0037434196565300226 + ], + [ + -0.09654986778241625, + 0.016046943143010143, + 0.9951987950305187, + 0.00017623230814933777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9952112314919591, + 0.007792814169079067, + 0.09743623118601964, + -0.029095014557242393 + ], + [ + -0.006246220072068107, + 0.9998497962951662, + -0.01616785303786517, + -0.004507436882704496 + ], + [ + -0.09754758903205742, + 0.015481821261346344, + 0.995110446394963, + 0.00047102116513997316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9950951173329559, + 0.007626989390701057, + 0.09862857528734555, + -0.02950187213718891 + ], + [ + -0.006101344912669207, + 0.9998571872711184, + -0.015760966019810294, + -0.005309632979333401 + ], + [ + -0.09873469550903649, + 0.015081892721354965, + 0.9949994847956983, + 0.0003332628693897277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9949772410330465, + 0.007767193019390106, + 0.09979962600513552, + -0.030000576749444008 + ], + [ + -0.0062416490263814345, + 0.9998589754104614, + -0.015589227049201373, + -0.005644442979246378 + ], + [ + -0.0999066375774163, + 0.01488801185041666, + 0.9948854295257031, + -0.0003506825596559793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9949077155122923, + 0.007948072627186777, + 0.10047627341619605, + -0.029394561424851418 + ], + [ + -0.00643275916667939, + 0.9998607635498049, + -0.015396311710222781, + -0.0059736669063568115 + ], + [ + -0.10058465763375614, + 0.014671569690108303, + 0.994820344144885, + -0.000198683948838152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.994745501133009, + 0.0080382376909256, + 0.10206238998979814, + -0.02996835671365261 + ], + [ + -0.006490013741425392, + 0.9998589158058169, + -0.015492404876325772, + -0.005789811722934246 + ], + [ + -0.10217252452310202, + 0.014748614281415943, + 0.9946573364473306, + -0.0002829466830007732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9946737669723495, + 0.008111256174743177, + 0.10275334959837243, + -0.029005128890275955 + ], + [ + -0.006525167199758408, + 0.9998544454574587, + -0.015762623991370888, + -0.005286387633532286 + ], + [ + -0.10286625424291389, + 0.015008186921477321, + 0.9945819727358226, + -0.0006518472218886018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9945265522565142, + 0.008222120814025404, + 0.10416001958545684, + -0.029342563822865486 + ], + [ + -0.006633259367225324, + 0.9998564720153811, + -0.015591284150636915, + -0.005555386655032635 + ], + [ + -0.10427325833440147, + 0.014815025031566623, + 0.9944383099530889, + -9.358575334772468e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9943752510779498, + 0.008072137832641603, + 0.10560634405731227, + -0.029585277661681175 + ], + [ + -0.00648313394577198, + 0.9998607039451601, + -0.01538113256588762, + -0.005811844952404499 + ], + [ + -0.10571579018963538, + 0.014609958045184616, + 0.9942890436081019, + 3.242750608478673e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9942171574814994, + 0.007788644637912512, + 0.10710531865385757, + -0.02965357154607773 + ], + [ + -0.006173830675574145, + 0.9998623728752136, + -0.015400204042578138, + -0.005747731775045395 + ], + [ + -0.10721052741078502, + 0.014649897813796997, + 0.9941284286628717, + 0.00027809885796159506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9941073845625346, + 0.007382367737591268, + 0.1081483139843255, + -0.02910001017153263 + ], + [ + -0.005782458661314368, + 0.9998692870140078, + -0.015099802602009238, + -0.0055671934969723225 + ], + [ + -0.10824564678409523, + 0.01438546180725098, + 0.9940201045348918, + 0.0007152719772420824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9940531080497885, + 0.0077614495530724525, + 0.10861920599199652, + -0.02774990163743496 + ], + [ + -0.006247352721988617, + 0.9998786449432373, + -0.014272866164546705, + -0.00605363491922617 + ], + [ + -0.10871680283357879, + 0.013509404845535755, + 0.9939809565681933, + 0.0005556040559895337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9944293810475776, + 0.0081156762316823, + 0.10509182972365227, + -0.018968641757965088 + ], + [ + -0.006620083438729256, + 0.9998719096183777, + -0.014572312006896475, + -0.005311744287610054 + ], + [ + -0.10519663691939447, + 0.013795419596135616, + 0.9943557738832546, + -6.462960300268605e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9940003873674462, + 0.008345414884388447, + 0.10905797987410279, + -0.02262180671095848 + ], + [ + -0.00667152802834827, + 0.9998544454574585, + -0.015704485313146197, + -0.0033125418704003096 + ], + [ + -0.10917316075908329, + 0.014882680028676987, + 0.9939113137922233, + 0.00018154049757868052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9934917213892643, + 0.007524171378463507, + 0.11365534850796137, + -0.027146458625793457 + ], + [ + -0.005850870189319352, + 0.9998696446418762, + -0.015049000710356355, + -0.004122988320887089 + ], + [ + -0.11375376715676698, + 0.014286074787378311, + 0.9934062572951589, + 0.0007802327745594084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9932205851307085, + 0.007605462335050108, + 0.11599586619287895, + -0.02802291326224804 + ], + [ + -0.005980605698994521, + 0.9998791813850405, + -0.014349496068213962, + -0.003959124442189932 + ], + [ + -0.116090983458738, + 0.013558488339185718, + 0.9931460355327821, + 0.00038461360963992774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9929184030295078, + 0.0071052988059818745, + 0.11858571017646852, + -0.02886669524013996 + ], + [ + -0.00546378478244887, + 0.9998847842216492, + -0.014161809669261583, + -0.002949492307379842 + ], + [ + -0.11867267434935187, + 0.013413594104349613, + 0.9928428460514432, + 0.0012448172783479095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9934542521516964, + 0.0071569811552762985, + 0.11400632841322346, + -0.018273599445819855 + ], + [ + -0.0058187109197157276, + 0.9999102354049683, + -0.012067010585128927, + -0.004850669298321009 + ], + [ + -0.11408245797372175, + 0.011324652470648289, + 0.993406711651456, + 0.0014699687017127872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9925499744795702, + 0.006316722370684147, + 0.12167437811785153, + -0.028060244396328926 + ], + [ + -0.0050113978065252284, + 0.9999266266822815, + -0.011031049008350719, + -0.0043494813144207 + ], + [ + -0.12173512572171606, + 0.010339109227061272, + 0.9925087778369988, + 0.001795964315533638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9924462071049167, + 0.006148273125290871, + 0.12252628684493111, + -0.02613665908575058 + ], + [ + -0.004962103160868015, + 0.9999378323554993, + -0.009983739029705153, + -0.003183248220011592 + ], + [ + -0.12258005778689916, + 0.009300335310399532, + 0.9924150638083332, + 0.00340654025785625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9924990133126232, + 0.006074485834687948, + 0.12210140409332798, + -0.022783486172556877 + ], + [ + -0.005136812128189269, + 0.999954879283905, + -0.00799278594018721, + -0.002675437368452549 + ], + [ + -0.12214444815867766, + 0.007305620238184929, + 0.9924854546300649, + 0.0019869571551680565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9923342659833253, + 0.004864264279603958, + 0.12348698226405973, + -0.023544711992144585 + ], + [ + -0.004380790623257878, + 0.9999816417694092, + -0.004186405484815829, + -0.0035063177347183228 + ], + [ + -0.12350508143073018, + 0.003613342996686697, + 0.9923373882862134, + 0.003661742666736245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9930426771358011, + 0.005745246075093746, + 0.11761481891268531, + -0.01355290412902832 + ], + [ + -0.00571446767263439, + 0.9999834895133972, + -0.0005989092255457823, + -0.0020632133819162846 + ], + [ + -0.11761631848634452, + -7.736365660093725e-05, + 0.9930591206814575, + 0.004026627168059349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.992859405508973, + 0.004660379607230426, + 0.11919936908916584, + -0.015472916886210442 + ], + [ + -0.0052567222941931864, + 0.9999752044677737, + 0.004688966147848462, + -0.0015215595485642552 + ], + [ + -0.1191745579745624, + -0.005282082129269839, + 0.9928592641201526, + 0.005271515343338251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9924387567513092, + 0.004417748656123877, + 0.12266128146126808, + -0.019902406260371208 + ], + [ + -0.005902440051864627, + 0.9999136328697205, + 0.011743258377735977, + -0.003093115985393524 + ], + [ + -0.12259881260206641, + -0.012378466315567493, + 0.9923791422467636, + 0.0072568380273878574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9911751280520048, + 0.00447346456348896, + 0.13248350780879622, + -0.03490980342030525 + ], + [ + -0.007188482035288714, + 0.9997736811637878, + 0.020022053585597124, + -0.003715754020959139 + ], + [ + -0.1323639558307259, + -0.020797718316316605, + 0.9909829443034655, + 0.011825197376310825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9902165898159003, + 0.002456935122609139, + 0.13951730863333048, + -0.045772116631269455 + ], + [ + -0.0068336390358636635, + 0.9994991421699526, + 0.030899951934722794, + -0.006112677976489067 + ], + [ + -0.13937150955613092, + -0.03155105561017991, + 0.9897374000910395, + 0.016195660457015038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9892776019852964, + 0.0023637558333575726, + 0.14602841615001527, + -0.05669805780053139 + ], + [ + -0.008323943015706074, + 0.9991562962532043, + 0.04021771504726192, + -0.006328594870865345 + ], + [ + -0.14581013809273083, + -0.04100201278924942, + 0.9884625771659802, + 0.02032393217086792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9882445181361812, + 0.0012345948489382863, + 0.15287660421892882, + -0.06809891760349274 + ], + [ + -0.00882746230841261, + 0.9987598657608032, + 0.04899786696053907, + -0.007314631715416908 + ], + [ + -0.1526265298306313, + -0.04977138340473175, + 0.987029887707767, + 0.025745287537574768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9874455279287926, + -0.0001724864123389125, + 0.15795966138539927, + -0.07613344490528107 + ], + [ + -0.009546279667040207, + 0.9981063604354858, + 0.060766089707626, + -0.01297655701637268 + ], + [ + -0.1576710304406077, + -0.06151113286614418, + 0.9855740360550104, + 0.0324493907392025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9864418717040432, + -0.0021301116794347763, + 0.16409704553714188, + -0.08583912253379822 + ], + [ + -0.010210561120063152, + 0.9971819519996643, + 0.0743233038358478, + -0.020480604842305183 + ], + [ + -0.16379292563422856, + -0.0749911442399025, + 0.9836402538421413, + 0.03847242519259453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9845302806103021, + -0.0036016397643834352, + 0.175177364923441, + -0.1010160893201828 + ], + [ + -0.012207936106061967, + 0.9959489703178406, + 0.08908760798936309, + -0.02855575643479824 + ], + [ + -0.17478857890940966, + -0.08984799683094025, + 0.9804979719247672, + 0.04508287459611893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9826476236123113, + -0.004041397478431464, + 0.1854380617117368, + -0.11223950237035751 + ], + [ + -0.01485606427681781, + 0.9948357939720156, + 0.10040443134452545, + -0.028397008776664734 + ], + [ + -0.18488619532301034, + -0.10141706466674807, + 0.9775130306105138, + 0.05083772912621498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9790993201274146, + -0.003972629550844432, + 0.20334382162006814, + -0.13554474711418152 + ], + [ + -0.019847156458209912, + 0.9931710362434389, + 0.11496704678274448, + -0.03237609565258026 + ], + [ + -0.2024119180585647, + -0.11659995466470721, + 0.97233424068165, + 0.06165977567434311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9755772433332152, + -0.0038010680582374334, + 0.21962370622396762, + -0.1559290885925293 + ], + [ + -0.02543275839881385, + 0.9911710023880005, + 0.130127705150292, + -0.0386640839278698 + ], + [ + -0.2181792682653447, + -0.13253527879714966, + 0.9668672021582558, + 0.07051866501569748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9748047611448871, + -0.0023323181085288525, + 0.22304755530134895, + -0.15338516235351562 + ], + [ + -0.029915921515938245, + 0.9895444512367249, + 0.14109150917283092, + -0.03734820336103439 + ], + [ + -0.22104453918623912, + -0.1442093402147293, + 0.9645429020469215, + 0.07352359592914581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9740137690814084, + -0.0017923330888152127, + 0.2264815943563597, + -0.15090341866016388 + ], + [ + -0.03368454234515379, + 0.9877012372016909, + 0.15268127495151615, + -0.036023348569869995 + ], + [ + -0.22396981467167368, + -0.1563426107168198, + 0.9619742708487112, + 0.07694754749536514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9732801902612274, + -0.004239181987941265, + 0.22958151404183108, + -0.14926652610301971 + ], + [ + -0.03438610403863441, + 0.9858643412590027, + 0.16397911329555395, + -0.034768927842378616 + ], + [ + -0.22703136466092966, + -0.16749203205108643, + 0.9593764608525113, + 0.080781489610672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9726518611091389, + -0.0068658022210001945, + 0.2321663298705093, + -0.14794941246509552 + ], + [ + -0.03489089133554929, + 0.9839017987251282, + 0.17527074637634346, + -0.03369048610329628 + ], + [ + -0.229632254102375, + -0.17857791483402252, + 0.9567543783392907, + 0.08371489495038986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9721415463160801, + -0.007832661271095276, + 0.23426360250002143, + -0.14684635400772095 + ], + [ + -0.037239195246887395, + 0.9815863370895386, + 0.18735392314765295, + -0.03261896222829819 + ], + [ + -0.23141743257151104, + -0.19085833430290222, + 0.9539491702658555, + 0.08769423514604568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9711654521722105, + -0.008892891928553583, + 0.23824064464639969, + -0.145459845662117 + ], + [ + -0.03975100542505386, + 0.979275166988373, + 0.19859496584926048, + -0.03147910535335541 + ], + [ + -0.23506923230494634, + -0.20233885943889623, + 0.9506847256999436, + 0.09246504306793213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9695593612503699, + -0.007713403087109327, + 0.2447348759435566, + -0.1445033699274063 + ], + [ + -0.04511347805434019, + 0.9767652750015259, + 0.20950990782587534, + -0.02948995679616928 + ], + [ + -0.2406645537714526, + -0.21417313814163208, + 0.946683900098401, + 0.09888318926095963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9675881092510428, + -0.009222326800227165, + 0.2523652075303671, + -0.14273090660572052 + ], + [ + -0.04827594518674994, + 0.9741479158401489, + 0.22069264635566524, + -0.027359360828995705 + ], + [ + -0.24787635042521916, + -0.22572274506092072, + 0.94212873467712, + 0.10624576359987259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9653982418176312, + -0.011000482365489008, + 0.26054788895059683, + -0.1416696012020111 + ], + [ + -0.051440891684578695, + 0.9714460372924807, + 0.23161701953269334, + -0.025508396327495575 + ], + [ + -0.2556561044048598, + -0.2370054870843888, + 0.9372664463184301, + 0.11239606887102127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9632903351060486, + -0.013767373748123646, + 0.2681085034626289, + -0.1418950855731964 + ], + [ + -0.053909749270133804, + 0.9684212803840637, + 0.24342143745199032, + -0.02483513206243515 + ], + [ + -0.2629932568057472, + -0.2489391714334488, + 0.9321286503310918, + 0.11618415266275406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9613163817508047, + -0.017776211723685265, + 0.274872427806288, + -0.14092205464839935 + ], + [ + -0.05490973216161862, + 0.9655185341835022, + 0.25447763527576855, + -0.022528596222400665 + ], + [ + -0.26991808008765816, + -0.25972670316696167, + 0.9271926793718552, + 0.12203337252140045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.959095023207553, + -0.0225682407617569, + 0.2821833810514007, + -0.14253215491771698 + ], + [ + -0.055643854011251055, + 0.9623408913612368, + 0.2660896846425345, + -0.02323407493531704 + ], + [ + -0.27756179306342255, + -0.2709070444107056, + 0.9217205743746506, + 0.12259344756603241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9563066687385839, + -0.021090211346745494, + 0.2916037672566186, + -0.14406028389930725 + ], + [ + -0.0625873863195619, + 0.9595052599906924, + 0.2746497689894607, + -0.02300345152616501 + ], + [ + -0.28558776659928004, + -0.2809001207351685, + 0.9162612882680873, + 0.12403875589370728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9525623959809802, + -0.03631540387868881, + 0.3021689775757974, + -0.1521930992603302 + ], + [ + -0.0537241369775337, + 0.9571993947029114, + 0.28439943307904114, + -0.02888905070722103 + ], + [ + -0.29956404317515783, + -0.28714194893836975, + 0.909841112201997, + 0.11185629665851593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9514282941869642, + -0.03328615054488183, + 0.30606565561666715, + -0.1433081030845642 + ], + [ + -0.0600075204877013, + 0.9550215601921084, + 0.29040124720347366, + -0.02033184841275215 + ], + [ + -0.3019656463397397, + -0.29466223716735845, + 0.9066371810139764, + 0.13761666417121887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9499937809378358, + -0.03808746114373207, + 0.30993741837223465, + -0.14453591406345367 + ], + [ + -0.059293653139021754, + 0.9524753093719482, + 0.2987892528469969, + -0.02016587182879448 + ], + [ + -0.3065878738958029, + -0.302225261926651, + 0.9025872999768779, + 0.14238236844539642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9490237159924864, + -0.04467657208442689, + 0.3120224585945299, + -0.14414918422698975 + ], + [ + -0.05712754376351717, + 0.9491313099861147, + 0.309655040835097, + -0.01957554742693901 + ], + [ + -0.3099845912368069, + -0.3116950690746308, + 0.898195836354449, + 0.15007825195789337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9473348506586117, + -0.051280282437801375, + 0.316112262152352, + -0.14424148201942444 + ], + [ + -0.05576392865044495, + 0.9456015825271609, + 0.3205121711027165, + -0.018114618957042694 + ], + [ + -0.3153522028112058, + -0.32126003503799444, + 0.8929417401410136, + 0.15757490694522858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9448110040045548, + -0.05724567174911499, + 0.322575805865377, + -0.1441444754600525 + ], + [ + -0.05551776110263877, + 0.9423990249633789, + 0.32985130330276113, + -0.016761966049671173 + ], + [ + -0.3228776827667247, + -0.32955583930015564, + 0.8872107760436053, + 0.16462460160255432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9411814266276307, + -0.06229002773761751, + 0.33211055809387074, + -0.1452714502811432 + ], + [ + -0.056523436001354635, + 0.939990282058716, + 0.3364868478849419, + -0.01616719365119934 + ], + [ + -0.333140473900506, + -0.33546718955039984, + 0.8811805609599903, + 0.1698385775089264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9374515759935803, + -0.06576104462146759, + 0.3418480107776199, + -0.1461346298456192 + ], + [ + -0.05842756121447356, + 0.9383423328399658, + 0.34073440195852284, + -0.014909687452018261 + ], + [ + -0.3431775100215477, + -0.33939534425735474, + 0.8758082083483139, + 0.17427553236484528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9339884235659434, + -0.07149715721607208, + 0.3500768392336506, + -0.14524394273757935 + ], + [ + -0.058114266813771805, + 0.9363310933113098, + 0.3462755944470335, + -0.015359730459749699 + ], + [ + -0.352545568004785, + -0.3437618613243103, + 0.8703674152520264, + 0.18192622065544128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.930721842500417, + -0.07289101183414459, + 0.35839058661817996, + -0.14698369801044464 + ], + [ + -0.059314468360505405, + 0.9368799924850464, + 0.3445832904700976, + -0.013776159845292568 + ], + [ + -0.36088599154765566, + -0.34196892380714417, + 0.8676511796392473, + 0.18520939350128174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9286130620861466, + -0.07436783611774446, + 0.36352062513814426, + -0.1479477435350418 + ], + [ + -0.05966075115124732, + 0.9370359778404238, + 0.34409903256817626, + -0.0129650067538023 + ], + [ + -0.3662218049330502, + -0.3412227630615235, + 0.8657070220779235, + 0.18861301243305206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.926521565062713, + -0.07560980319976807, + 0.36856610370427306, + -0.1502944976091385 + ], + [ + -0.05881253055540831, + 0.9384520649909973, + 0.340365675438646, + -0.011203250847756863 + ], + [ + -0.3716165978298033, + -0.3370324671268463, + 0.8650492470730716, + 0.1883685439825058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9242365814288314, + -0.07747045159339906, + 0.3738784115172223, + -0.15134917199611664 + ], + [ + -0.05854157459480406, + 0.9388702511787417, + 0.3392572897598205, + -0.01017705723643303 + ], + [ + -0.3773057303399996, + -0.3354414105415345, + 0.8632030186662674, + 0.19101497530937195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9209215419358712, + -0.08304299414157869, + 0.38079839561099216, + -0.15185195207595825 + ], + [ + -0.05689991227155275, + 0.9379227757453921, + 0.34214502508978245, + -0.01000269129872322 + ], + [ + -0.3855722435515202, + -0.33675611019134527, + 0.8590281506687195, + 0.19569474458694458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9182800600484861, + -0.08710806816816331, + 0.386230361111957, + -0.15228550136089325 + ], + [ + -0.05608992795423259, + 0.9370391368865969, + 0.34469052873433154, + -0.009234070777893066 + ], + [ + -0.39193831252856487, + -0.33818608522415167, + 0.8555784989326399, + 0.1990189403295517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9162488534554877, + -0.08947413414716722, + 0.39048996335850666, + -0.15211503207683563 + ], + [ + -0.05652179936861743, + 0.9361165165901186, + 0.3471184265573676, + -0.008301881141960621 + ], + [ + -0.39660222511006143, + -0.3401180803775788, + 0.8526584153741028, + 0.20321793854236603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9138671818790631, + -0.09223158657550813, + 0.39539865045905814, + -0.15250128507614136 + ], + [ + -0.0569475962355973, + 0.9351118803024294, + 0.3497467555434285, + -0.0076148416846990585 + ], + [ + -0.40199965448479347, + -0.3421390652656556, + 0.8493156663276542, + 0.20693689584732056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9115051657875068, + -0.09620320051908496, + 0.3998791038235317, + -0.15277662873268127 + ], + [ + -0.05610191584290224, + 0.9340888857841494, + 0.35260542533595174, + -0.006484183482825756 + ], + [ + -0.4074443862224575, + -0.3438356220722199, + 0.8460296453644504, + 0.20986363291740417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9089788195987334, + -0.09830661118030551, + 0.40508436623989186, + -0.1537189483642578 + ], + [ + -0.057785444556032094, + 0.9326924085617068, + 0.35601369876232813, + -0.005129515193402767 + ], + [ + -0.4128175940772194, + -0.34701687097549444, + 0.8421169152134179, + 0.2125893086194992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9073115712506744, + -0.10098353028297427, + 0.4081519314408437, + -0.15161968767642975 + ], + [ + -0.05956345477783536, + 0.9300696253776553, + 0.36252269878712823, + -0.0028852568939328194 + ], + [ + -0.4162185358232629, + -0.35323199629783636, + 0.8378480453938458, + 0.21839173138141632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9048816432611024, + -0.103729248046875, + 0.4128309653199257, + -0.15169617533683777 + ], + [ + -0.06168367463762845, + 0.9276618957519531, + 0.36829140810444355, + -0.0020716022700071335 + ], + [ + -0.4211701605656586, + -0.35872510075569153, + 0.8330258519524844, + 0.22197005152702332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9029647500743874, + -0.1073666512966156, + 0.41608548732453027, + -0.1502227634191513 + ], + [ + -0.062310827656564066, + 0.9253345131874084, + 0.3739966179771212, + -0.0007281284779310226 + ], + [ + -0.4251729901527037, + -0.3636323809623718, + 0.8288543037940277, + 0.22757050395011902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9008659239270937, + -0.10919062793254852, + 0.42014041150616765, + -0.15035168826580048 + ], + [ + -0.06358467701006218, + 0.9242180585861206, + 0.3765341342802952, + 0.0007517728954553604 + ], + [ + -0.4294153758050088, + -0.365921288728714, + 0.8256537031492882, + 0.23060019314289093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.900763398992721, + -0.11032903194427493, + 0.4200628847503627, + -0.1478116810321808 + ], + [ + -0.06364002547322732, + 0.9232259392738345, + 0.3789509375975812, + 0.003040972165763378 + ], + [ + -0.42962224331350213, + -0.368077963590622, + 0.824586778355231, + 0.23535913228988647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.8991589858742829, + -0.11349338293075562, + 0.42264929043540583, + -0.1476018875837326 + ], + [ + -0.06305360453111644, + 0.9221101403236389, + 0.38175533235528275, + 0.0039400625973939896 + ], + [ + -0.433055898858352, + -0.36990827322006226, + 0.8219674454432785, + 0.24070000648498535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.8987710598119498, + -0.11655630171298981, + 0.4226407916845893, + -0.14461790025234222 + ], + [ + -0.060263940070359054, + 0.9220172166824341, + 0.38242972268884, + 0.007100864313542843 + ], + [ + -0.43425668810831786, + -0.36918678879737854, + 0.8216582492724146, + 0.24779550731182098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.8973821619504465, + -0.12133573740720749, + 0.42424395452379193, + -0.14307746291160583 + ], + [ + -0.05685405659918343, + 0.9216417074203491, + 0.383854408378299, + 0.008574182167649269 + ], + [ + -0.43757614533615025, + -0.3685840666294098, + 0.8201663837424679, + 0.252842515707016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8950222989502085, + -0.1279728263616562, + 0.4272681146242274, + -0.13951225578784943 + ], + [ + -0.053632960766877076, + 0.9201236963272095, + 0.3879379740481539, + 0.009845812804996967 + ], + [ + -0.442785060278874, + -0.3701287806034088, + 0.8166676837894081, + 0.26099324226379395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.8671026136323235, + -0.3060670197010041, + 0.3930090145243875, + -0.20780034363269806 + ], + [ + 0.06551710392368454, + 0.8521894216537478, + 0.5191153714964898, + -0.0396932028234005 + ], + [ + -0.49380219572826994, + -0.4243774414062501, + 0.7589882573721658, + -0.0494135245680809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.86502491544413, + -0.3044438362121582, + 0.3988055531793767, + -0.20489786565303802 + ], + [ + 0.05984835354293701, + 0.8517982959747314, + 0.5204401231035468, + -0.036299873143434525 + ], + [ + -0.4981466694088449, + -0.42632579803466797, + 0.7550471938886335, + -0.04367077350616455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.8630587399766521, + -0.30397188663482666, + 0.40339901509414716, + -0.2018347978591919 + ], + [ + 0.05478028955128459, + 0.8502649068832397, + 0.5234966505193365, + -0.034528158605098724 + ], + [ + -0.502124266383125, + -0.4297100305557251, + 0.7504801916785057, + -0.03700418770313263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.8623177578243627, + -0.3006292879581452, + 0.4074680096011577, + -0.19927175343036652 + ], + [ + 0.04840215931952044, + 0.8499398827552798, + 0.5246517000800223, + -0.032909005880355835 + ], + [ + -0.5040489698402675, + -0.43269413709640514, + 0.7474693574218068, + -0.03142426535487175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.8613427815931809, + -0.2998200058937073, + 0.4101177360421394, + -0.19632576406002045 + ], + [ + 0.04468728392670577, + 0.8488655686378479, + 0.5267165445000976, + -0.030300913378596306 + ], + [ + -0.5060549627184994, + -0.4353564381599426, + 0.7445624078427221, + -0.025173282250761986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.8608229082124507, + -0.29892322421073914, + 0.41186017035993, + -0.1934947520494461 + ], + [ + 0.04171899151763657, + 0.848034143447876, + 0.5282968891112392, + -0.027588697150349617 + ], + [ + -0.5071916919101128, + -0.437587708234787, + 0.7424779870540547, + -0.019718004390597343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.8606322644068309, + -0.29709416627883917, + 0.4135785319388659, + -0.1894637942314148 + ], + [ + 0.03741351364808753, + 0.8468649983406069, + 0.5304902361211288, + -0.02417607046663761 + ], + [ + -0.5078507378911558, + -0.4410836100578309, + 0.7399546766644284, + -0.012103630229830742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.8588652510759398, + -0.29908299446105957, + 0.4158122953948257, + -0.18798509240150452 + ], + [ + 0.03654749032288925, + 0.8455287218093872, + 0.5326775949629023, + -0.023659301921725273 + ], + [ + -0.5108960403906097, + -0.4423013925552368, + 0.7371259937074441, + -0.009211676195263863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.8587186301142109, + -0.29986903071403503, + 0.4155488383278094, + -0.18550647795200348 + ], + [ + 0.035818839131364424, + 0.8440502882003784, + 0.5350664492371375, + -0.020894797518849373 + ], + [ + -0.5111939922412385, + -0.4445870816707611, + 0.7355426796033707, + -0.004245329648256302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.8589619454773041, + -0.30160200595855713, + 0.4137880664177391, + -0.18262650072574615 + ], + [ + 0.03569135554474082, + 0.8414187431335449, + 0.5392037083657745, + -0.0187507513910532 + ], + [ + -0.5107939399793072, + -0.4483868479728699, + 0.7335112488873293, + 0.00047259964048862457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.8582524258009768, + -0.3059157431125641, + 0.4120901778351854, + -0.18020832538604736 + ], + [ + 0.036996751984500455, + 0.8377265930175781, + 0.5448351827443854, + -0.017662478610873222 + ], + [ + -0.5118925811628086, + -0.4523601233959198, + 0.7302988201330255, + 0.005053926259279251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.8567578168492599, + -0.3109970986843109, + 0.4113962577234078, + -0.17849251627922058 + ], + [ + 0.038369689133707315, + 0.8339424729347229, + 0.5505159100378146, + -0.016947824507951736 + ], + [ + -0.5142896599842656, + -0.45587363839149475, + 0.7264195696132277, + 0.009312888607382774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.8559515239448728, + -0.31250011920928955, + 0.4119353153960528, + -0.17785848677158356 + ], + [ + 0.03784047863223815, + 0.8324172496795654, + 0.5528559219285274, + -0.014853445813059807 + ], + [ + -0.5156695913937138, + -0.4576300382614136, + 0.7243339230837539, + 0.012486972846090794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.8549891618928157, + -0.31511852145195013, + 0.4119391367082733, + -0.1771266758441925 + ], + [ + 0.038168124675479496, + 0.8303343653678896, + 0.5559569169249019, + -0.013505879789590836 + ], + [ + -0.5172395223584607, + -0.45961421728134166, + 0.7219543907686785, + 0.016140056774020195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.8553193591288712, + -0.3172074556350708, + 0.4096440941189285, + -0.17528319358825684 + ], + [ + 0.038571354833562506, + 0.827455997467041, + 0.5602042852050849, + -0.012910153716802597 + ], + [ + -0.5166634157119575, + -0.4633530080318451, + 0.7199742075749456, + 0.0218635406345129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.8567298825986563, + -0.3163664638996125, + 0.4073403183559044, + -0.17260590195655823 + ], + [ + 0.03989977288038368, + 0.8280653357505801, + 0.5592100266483527, + -0.00789390504360199 + ], + [ + -0.5142196747178145, + -0.46283918619155895, + 0.7220512516309048, + 0.02686656266450882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.8560276120066753, + -0.31831037998199463, + 0.4073023431778976, + -0.1718049943447113 + ], + [ + 0.03900580046664105, + 0.8254535794258118, + 0.5631207224426739, + -0.007367852609604597 + ], + [ + -0.5154563680218288, + -0.46615976095199585, + 0.719027047119043, + 0.031225591897964478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.8556191598439168, + -0.31892573833465576, + 0.40767911854631966, + -0.1710485816001892 + ], + [ + 0.038076719898702475, + 0.8242725729942322, + 0.5649114142544911, + -0.004571874625980854 + ], + [ + -0.5162035165124096, + -0.46782591938972473, + 0.7174070015656767, + 0.03416796773672104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.8547876864070624, + -0.31971994042396545, + 0.4087997366727184, + -0.16977544128894806 + ], + [ + 0.03608889120221765, + 0.8224135637283325, + 0.5677442603022551, + -0.001965788658708334 + ], + [ + -0.5177215801972255, + -0.4705476760864258, + 0.714527329848765, + 0.0390213280916214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.852911006416805, + -0.3206610381603241, + 0.41197001396258853, + -0.1695888340473175 + ], + [ + 0.0338753074315632, + 0.8214601278305054, + 0.569258988197529, + -0.0009217364713549614 + ], + [ + -0.520956111757578, + -0.4715716540813446, + 0.7114948704088542, + 0.04237612709403038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.8516208851211736, + -0.32023066282272344, + 0.41496290824155646, + -0.16702957451343536 + ], + [ + 0.031786442560477454, + 0.821769714355469, + 0.5689325122443143, + 0.0026881848461925983 + ], + [ + -0.5231935729920215, + -0.4713246226310731, + 0.710015265025862, + 0.04858815297484398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.8477341999083947, + -0.3227190375328064, + 0.42095032208840555, + -0.1663181632757187 + ], + [ + 0.03085746283984096, + 0.8222765922546387, + 0.5682508563448682, + 0.004791333340108395 + ], + [ + -0.5295229698805991, + -0.4687362313270569, + 0.7070302569594606, + 0.05292264744639397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.8446407363621399, + -0.3222098648548126, + 0.4275076976125233, + -0.165129154920578 + ], + [ + 0.02825738001819613, + 0.824303150177002, + 0.5654430519057542, + 0.008145377039909363 + ], + [ + -0.5345872865302083, + -0.46551600098609924, + 0.7053447952104868, + 0.057926859706640244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.840291056771323, + -0.32409381866455084, + 0.43459648306371634, + -0.16465462744235992 + ], + [ + 0.026588597234537083, + 0.8253099918365481, + 0.5640536181368283, + 0.009570238180458546 + ], + [ + -0.5414831095726209, + -0.46241390705108654, + 0.7021178314758676, + 0.06260338425636292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.8368166856140076, + -0.3249926567077637, + 0.440587793818584, + -0.16305923461914062 + ], + [ + 0.0261244210403703, + 0.8275378942489626, + 0.5608017429787663, + 0.014861677773296833 + ], + [ + -0.5468595559614993, + -0.4577781856060029, + 0.7009877610623736, + 0.06938376277685165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.8338948279106132, + -0.326234519481659, + 0.4451858975256444, + -0.16153989732265472 + ], + [ + 0.025450613781923176, + 0.8284791707992556, + 0.5594412971599153, + 0.018561474978923798 + ], + [ + -0.5513363280574062, + -0.45518496632576, + 0.6991673438000613, + 0.0755651444196701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.8301546143345898, + -0.3268957734107971, + 0.45164424600579317, + -0.16302557289600372 + ], + [ + 0.02304027671206924, + 0.8294985294342041, + 0.5580334493988832, + 0.017738303169608116 + ], + [ + -0.5570570162340908, + -0.45284801721572876, + 0.6961437964191077, + 0.07764571905136108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.8267576323580448, + -0.33129629492759705, + 0.4546587575740329, + -0.16278736293315887 + ], + [ + 0.023836483724324217, + 0.8281028270721436, + 0.5600692639164748, + 0.018668465316295624 + ], + [ + -0.5620530802931613, + -0.4522041082382202, + 0.6925372736108517, + 0.08409351855516434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.8265880897634179, + -0.3318856656551361, + 0.4545371379853165, + -0.16141074895858765 + ], + [ + 0.026939340511102194, + 0.830030620098114, + 0.5570668166099326, + 0.024412980303168297 + ], + [ + -0.5621622142280026, + -0.4482198655605316, + 0.6950342097592946, + 0.08993317186832428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.8233844195113769, + -0.33577969670295715, + 0.4574823606873141, + -0.16250231862068176 + ], + [ + 0.027992097440742478, + 0.8292094469070435, + 0.5582367189039158, + 0.02454587072134018 + ], + [ + -0.5667931937121847, + -0.44683751463890076, + 0.692157294972458, + 0.09343885630369186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.821814434835502, + -0.33767125010490423, + 0.4589108543477019, + -0.16168658435344696 + ], + [ + 0.029723680385182104, + 0.8297652006149294, + 0.5573206109053658, + 0.027955496683716774 + ], + [ + -0.5689794058814133, + -0.44437360763549816, + 0.6919498349119885, + 0.09901001304388046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.8186064618617461, + -0.34161400794982916, + 0.461717826852172, + -0.16230593621730804 + ], + [ + 0.03147301250964647, + 0.8293618559837344, + 0.557824684669704, + 0.028453204780817032 + ], + [ + -0.5734918830344305, + -0.4421072602272035, + 0.6896725949681722, + 0.10323812067508698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.8155801743156342, + -0.34412339329719543, + 0.46519679504724165, + -0.16263194382190704 + ], + [ + 0.035000129492876356, + 0.8318086862564087, + 0.5539579381589073, + 0.031569600105285645 + ], + [ + -0.5775845635400114, + -0.4355151653289795, + 0.690451004506819, + 0.1070217415690422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.8129133629803539, + -0.34796047210693365, + 0.46700685609049564, + -0.16221404075622559 + ], + [ + 0.040290414583370376, + 0.833567261695862, + 0.5509467132263739, + 0.03410928696393967 + ], + [ + -0.5809893366540437, + -0.4290560483932496, + 0.6916374329576582, + 0.1110692024230957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.808876866899261, + -0.3513054549694062, + 0.47148983533706035, + -0.16315416991710663 + ], + [ + 0.04388190983183277, + 0.8357157707214358, + 0.547406185451445, + 0.036739032715559006 + ], + [ + -0.5863382659548014, + -0.42209431529045116, + 0.6914071607382025, + 0.11395159363746643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.8048693748723631, + -0.35496896505355835, + 0.4755863511819761, + -0.16391685605049133 + ], + [ + 0.04358453506991726, + 0.8345825672149658, + 0.5491560325479449, + 0.035505812615156174 + ], + [ + -0.5918494185943006, + -0.4212706685066223, + 0.6872010811805618, + 0.11713829636573792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.8014781536817764, + -0.358397662639618, + 0.4787315031701937, + -0.16348417103290558 + ], + [ + 0.04479704851567406, + 0.8342536687850954, + 0.5495580457609522, + 0.03865835815668106 + ], + [ + -0.5963438275535924, + -0.41901302337646495, + 0.6846912746423471, + 0.12145271897315979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.798826478600503, + -0.361491322517395, + 0.48083291589572547, + -0.1639203429222107 + ], + [ + 0.043847916407690236, + 0.8321713805198669, + 0.5527821742745967, + 0.038649141788482666 + ], + [ + -0.59996135451726, + -0.420493483543396, + 0.6806111529207044, + 0.12381459772586823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.7954995406126496, + -0.36664760112762457, + 0.48244173493541626, + -0.16450652480125427 + ], + [ + 0.04581890025306744, + 0.8302853107452395, + 0.5554520254772815, + 0.03946288302540779 + ], + [ + -0.6042194316325082, + -0.41975685954093944, + 0.677290978363799, + 0.12629616260528564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.7934999670341032, + -0.3710331618785858, + 0.4823817811169331, + -0.16454686224460602 + ], + [ + 0.047650992699412496, + 0.8280940651893616, + 0.5585602784995534, + 0.04046815633773804 + ], + [ + -0.6067018921195878, + -0.4202316105365753, + 0.6747727078584392, + 0.12938280403614044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.793055841405746, + -0.371340811252594, + 0.4828751761280842, + -0.16514764726161957 + ], + [ + 0.04740460861213542, + 0.8279232978820801, + 0.5588342988433437, + 0.04287083446979523 + ], + [ + -0.6073015926107248, + -0.420296311378479, + 0.6741926983549561, + 0.13114742934703827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.7922759225736173, + -0.3737217783927918, + 0.4823183300227092, + -0.16457688808441162 + ], + [ + 0.04865233003613912, + 0.8266509771347048, + 0.5606078341899191, + 0.045475877821445465 + ], + [ + -0.60822023348973, + -0.4206901788711549, + 0.6731180811193601, + 0.13399997353553772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.7911449244766072, + -0.3743845224380493, + 0.4836589260432156, + -0.16453039646148682 + ], + [ + 0.047471275745225944, + 0.825972855091095, + 0.5617074511062099, + 0.04631616920232773 + ], + [ + -0.6097837319734724, + -0.42143210768699646, + 0.671236773394102, + 0.1364772617816925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.7906222309024816, + -0.37397316098213196, + 0.48483046511548206, + -0.16450951993465424 + ], + [ + 0.04574878958967207, + 0.8256787657737732, + 0.5622825232842692, + 0.0463142991065979 + ], + [ + -0.6105927960044476, + -0.4223726689815521, + 0.6699087929398785, + 0.13847044110298157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.7898995182988428, + -0.3738104701042176, + 0.4861322163170895, + -0.16433730721473694 + ], + [ + 0.0444991029821625, + 0.825582027435303, + 0.5625247240571513, + 0.04722736030817032 + ], + [ + -0.611619696234421, + -0.4227055609226228, + 0.6687610789389242, + 0.14091670513153076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.789618480630353, + -0.37434786558151245, + 0.4861752134815966, + -0.16412150859832764 + ], + [ + 0.043426562957184174, + 0.8244422078132629, + 0.5642776048361711, + 0.048126012086868286 + ], + [ + -0.61205942682153, + -0.4244511127471924, + 0.6672514631593635, + 0.14305320382118225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.789583449700325, + -0.3751997947692872, + 0.48557498510827396, + -0.16407296061515808 + ], + [ + 0.04240022891338473, + 0.8227651715278628, + 0.5667977127626258, + 0.04841925576329231 + ], + [ + -0.6121765769235454, + -0.42694562673568737, + 0.6655503210144632, + 0.1446811854839325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.7898531707288821, + -0.3746277093887329, + 0.48557812292074953, + -0.16384033858776093 + ], + [ + 0.041334883562972526, + 0.8224692344665527, + 0.5673057734300143, + 0.049254246056079865 + ], + [ + -0.6119015129943103, + -0.4280169606208801, + 0.6651151114580474, + 0.14639875292778015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/pull_out/transforms.json b/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..e252b83b168b7338729f20c6f3c3a33101e18c8a --- /dev/null +++ b/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/pull_out/transforms.json @@ -0,0 +1,5893 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 168, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -6.386433960869908e-05, + 4.9870759539771825e-05, + -7.26116995792836e-05 + ], + [ + 6.386695895344019e-05, + 1.0, + -5.262265040073544e-05, + 2.3591896024299785e-05 + ], + [ + -4.986739804735407e-05, + 5.262583727017045e-05, + 1.0, + 0.000261035340372473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999998211860657, + -0.0004513963358476758, + 0.00043834978714585304, + -0.0012122619347814136 + ], + [ + 0.0004514788743108511, + 0.9999998807907104, + -0.0001882771757664159, + 7.805190384415854e-05 + ], + [ + -0.00043826474575325847, + 0.00018847505270969123, + 0.9999998807907104, + -0.0001328276464726755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999999463558197, + -0.0005155851249583066, + 0.0008805471006780863, + -0.0018679915803267125 + ], + [ + 0.0005157400737516582, + 0.9999998807907104, + -0.00017578608822077513, + -0.0009531268299958796 + ], + [ + -0.0008804562967270613, + 0.00017624013707973063, + 0.9999995827674866, + -0.00023786002124553778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999998211860657, + -0.00022963089577388018, + 0.0005722171626985073, + -0.001665118953051369 + ], + [ + 0.00023016591148916632, + 0.9999995231628418, + -0.0009350882028229535, + -0.0007778537267621071 + ], + [ + -0.000572002143599093, + 0.0009352197521366179, + 0.9999994039535522, + -0.0024170319116144576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999997019767761, + -0.00046732480404898524, + 0.0006452467641793191, + -0.0020044832204574505 + ], + [ + 0.00046829163329675794, + 0.9999987483024597, + -0.0014990560011938214, + -0.00048277819669292405 + ], + [ + -0.0006445454782806337, + 0.0014993577497079968, + 0.9999986886978149, + -0.003216082015295073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999997019767761, + -0.00019359869475010782, + 0.0007237441022880375, + -0.002119020735433682 + ], + [ + 0.00019498301844578236, + 0.999998152256012, + -0.0019131302833557129, + -0.00015092159891194346 + ], + [ + -0.0007233723881654441, + 0.0019132709130644798, + 0.9999979138374329, + -0.003264589396913252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999996423721313, + 0.00017050415044650435, + 0.0007969001890160143, + -0.002153488570576099 + ], + [ + -0.00016883565695025027, + 0.9999977946281433, + -0.0020933153573423624, + -0.00045543947103042937 + ], + [ + -0.0007972553721629083, + 0.002093180315569043, + 0.9999974966049194, + -0.0040426122653786055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999989867210388, + -0.0005578714772127569, + 0.001314881956204772, + -0.0023401630184931043 + ], + [ + 0.000559780455660075, + 0.9999988079071045, + -0.0014519282849505544, + -0.00270625696117393 + ], + [ + -0.0013140703085809946, + 0.0014526628656312823, + 0.9999980926513672, + -0.004509908634148717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999992847442627, + 0.0002549107011873275, + 0.0011836827034130692, + -0.0019902654245919633 + ], + [ + -0.0002528218610677868, + 0.9999983906745911, + -0.001764523796737194, + -0.0025787475666666994 + ], + [ + -0.0011841306695714593, + 0.001764223212376237, + 0.9999977350234985, + -0.0055139320395736335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999985694885254, + 0.0011831024894490838, + 0.0012033168459311128, + -0.0017911059804913215 + ], + [ + -0.001181108527816832, + 0.9999979138374329, + -0.0016564088873565197, + -0.0025968893620737657 + ], + [ + -0.0012052740203216672, + 0.00165498536080122, + 0.9999979138374329, + -0.0062174357125301385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999971389770508, + 0.0011831377632915974, + 0.0020694038830697536, + -0.0018111988177110334 + ], + [ + -0.001178534235805273, + 0.9999968409538269, + -0.0022243561688810587, + -0.001789784569204032 + ], + [ + -0.0020720288157463074, + 0.0022219109814614058, + 0.9999954104423523, + -0.007278412349053664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999939203262329, + 0.0023831583093851805, + 0.002556296531111002, + -0.0016549728228013494 + ], + [ + -0.002378321485593915, + 0.9999953508377075, + -0.0018935262924060225, + -0.002286058327972242 + ], + [ + -0.0025607971474528313, + 0.00188743497710675, + 0.9999949336051941, + -0.00756569751928711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999905228614807, + 0.0033453917130827904, + 0.002780444687232375, + -0.0016584218704158407 + ], + [ + -0.0033397232182323933, + 0.999992311000824, + -0.002040930325165391, + -0.002176319185120171 + ], + [ + -0.0027872512582689524, + 0.0020316250156611204, + 0.9999940395355225, + -0.008451164583257308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999861717224121, + 0.004599347710609436, + 0.0025467174127697945, + -0.0008945135369724009 + ], + [ + -0.0045942021533846855, + 0.9999874234199524, + -0.002022651256993413, + -0.00314782674572135 + ], + [ + -0.0025559882633388042, + 0.0020109231118112803, + 0.999994695186615, + -0.009189320913053113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999824166297913, + 0.0049236249178647995, + 0.003302266588434577, + -0.001743414664144689 + ], + [ + -0.004911785013973713, + 0.9999815225601196, + -0.0035838696639984846, + -0.002122848111756904 + ], + [ + -0.003319851355627179, + 0.003567586885765195, + 0.9999881386756897, + -0.008961170337450117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999813437461853, + 0.005462336353957653, + 0.002723792102187872, + -0.0008862967899872247 + ], + [ + -0.005448244512081146, + 0.999971866607666, + -0.005154474172741175, + -0.0008727919803876541 + ], + [ + -0.0027518710121512413, + 0.005139538552612066, + 0.999983012676239, + -0.009697740020587327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999813437461853, + 0.005650729406625032, + 0.0023196707479655743, + -0.0008370073698321637 + ], + [ + -0.005635865498334169, + 0.9999638795852661, + -0.006365066394209862, + -0.000533068184266815 + ], + [ + -0.0023555541411042213, + 0.0063518742099404335, + 0.9999770522117615, + -0.01092934782608429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999671578407288, + 0.006521407049149275, + 0.004805780481547117, + -0.005537141720948373 + ], + [ + -0.006483227480202913, + 0.9999476075172424, + -0.0079177962616086, + 0.0006690147551038709 + ], + [ + -0.004857164341956377, + 0.007886379025876522, + 0.9999570846557617, + -0.01191388854288502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999735355377197, + 0.006690052337944508, + 0.002863154746592045, + -0.0027241169466653806 + ], + [ + -0.006668388843536377, + 0.99994957447052, + -0.007510227616876364, + -0.001510333986311571 + ], + [ + -0.00291325431317091, + 0.007490936201065779, + 0.9999676942825317, + -0.012519171029541218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.99996018409729, + 0.00690375966951251, + 0.005653887987136841, + -0.00833886318287985 + ], + [ + -0.006850677076727152, + 0.9999327659606934, + -0.009354774840176105, + -0.0006207214057038421 + ], + [ + -0.005718090571463108, + 0.009315668605268002, + 0.9999402761459351, + -0.01315921905442158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999510645866394, + 0.0071453070268034935, + 0.006842389237135649, + -0.010893863196412246 + ], + [ + -0.007081286050379276, + 0.9999313354492188, + -0.00933554396033287, + -0.002908884339915689 + ], + [ + -0.0069086248986423016, + 0.009286634624004364, + 0.9999330043792725, + -0.013238360417984471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999123215675354, + 0.007235681638121605, + 0.011092716827988625, + -0.018259737124209276 + ], + [ + -0.007122356444597244, + 0.9999223947525024, + -0.010221858508884907, + -0.0030739482099045356 + ], + [ + -0.011165818199515343, + 0.010141956619918346, + 0.9998862147331238, + -0.012802177203908386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.999873161315918, + 0.007011420093476772, + 0.01429921668022871, + -0.023342059810316847 + ], + [ + -0.006869880482554436, + 0.9999271631240845, + -0.009923621080815792, + -0.00547345249807674 + ], + [ + -0.014367754571139812, + 0.00982412789016962, + 0.9998485445976257, + -0.012756782574307252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9997297525405884, + 0.0072752260603010654, + 0.02208041027188301, + -0.03612989043359628 + ], + [ + -0.007036380935460329, + 0.9999160766601562, + -0.01087554357945919, + -0.005759777778391531 + ], + [ + -0.022157680243253708, + 0.010717237368226051, + 0.9996970295906067, + -0.01142953844200039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9995831251144409, + 0.0070657809264957905, + 0.02799452468752861, + -0.045249704342937756 + ], + [ + -0.006797217298299074, + 0.9999300837516785, + -0.009677005931735039, + -0.009837154229868672 + ], + [ + -0.028060942888259888, + 0.009482687339186668, + 0.9995612502098083, + -0.010094317950553705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9995039701461792, + 0.006694944575428963, + 0.030772455036640167, + -0.04863737133181024 + ], + [ + -0.006402663886547089, + 0.9999335408210754, + -0.009586879052221775, + -0.011407674014189108 + ], + [ + -0.030834592878818512, + 0.009385098703205585, + 0.9994804263114929, + -0.00992022993455747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9992969036102295, + 0.006890510208904743, + 0.03685363754630089, + -0.05734130367190538 + ], + [ + -0.00653367955237627, + 0.9999306797981262, + -0.00979406014084816, + -0.012021434771086642 + ], + [ + -0.03691856935620308, + 0.00954638421535492, + 0.9992727041244507, + -0.0096751813932941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9990857243537903, + 0.006756249349564314, + 0.042214710265398026, + -0.06438806937438642 + ], + [ + -0.006343595217913389, + 0.9999308586120605, + -0.009901443496346474, + -0.01282897494108734 + ], + [ + -0.04227868840098381, + 0.009624598547816277, + 0.9990594983100891, + -0.009967526644579845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9988430738449097, + 0.006525752600282431, + 0.04764325171709061, + -0.0708448464463571 + ], + [ + -0.00607175612822175, + 0.9999348521232605, + -0.009667590260505676, + -0.01383856940613 + ], + [ + -0.04770323634147644, + 0.00936712697148323, + 0.9988176226615906, + -0.009595641642139701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.998616099357605, + 0.0065301088616251945, + 0.05218508094549179, + -0.07536739988509053 + ], + [ + -0.006033869460225105, + 0.9999351501464844, + -0.00966111570596695, + -0.013816376787772078 + ], + [ + -0.05224478244781494, + 0.009332867339253426, + 0.9985907077789307, + -0.008401358222399288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9984476566314697, + 0.006945790722966194, + 0.05526307597756386, + -0.07736502313417588 + ], + [ + -0.006409437395632267, + 0.9999306797981262, + -0.00987678486853838, + -0.013428450483984933 + ], + [ + -0.05532784387469292, + 0.009507247246801853, + 0.9984229803085327, + -0.008333568929689016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9983399510383606, + 0.006739707663655281, + 0.05720023065805435, + -0.07782417890465188 + ], + [ + -0.006165247410535812, + 0.9999288320541382, + -0.01021350733935833, + -0.012907531190507426 + ], + [ + -0.05726499855518341, + 0.009843898937106133, + 0.9983105063438416, + -0.008795346057566697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9983023405075073, + 0.0063195484690368176, + 0.05790082365274429, + -0.07648424404466937 + ], + [ + -0.0057501341216266155, + 0.9999334812164307, + -0.009995643049478531, + -0.013474031078244398 + ], + [ + -0.057960145175457, + 0.00964573584496975, + 0.9982722997665405, + -0.009424583735446378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9983341097831726, + 0.006686300504952669, + 0.057308658957481384, + -0.07412385496193777 + ], + [ + -0.006100588012486696, + 0.9999274015426636, + -0.010389178059995174, + -0.012774322207035596 + ], + [ + -0.05737396329641342, + 0.010022253729403019, + 0.9983024597167969, + -0.01079010589907091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9985660910606384, + 0.00668152654543519, + 0.0531141422688961, + -0.06636593831245771 + ], + [ + -0.0061379666440188885, + 0.9999271631240845, + -0.010390350595116615, + -0.01278076095250017 + ], + [ + -0.053179699927568436, + 0.01004943810403347, + 0.9985343813896179, + -0.013436349728953342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9986178874969482, + 0.006831558421254158, + 0.052112095057964325, + -0.06423780716911047 + ], + [ + -0.0062375618144869804, + 0.9999138116836548, + -0.011552577838301659, + -0.011012831463026786 + ], + [ + -0.052186526358127594, + 0.011211559176445007, + 0.998574435710907, + -0.01525103568495391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9988216757774353, + 0.006778831593692303, + 0.048055801540613174, + -0.05726210872480969 + ], + [ + -0.006217414513230324, + 0.9999107718467712, + -0.011822468601167202, + -0.011029052428767352 + ], + [ + -0.048131655901670456, + 0.011509754694998264, + 0.9987747073173523, + -0.01713785441915789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9990420937538147, + 0.007431824691593647, + 0.04312368109822273, + -0.04914082061432436 + ], + [ + -0.006932663731276989, + 0.999907374382019, + -0.011713134124875069, + -0.01141208737954765 + ], + [ + -0.04320673272013664, + 0.011402951553463936, + 0.9990010857582092, + -0.018750906087357754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9991994500160217, + 0.007518649101257324, + 0.03929278627038002, + -0.04344374591897348 + ], + [ + -0.006993715651333332, + 0.9998846650123596, + -0.013479962944984436, + -0.008736895860178385 + ], + [ + -0.039389606565237045, + 0.013194369152188301, + 0.9991368055343628, + -0.020774255958692492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9994207620620728, + 0.007818002253770828, + 0.033121947199106216, + -0.033902237504096086 + ], + [ + -0.007364784367382526, + 0.9998778700828552, + -0.013783303089439869, + -0.008716453847748612 + ], + [ + -0.033225659281015396, + 0.013531382195651531, + 0.9993562698364258, + -0.023104810933662654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9994701743125916, + 0.00791752990335226, + 0.031570788472890854, + -0.03254845843254449 + ], + [ + -0.0074490830302238464, + 0.9998608231544495, + -0.014928106218576431, + -0.007238457896774579 + ], + [ + -0.03168458864092827, + 0.014685023576021194, + 0.9993900060653687, + -0.023657136765785493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9995211362838745, + 0.00805150717496872, + 0.029878228902816772, + -0.03108671096984498 + ], + [ + -0.007571677211672068, + 0.9998410940170288, + -0.01613805815577507, + -0.005294774085684808 + ], + [ + -0.030003417283296585, + 0.015904102474451065, + 0.9994232654571533, + -0.024089657014039277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9995500445365906, + 0.007689427584409714, + 0.02899339236319065, + -0.030501549916263825 + ], + [ + -0.007216855883598328, + 0.9998399615287781, + -0.016368862241506577, + -0.004923526730812238 + ], + [ + -0.0291146207600832, + 0.01615225523710251, + 0.9994455575942993, + -0.024532203223140814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9995750784873962, + 0.007741834502667189, + 0.02810276858508587, + -0.0299075153806877 + ], + [ + -0.007271723356097937, + 0.9998325705528259, + -0.01679210364818573, + -0.003346182269596322 + ], + [ + -0.028228064998984337, + 0.01658061146736145, + 0.9994639754295349, + -0.025522195194652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995899200439453, + 0.007595139555633068, + 0.02760970965027809, + -0.029909409872607557 + ], + [ + -0.007148189470171928, + 0.9998424053192139, + -0.016250966116786003, + -0.0033152504893811698 + ], + [ + -0.027728784829378128, + 0.01604694314301014, + 0.9994866847991943, + -0.026157548608715664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.999603807926178, + 0.007792814169079065, + 0.027045177295804024, + -0.02982377681970418 + ], + [ + -0.0073702954687178135, + 0.999849796295166, + -0.0156873669475317, + -0.004084723402082385 + ], + [ + -0.027163362130522728, + 0.01548182126134634, + 0.9995111227035522, + -0.026461913278967727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9996150732040405, + 0.0076269893907010555, + 0.026675716042518616, + -0.030236652339557687 + ], + [ + -0.007221064064651728, + 0.9998571872711182, + -0.015280402265489101, + -0.004888735671421725 + ], + [ + -0.02678845077753067, + 0.015081892721354961, + 0.9995273351669312, + -0.027198627799879038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9996243119239807, + 0.007767193019390106, + 0.02628517709672451, + -0.03074033921863326 + ], + [ + -0.007372290827333927, + 0.9998589754104614, + -0.015087462030351162, + -0.0052198257843802075 + ], + [ + -0.026398656889796257, + 0.01488801185041666, + 0.9995406270027161, + -0.02848146667290607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9996458292007446, + 0.007948072627186775, + 0.02539803273975849, + -0.030124564761083997 + ], + [ + -0.007572000380605459, + 0.9998607635498047, + -0.014869149774312973, + -0.005546290146376558 + ], + [ + -0.025512678548693657, + 0.0146715696901083, + 0.9995668530464172, + -0.02892874918610045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.99964439868927, + 0.008038237690925598, + 0.025424784049391747, + -0.030714353371389256 + ], + [ + -0.007659760769456625, + 0.9998589158058167, + -0.014948677271604538, + -0.005351197838917107 + ], + [ + -0.025541359558701515, + 0.01474861428141594, + 0.9995649456977844, + -0.029611498981917807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9996656179428101, + 0.008111256174743176, + 0.024552104994654655, + -0.02974022185418777 + ], + [ + -0.00773939024657011, + 0.9998544454574585, + -0.015203287824988365, + -0.004831199375299101 + ], + [ + -0.024671850726008415, + 0.015008186921477318, + 0.9995829463005066, + -0.030579480344658263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9996684789657593, + 0.008222120814025402, + 0.02439887262880802, + -0.030087679094763217 + ], + [ + -0.007857277058064938, + 0.9998564720153809, + -0.015011711046099663, + -0.005096945179972106 + ], + [ + -0.024518797174096107, + 0.01481502503156662, + 0.9995895624160767, + -0.030619973587611145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9996724724769592, + 0.008072137832641602, + 0.024285543709993362, + -0.03034147423229175 + ], + [ + -0.0077140615321695805, + 0.9998607039451599, + -0.014802145771682262, + -0.0053509398146036145 + ], + [ + -0.024401646107435226, + 0.014609958045184612, + 0.9995954632759094, + -0.031092700691727967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9996761679649353, + 0.007788644637912512, + 0.02422529086470604, + -0.03042239814238277 + ], + [ + -0.007430603262037039, + 0.9998623728752136, + -0.014834709465503693, + -0.005276929618355757 + ], + [ + -0.02433750033378601, + 0.014649897813796997, + 0.9995964765548706, + -0.03144562165545645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9996917247772217, + 0.007382367737591267, + 0.023706650361418724, + -0.029866572518548566 + ], + [ + -0.007038479670882225, + 0.9998692870140076, + -0.014556808397173882, + -0.005096494303291251 + ], + [ + -0.023811014369130135, + 0.014385461807250977, + 0.9996129870414734, + -0.03160754317260197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9997141361236572, + 0.0077614495530724525, + 0.02261326089501381, + -0.028494649750743797 + ], + [ + -0.007453246973454952, + 0.9998786449432373, + -0.013681857846677303, + -0.005603034810503264 + ], + [ + -0.022716708481311798, + 0.013509404845535755, + 0.9996506571769714, + -0.032367022377982585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9998139142990112, + 0.0081156762316823, + 0.01749923825263977, + -0.019555442561646423 + ], + [ + -0.007872235961258411, + 0.9998719096183777, + -0.013935769908130169, + -0.004844437033205689 + ], + [ + -0.0176100954413414, + 0.013795419596135616, + 0.9997497797012329, + -0.03358917311394224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9997667670249939, + 0.008345414884388447, + 0.019920457154512405, + -0.023301726506052618 + ], + [ + -0.008046344853937626, + 0.9998544454574585, + -0.015046477317810059, + -0.0027989794709301456 + ], + [ + -0.020043127238750458, + 0.014882680028676987, + 0.9996883273124695, + -0.033939558099313996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9997076392173767, + 0.007524171378463507, + 0.02297770231962204, + -0.027944486610546798 + ], + [ + -0.007193137425929308, + 0.9998696446418762, + -0.014455582946538925, + -0.0036209381347198687 + ], + [ + -0.02308347448706627, + 0.014286074787378311, + 0.9996314644813538, + -0.03393750671042174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9996886253356934, + 0.007605462335050106, + 0.02376602776348591, + -0.028862551368862212 + ], + [ + -0.007280364632606506, + 0.9998791813850403, + -0.01373579166829586, + -0.0034738479700764852 + ], + [ + -0.023867623880505562, + 0.013558488339185715, + 0.99962317943573, + -0.03493141488539485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9996670484542847, + 0.0071052988059818745, + 0.024805603548884392, + -0.029757914529321437 + ], + [ + -0.006769724655896425, + 0.9998847842216492, + -0.013586045242846012, + -0.0024613709214093265 + ], + [ + -0.024899279698729515, + 0.013413594104349613, + 0.9995999932289124, + -0.0346689549334693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9998008608818054, + 0.0071569811552762985, + 0.018628811463713646, + -0.018954053038207 + ], + [ + -0.006944304332137108, + 0.9999102354049683, + -0.011456298641860485, + -0.004432205695235086 + ], + [ + -0.018709132447838783, + 0.011324652470648289, + 0.9997608065605164, + -0.0350482404001983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9996729493141174, + 0.006316722370684147, + 0.02478105202317238, + -0.028980259501380834 + ], + [ + -0.006058220751583576, + 0.9999266266822815, + -0.01049266941845417, + -0.003959933108466114 + ], + [ + -0.024845510721206665, + 0.010339109227061272, + 0.9996378421783447, + -0.03531633880725521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9996913075447083, + 0.006148273125290871, + 0.024071862921118736, + -0.027044759303732905 + ], + [ + -0.005922340787947178, + 0.9999378323554993, + -0.009445813484489918, + -0.002826909148441014 + ], + [ + -0.024128442630171776, + 0.009300335310399532, + 0.9996656179428101, + -0.03430539622741144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9997377991676331, + 0.006074485834687948, + 0.022076621651649475, + -0.023629536343638055 + ], + [ + -0.005911553744226694, + 0.999954879283905, + -0.007438077591359615, + -0.002390385293095055 + ], + [ + -0.022120807319879532, + 0.007305620238184929, + 0.9997286200523376, + -0.03632599594863411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9997482299804688, + 0.004864264279603958, + 0.021904494613409042, + -0.02439728214176829 + ], + [ + -0.004783915355801582, + 0.9999816417694092, + -0.0037190685980021954, + -0.0033615635677302132 + ], + [ + -0.02192218229174614, + 0.003613342996686697, + 0.9997531771659851, + -0.03525080614511348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9998794794082642, + 0.005745246075093746, + 0.014423276297748089, + -0.014122925827023155 + ], + [ + -0.005745763890445232, + 0.9999834895133972, + -5.509744369192049e-06, + -0.002062995631540017 + ], + [ + -0.014423069544136524, + -7.736365660093725e-05, + 0.9998959898948669, + -0.035490220336767735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9998847246170044, + 0.004660379607230425, + 0.014450819231569767, + -0.016052680292506952 + ], + [ + -0.004736160393804312, + 0.9999752044677734, + 0.005214241798967123, + -0.0017307536806186249 + ], + [ + -0.014426159672439098, + -0.005282082129269838, + 0.9998819828033447, + -0.034843510314041454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9998562335968018, + 0.004417748656123877, + 0.016370339319109917, + -0.02056898295120922 + ], + [ + -0.004619461949914694, + 0.9999136328697205, + 0.012304612435400486, + -0.0035941421204876756 + ], + [ + -0.016314567998051643, + -0.012378466315567493, + 0.9997903108596802, + -0.03345318660641949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996848106384277, + 0.00447346456348896, + 0.02470412291586399, + -0.03593051269048167 + ], + [ + -0.004984932020306587, + 0.9997736811637878, + 0.02068108692765236, + -0.004570242043718429 + ], + [ + -0.024606017395853996, + -0.020797718316316605, + 0.9994808435440063, + -0.029470717716225975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.999539852142334, + 0.0024569351226091385, + 0.030233394354581833, + -0.04703938465810822 + ], + [ + -0.0034084906801581383, + 0.9994991421699524, + 0.03146248310804367, + -0.007431464693592694 + ], + [ + -0.0301409512758255, + -0.0315510556101799, + 0.999047577381134, + -0.025680585301475614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9993760585784912, + 0.0023637558333575726, + 0.03524153307080269, + -0.05819635052390084 + ], + [ + -0.003805282525718212, + 0.9991562962532043, + 0.04089342802762985, + -0.008067177739105896 + ], + [ + -0.035115133970975876, + -0.04100201278924942, + 0.9985418319702148, + -0.022129043918883734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9991748929023743, + 0.0012345948489382863, + 0.040595777332782745, + -0.06984915471005583 + ], + [ + -0.0032525593414902687, + 0.9987598657608032, + 0.04968033730983734, + -0.009456538473685345 + ], + [ + -0.040484100580215454, + -0.04977138340473175, + 0.9979398250579834, + -0.01727966300384727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.999023973941803, + -0.0001724864123389125, + 0.044170405715703964, + -0.07806424707129687 + ], + [ + -0.0025449800305068493, + 0.9981063604354858, + 0.06145870313048363, + -0.015663075177166277 + ], + [ + -0.04409736767411232, + -0.06151113286614418, + 0.9971317648887634, + -0.01113780616910872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9988054633140564, + -0.0021301116794347763, + 0.04881652444601059, + -0.08800224996434 + ], + [ + -0.0015392417553812265, + 0.9971819519996643, + 0.07500559836626053, + -0.023804206207037687 + ], + [ + -0.04883872717618942, + -0.0749911442399025, + 0.9959874749183655, + -0.0056611515403150875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9982821345329285, + -0.0036016397643834352, + 0.05847873538732529, + -0.10364237983158962 + ], + [ + -0.001673331717029214, + 0.9959489703178406, + 0.08990459144115448, + -0.0325933877869459 + ], + [ + -0.058565638959407806, + -0.08984799683094025, + 0.9942320585250854, + 0.00043173424319591786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.997722864151001, + -0.004041397478431463, + 0.06732542812824249, + -0.11530341406960687 + ], + [ + -0.0028166212141513824, + 0.9948357939720154, + 0.10145846009254456, + -0.03301428001440928 + ], + [ + -0.06738777458667755, + -0.10141706466674805, + 0.9925590753555298, + 0.00566737599626272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9964608550071716, + -0.003972629550844431, + 0.08396399766206741, + -0.13941614101836067 + ], + [ + -0.005858753342181444, + 0.9931710362434387, + 0.11652041226625443, + -0.03774859370318002 + ], + [ + -0.08385350555181503, + -0.11659995466470718, + 0.989632785320282, + 0.016030000542809147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9950811862945557, + -0.0038010680582374334, + 0.09898971021175385, + -0.16055256008744953 + ], + [ + -0.009370786137878895, + 0.9911710023880005, + 0.13225820660591125, + -0.04484141333820577 + ], + [ + -0.09861844778060913, + -0.13253527879714966, + 0.9862599968910217, + 0.02445382683755394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9948915243148804, + -0.0023323181085288525, + 0.10092268884181976, + -0.15815934943046397 + ], + [ + -0.01225791871547699, + 0.9895444512367249, + 0.14370636641979218, + -0.04414628895813834 + ], + [ + -0.10020264983177185, + -0.1442093402147293, + 0.9844608306884766, + 0.026953293160050212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9946932792663574, + -0.0017923330888152122, + 0.10286892205476761, + -0.15583127121368567 + ], + [ + -0.014321944676339626, + 0.9877012372016907, + 0.15569554269313812, + -0.04348181768091853 + ], + [ + -0.10188282281160355, + -0.15634261071681976, + 0.9824341535568237, + 0.029884833552523284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9945182204246521, + -0.004239181987941265, + 0.10447731614112854, + -0.1543339887422002 + ], + [ + -0.013343009166419506, + 0.9858643412590027, + 0.1670135259628296, + -0.042869583892072745 + ], + [ + -0.10370846092700958, + -0.16749203205108643, + 0.980403482913971, + 0.0332289853495752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.994388997554779, + -0.0068658022210001945, + 0.10556215792894363, + -0.1531327040520257 + ], + [ + -0.012134269811213017, + 0.9839017987251282, + 0.17829741537570953, + -0.042445209493001776 + ], + [ + -0.10508695989847183, + -0.17857791483402252, + 0.9782978296279907, + 0.03567871409440468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9943193793296814, + -0.007832661271095276, + 0.10614892095327377, + -0.15212201894132676 + ], + [ + -0.012615418061614037, + 0.9815863370895386, + 0.19060194492340088, + -0.04209199302389237 + ], + [ + -0.10568725317716599, + -0.19085833430290222, + 0.9759114980697632, + 0.03919084931383589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9940391182899475, + -0.008892891928553581, + 0.10866080969572067, + -0.15092541932345865 + ], + [ + -0.013330681249499321, + 0.9792751669883728, + 0.20209501683712006, + -0.041644363685282404 + ], + [ + -0.10820604115724564, + -0.20233885943889618, + 0.9733192920684814, + 0.0435076655028109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9934791922569275, + -0.007713403087109327, + 0.11375240236520767, + -0.15029316286216238 + ], + [ + -0.016878655180335045, + 0.9767652750015259, + 0.2136462926864624, + -0.04036416929817485 + ], + [ + -0.11275733262300491, + -0.21417313814163208, + 0.9702657461166382, + 0.04949840577598103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9927285313606262, + -0.009222326800227165, + 0.12002087384462357, + -0.14891162226478497 + ], + [ + -0.018174398690462112, + 0.9741479158401489, + 0.2251788228750229, + -0.03895539601896694 + ], + [ + -0.11899476498365402, + -0.22572274506092072, + 0.9668968319892883, + 0.056453471653118814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9918584823608398, + -0.011000482365489006, + 0.12686890363693237, + -0.14827893929567165 + ], + [ + -0.019471606239676476, + 0.9714460372924805, + 0.23646028339862823, + -0.037826985941675606 + ], + [ + -0.1258474588394165, + -0.23700548708438873, + 0.9633228182792664, + 0.06221098791874811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9910079836845398, + -0.013767373748123646, + 0.1330925077199936, + -0.1489083434650284 + ], + [ + -0.01992298662662506, + 0.9684212803840637, + 0.2485222965478897, + -0.03793091774879102 + ], + [ + -0.1323111206293106, + -0.2489391714334488, + 0.9594389200210571, + 0.06562689220655463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9902012944221497, + -0.017776211723685265, + 0.13851149380207062, + -0.14830380491689293 + ], + [ + -0.01898604817688465, + 0.9655185341835022, + 0.25964105129241943, + -0.036365754045769125 + ], + [ + -0.13835085928440094, + -0.25972670316696167, + 0.9557201862335205, + 0.07109978175805715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9892460107803345, + -0.022568240761756897, + 0.1445097029209137, + -0.1503201029793231 + ], + [ + -0.017672915011644363, + 0.9623408913612366, + 0.27127039432525635, + -0.03785343750374403 + ], + [ + -0.14518970251083374, + -0.27090704441070557, + 0.9515930414199829, + 0.0713099902439974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.988050639629364, + -0.02109021134674549, + 0.15267984569072723, + -0.1523799641135924 + ], + [ + -0.02290361188352108, + 0.9595052599906921, + 0.2807580828666687, + -0.03830224526321103 + ], + [ + -0.1524183601140976, + -0.28090012073516846, + 0.947556734085083, + 0.07240542487469975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9861018657684326, + -0.03631540387868881, + 0.1621243953704834, + -0.16112450307714726 + ], + [ + -0.012290949001908302, + 0.9571993947029114, + 0.28916820883750916, + -0.04481927538569459 + ], + [ + -0.16568663716316223, + -0.28714194893836975, + 0.9434497356414795, + 0.05988182020401526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9857988357543945, + -0.03328615054488182, + 0.16459842026233673, + -0.15247436241653864 + ], + [ + -0.01718241721391678, + 0.9550215601921082, + 0.29603809118270874, + -0.036817801993585635 + ], + [ + -0.16704900562763214, + -0.2946622371673584, + 0.9408872723579407, + 0.08521994780637546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9852051734924316, + -0.03808746114373207, + 0.16709324717521667, + -0.1539411627068491 + ], + [ + -0.014780589379370213, + 0.9524753093719482, + 0.30425694584846497, + -0.03729171189451646 + ], + [ + -0.17074057459831238, + -0.302225261926651, + 0.9378206729888916, + 0.08959485751069235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9848159551620483, + -0.04467657208442688, + 0.16775447130203247, + -0.15369210325315327 + ], + [ + -0.01054922491312027, + 0.9491313099861145, + 0.3147038519382477, + -0.037477862357557894 + ], + [ + -0.17328089475631714, + -0.31169506907463074, + 0.9342483282089233, + 0.09693238897594864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9840211272239685, + -0.05128028243780136, + 0.17050719261169434, + -0.15404309309171346 + ], + [ + -0.007079873234033585, + 0.9456015825271606, + 0.32524996995925903, + -0.03681162321817376 + ], + [ + -0.17791077494621277, + -0.3212600350379944, + 0.9301288723945618, + 0.10410642086745735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9827715754508972, + -0.05724567174911499, + 0.17573563754558563, + -0.15435187476659248 + ], + [ + -0.004911985248327255, + 0.9423990249633789, + 0.334454745054245, + -0.03618837938515726 + ], + [ + -0.18475918471813202, + -0.32955583930015564, + 0.9258817434310913, + 0.11084584165476039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9809181094169617, + -0.06229002773761749, + 0.1841726452112198, + -0.15607918634743034 + ], + [ + -0.004366079345345497, + 0.9399902820587158, + 0.34117332100868225, + -0.03618814302775675 + ], + [ + -0.19437219202518463, + -0.3354671895503998, + 0.9217815399169922, + 0.11574600810062385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9790257811546326, + -0.06576104462146759, + 0.1928316354751587, + -0.15756596631989508 + ], + [ + -0.005055898800492287, + 0.9383423328399658, + 0.34567058086395264, + -0.03540153625772563 + ], + [ + -0.20367375016212463, + -0.33939534425735474, + 0.9183288216590881, + 0.11983568006289932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9771909117698669, + -0.07149715721607208, + 0.1999652236700058, + -0.15721790822680126 + ], + [ + -0.0033394284546375275, + 0.9363310933113098, + 0.35110241174697876, + -0.03638382697154484 + ], + [ + -0.2123364955186844, + -0.3437618613243103, + 0.9147354960441589, + 0.12715164005399462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.975588321685791, + -0.07289101183414459, + 0.20715788006782532, + -0.15951240812233108 + ], + [ + -0.004241034388542175, + 0.9368799924850464, + 0.3496253192424774, + -0.034921164182711864 + ], + [ + -0.21956661343574524, + -0.34196892380714417, + 0.9137000441551208, + 0.12994969023201994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.974646806716919, + -0.07436783611774445, + 0.211028590798378, + -0.16083691494907448 + ], + [ + -0.00411190465092659, + 0.9370359778404236, + 0.3492085933685303, + -0.034293914851760435 + ], + [ + -0.2237112671136856, + -0.34122276306152344, + 0.9129733443260193, + 0.13285056864787004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.973723292350769, + -0.07560980319976807, + 0.21481651067733765, + -0.16354365964492637 + ], + [ + -0.0033274777233600616, + 0.9384520649909973, + 0.34539344906806946, + -0.03250596058069768 + ], + [ + -0.22771012783050537, + -0.3370324671268463, + 0.9135410189628601, + 0.13202439730395812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9726664423942566, + -0.07747045159339905, + 0.21890252828598022, + -0.16498142525464474 + ], + [ + -0.0026985593140125275, + 0.9388702511787415, + 0.344260573387146, + -0.03161603905215949 + ], + [ + -0.2321910858154297, + -0.3354414105415344, + 0.9129985570907593, + 0.1341575801372528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9708721041679382, + -0.08304299414157867, + 0.22474710643291473, + -0.1659827581690457 + ], + [ + -6.62095844745636e-05, + 0.9379227757453918, + 0.3468440771102905, + -0.03181025303320257 + ], + [ + -0.23959840834140778, + -0.3367561101913452, + 0.910597562789917, + 0.13844160441153064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9695166349411011, + -0.0871080681681633, + 0.229018896818161, + -0.16682203014096814 + ], + [ + 0.0016973987221717834, + 0.9370391368865967, + 0.3492202162742615, + -0.03140014438572044 + ], + [ + -0.2450195848941803, + -0.3381860852241516, + 0.9086229205131531, + 0.14134586872811802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9685829281806946, + -0.0894741341471672, + 0.23203767836093903, + -0.1669821168580455 + ], + [ + 0.0022243931889533997, + 0.9361165165901184, + 0.3516830503940582, + -0.03083486700553202 + ], + [ + -0.24868084490299225, + -0.34011808037757874, + 0.906905472278595, + 0.14511082145625245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9674249887466431, + -0.09223158657550812, + 0.23575879633426666, + -0.1677479617253035 + ], + [ + 0.00279887393116951, + 0.9351118803024292, + 0.35434162616729736, + -0.0305303480476141 + ], + [ + -0.2531423270702362, + -0.3421390652656555, + 0.9049087166786194, + 0.14841585309205654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.966227650642395, + -0.09620320051908493, + 0.23905876278877258, + -0.16837986534584068 + ], + [ + 0.004673823714256287, + 0.9340888857841492, + 0.35701003670692444, + -0.02978603617806813 + ], + [ + -0.25764763355255127, + -0.34383562207221985, + 0.9029921293258667, + 0.15092582327876974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9650055170059204, + -0.09830661118030548, + 0.24310530722141266, + -0.16973187279201554 + ], + [ + 0.004159752279520035, + 0.9326924085617065, + 0.36064887046813965, + -0.028884830014657477 + ], + [ + -0.2621966302394867, + -0.3470168709754944, + 0.9004622101783752, + 0.15327742651194154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9642744660377502, + -0.10098353028297424, + 0.244902104139328, + -0.16789761196353478 + ], + [ + 0.004100888967514038, + 0.930069625377655, + 0.3673604428768158, + -0.027302627648020578 + ], + [ + -0.26487335562705994, + -0.3532319962978363, + 0.8972565531730652, + 0.15875372096093116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.963081955909729, + -0.103729248046875, + 0.24842169880867004, + -0.1683567922629282 + ], + [ + 0.0035968199372291565, + 0.9276618957519531, + 0.373403936624527, + -0.027114261492729906 + ], + [ + -0.26918426156044006, + -0.35872510075569153, + 0.8937875628471375, + 0.16202741258158654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9621568322181702, + -0.1073666512966156, + 0.25045299530029297, + -0.16716958286162623 + ], + [ + 0.004570223391056061, + 0.9253345131874084, + 0.3791242837905884, + -0.026381448279330116 + ], + [ + -0.2724580764770508, + -0.3636323809623718, + 0.890807569026947, + 0.16729430317164895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9612036943435669, + -0.10919062793254852, + 0.2533077895641327, + -0.16764335773305264 + ], + [ + 0.004362072795629501, + 0.9242180585861206, + 0.38184019923210144, + -0.025313965255718038 + ], + [ + -0.2758050262928009, + -0.365921288728714, + 0.8888381123542786, + 0.16992501661092219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9614848494529724, + -0.1103290319442749, + 0.25174275040626526, + -0.1651472596529715 + ], + [ + 0.00533955916762352, + 0.9232259392738342, + 0.3842204511165619, + -0.02341732237220346 + ], + [ + -0.27480611205101013, + -0.36807796359062195, + 0.888256847858429, + 0.17419174456310843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9607681035995483, + -0.11349338293075562, + 0.25306907296180725, + -0.16518033816072042 + ], + [ + 0.00702580064535141, + 0.9221101403236389, + 0.38686370849609375, + -0.022931907573592165 + ], + [ + -0.2772640287876129, + -0.36990827322006226, + 0.8867313861846924, + 0.1791066886422163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.960780680179596, + -0.11655630171298981, + 0.2516250014305115, + -0.16224671771783314 + ], + [ + 0.010498136281967163, + 0.9220172166824341, + 0.3870064914226532, + -0.02001276412744544 + ], + [ + -0.27711063623428345, + -0.36918678879737854, + 0.8870799541473389, + 0.18564679196137868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9601036310195923, + -0.12133573740720749, + 0.2519497871398926, + -0.16087990296101143 + ], + [ + 0.014718569815158844, + 0.9216417074203491, + 0.38776275515556335, + -0.01882462328645641 + ], + [ + -0.2792568802833557, + -0.3685840666294098, + 0.8866574168205261, + 0.19019247068616443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9587393999099731, + -0.1279728263616562, + 0.2538537383079529, + -0.15760123474512272 + ], + [ + 0.019249025732278824, + 0.9201236963272095, + 0.3911544978618622, + -0.018026872970788425 + ], + [ + -0.2836340069770813, + -0.3701287806034088, + 0.8846222162246704, + 0.19795728793401202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9253022074699402, + -0.30606701970100403, + 0.22391706705093384, + -0.22389019276210648 + ], + [ + 0.1614418923854828, + 0.8521894216537476, + 0.49770450592041016, + -0.0754564008536096 + ], + [ + -0.34315067529678345, + -0.42437744140625, + 0.837944746017456, + -0.10962512308430529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9247046113014221, + -0.3044438362121582, + 0.22855055332183838, + -0.22145751652246465 + ], + [ + 0.15690463781356812, + 0.8517982959747314, + 0.49982064962387085, + -0.07251442320600242 + ], + [ + -0.3468462824821472, + -0.42632579803466797, + 0.8354304432868958, + -0.10420196131317916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9240046143531799, + -0.30397188663482666, + 0.23198410868644714, + -0.21878213993089643 + ], + [ + 0.15329335629940033, + 0.8502649068832397, + 0.5035382509231567, + -0.07131358771445509 + ], + [ + -0.3503094017505646, + -0.4297100305557251, + 0.8322455286979675, + -0.09780296285352308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.924419641494751, + -0.30062928795814514, + 0.23467087745666504, + -0.2165558959017257 + ], + [ + 0.14804396033287048, + 0.8499398827552795, + 0.5056532025337219, + -0.07015172678553416 + ], + [ + -0.35147029161453247, + -0.43269413709640503, + 0.8302074670791626, + -0.09257128239124121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.92434161901474, + -0.2998200058937073, + 0.23600956797599792, + -0.2138498277899748 + ], + [ + 0.1455904245376587, + 0.8488655686378479, + 0.5081640481948853, + -0.06803285468168958 + ], + [ + -0.35269811749458313, + -0.4353564381599426, + 0.828292727470398, + -0.08667525722461189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9245398044586182, + -0.29892322421073914, + 0.2363705337047577, + -0.2111871572668681 + ], + [ + 0.1437830924987793, + 0.848034143447876, + 0.5100632309913635, + -0.0657670827035954 + ], + [ + -0.3529200255870819, + -0.437587708234787, + 0.8270214200019836, + -0.08162080528894941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9250594973564148, + -0.2970941662788391, + 0.2366432398557663, + -0.20731831412472412 + ], + [ + 0.14079119265079498, + 0.8468649983406067, + 0.5128328204154968, + -0.06286884613870504 + ], + [ + -0.3527645170688629, + -0.4410836100578308, + 0.825228750705719, + -0.07436639824714847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9241390228271484, + -0.29908299446105957, + 0.23773188889026642, + -0.2060641043111236 + ], + [ + 0.1411786675453186, + 0.8455287218093872, + 0.5149269104003906, + -0.06281841426953941 + ], + [ + -0.35501500964164734, + -0.4423013925552368, + 0.823610246181488, + -0.07184550928810757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9243143796920776, + -0.29986903071403503, + 0.23605391383171082, + -0.2035992330241346 + ], + [ + 0.1417478322982788, + 0.8440502882003784, + 0.5171911120414734, + -0.06053579293280662 + ], + [ + -0.35433098673820496, + -0.4445870816707611, + 0.8226736187934875, + -0.06730055312464338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9245679974555969, + -0.30160200595855713, + 0.23283085227012634, + -0.20061163841607327 + ], + [ + 0.1432645320892334, + 0.8414187431335449, + 0.5210468173027039, + -0.05899927799707045 + ], + [ + -0.35305699706077576, + -0.4483868479728699, + 0.821157693862915, + -0.0629581443764671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.923893392086029, + -0.3059157431125641, + 0.2298620045185089, + -0.198101774839584 + ], + [ + 0.14649930596351624, + 0.8377265930175781, + 0.5260723233222961, + -0.05861421635452502 + ], + [ + -0.353495329618454, + -0.4523601233959198, + 0.8187865614891052, + -0.058683949784782835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9226478934288025, + -0.3109970986843109, + 0.22803881764411926, + -0.19638059119621437 + ], + [ + 0.14982634782791138, + 0.8339424729347229, + 0.5311233997344971, + -0.05861079778053804 + ], + [ + -0.3553490936756134, + -0.45587363839149475, + 0.8160308003425598, + -0.05469910830571624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9223259091377258, + -0.31250011920928955, + 0.22728535532951355, + -0.19582355677367685 + ], + [ + 0.15062163770198822, + 0.8324172496795654, + 0.5332866907119751, + -0.057005447713647066 + ], + [ + -0.35584840178489685, + -0.4576300382614136, + 0.8148292303085327, + -0.051918690866918984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9217403531074524, + -0.3151185214519501, + 0.22604212164878845, + -0.19512883283777865 + ], + [ + 0.15241989493370056, + 0.8303343653678894, + 0.5360159277915955, + -0.05619457344005922 + ], + [ + -0.3565990626811981, + -0.45961421728134155, + 0.8133830428123474, + -0.048638353222412264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9219379425048828, + -0.3172074556350708, + 0.22228342294692993, + -0.19311910896244164 + ], + [ + 0.1545400470495224, + 0.827455997467041, + 0.5398462414741516, + -0.056227157523710575 + ], + [ + -0.3551729917526245, + -0.4633530080318451, + 0.8118842840194702, + -0.04328166538860627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9231804013252258, + -0.3163664638996124, + 0.21828919649124146, + -0.19025203460704782 + ], + [ + 0.15647608041763306, + 0.8280653357505798, + 0.5383521914482117, + -0.05141339357384665 + ], + [ + -0.3510742783546448, + -0.46283918619155884, + 0.8139574527740479, + -0.038932393098662726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9228270649909973, + -0.31831037998199463, + 0.21695317327976227, + -0.18947303719863207 + ], + [ + 0.1572735756635666, + 0.8254535794258118, + 0.5421175360679626, + -0.05151634656483989 + ], + [ + -0.35164642333984375, + -0.46615976095199585, + 0.8118127584457397, + -0.03488610579582033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9228472709655762, + -0.31892573833465576, + 0.21596139669418335, + -0.18876517522120903 + ], + [ + 0.1575971394777298, + 0.8242725729942322, + 0.5438178777694702, + -0.04918447896994338 + ], + [ + -0.35144859552383423, + -0.46782591938972473, + 0.8109394311904907, + -0.03235820116932521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9226131439208984, + -0.31971994042396545, + 0.2157873958349228, + -0.18760697459746264 + ], + [ + 0.15711605548858643, + 0.8224135637283325, + 0.5467636585235596, + -0.047147456249277936 + ], + [ + -0.3522776961326599, + -0.4705476760864258, + 0.809002697467804, + -0.027830391818891756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.92180335521698, + -0.3206610381603241, + 0.21784180402755737, + -0.18772057701727587 + ], + [ + 0.15613922476768494, + 0.8214601278305054, + 0.548474133014679, + -0.0465731762851516 + ], + [ + -0.35482263565063477, + -0.4715716540813446, + 0.8072924613952637, + -0.024817676578988576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9215361475944519, + -0.3202306628227234, + 0.2195984423160553, + -0.18543902476747592 + ], + [ + 0.15488901734352112, + 0.8217697143554688, + 0.5483648180961609, + -0.04328251846725802 + ], + [ + -0.35606256127357483, + -0.471324622631073, + 0.8068907260894775, + -0.019055380948824807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9193998575210571, + -0.3227190375328064, + 0.22484739124774933, + -0.1853022843331634 + ], + [ + 0.1546926498413086, + 0.8222765922546387, + 0.5476599335670471, + -0.041448217937109365 + ], + [ + -0.3616270422935486, + -0.4687362313270569, + 0.8059232234954834, + -0.015122367231967221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9181817770004272, + -0.3222098648548126, + 0.23048433661460876, + -0.1847272242614609 + ], + [ + 0.15239518880844116, + 0.824303150177002, + 0.54525226354599, + -0.03821739027957003 + ], + [ + -0.3656746447086334, + -0.46551600098609924, + 0.8059633374214172, + -0.01060415461302519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9158769845962524, + -0.3240938186645508, + 0.2369230091571808, + -0.18494204678935205 + ], + [ + 0.1513138711452484, + 0.8253099918365479, + 0.5440289974212646, + -0.03701428076040424 + ], + [ + -0.3718513548374176, + -0.4624139070510864, + 0.804922342300415, + -0.006321103737025935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.914202094078064, + -0.32499265670776367, + 0.24210390448570251, + -0.18393525991611137 + ], + [ + 0.15098626911640167, + 0.8275378942489624, + 0.5407256484031677, + -0.03176376735847332 + ], + [ + -0.37608203291893005, + -0.4577781856060028, + 0.8056063055992126, + -8.16911191283548e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9127700328826904, + -0.32623451948165894, + 0.24580873548984528, + -0.18288257196099458 + ], + [ + 0.1508706957101822, + 0.8284791707992554, + 0.5393146872520447, + -0.02826524936331961 + ], + [ + -0.3795905113220215, + -0.4551849663257599, + 0.8054301738739014, + 0.005632584412654698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9109768867492676, + -0.3268957734107971, + 0.25151604413986206, + -0.18501440070703357 + ], + [ + 0.1490490734577179, + 0.8294985294342041, + 0.5382532477378845, + -0.029318567590709936 + ], + [ + -0.384584903717041, + -0.45284801721572876, + 0.8043774962425232, + 0.007322896026565634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9087514281272888, + -0.33129629492759705, + 0.25379836559295654, + -0.18512769810810775 + ], + [ + 0.15113285183906555, + 0.8281028270721436, + 0.539819061756134, + -0.028848541916130552 + ], + [ + -0.3890112042427063, + -0.4522041082382202, + 0.802609384059906, + 0.013444668581028899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9089552164077759, + -0.3318856656551361, + 0.25229406356811523, + -0.18376974381372602 + ], + [ + 0.1543082594871521, + 0.830030620098114, + 0.5359460115432739, + -0.023084031498271554 + ], + [ + -0.3872845768928528, + -0.4482198655605316, + 0.805673360824585, + 0.018532179412013752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9069146513938904, + -0.33577969670295715, + 0.25447559356689453, + -0.18520702726826696 + ], + [ + 0.15644320845603943, + 0.8292094469070435, + 0.5365979075431824, + -0.023330230011554542 + ], + [ + -0.3911921977996826, + -0.44683751463890076, + 0.8045526146888733, + 0.021655419424265437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9061185121536255, + -0.3376712501049042, + 0.2548085153102875, + -0.18457357674658656 + ], + [ + 0.15875470638275146, + 0.8297652006149292, + 0.5350576639175415, + -0.02010357492564325 + ], + [ + -0.392104834318161, + -0.44437360763549805, + 0.8054724931716919, + 0.02666218431588417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9040566086769104, + -0.3416140079498291, + 0.25686872005462646, + -0.18553179054560062 + ], + [ + 0.1614120602607727, + 0.8293618559837341, + 0.5348879098892212, + -0.019910911622340093 + ], + [ + -0.3957623243331909, + -0.44210726022720337, + 0.8049306869506836, + 0.030456962753198813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9023385643959045, + -0.34412339329719543, + 0.2595461308956146, + -0.18625530423875342 + ], + [ + 0.1647651493549347, + 0.8318086862564087, + 0.5300441980361938, + -0.016673943668068535 + ], + [ + -0.39829328656196594, + -0.4355151653289795, + 0.8072725534439087, + 0.03354543730348883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9005838632583618, + -0.3479604721069336, + 0.2605230212211609, + -0.18608231755073912 + ], + [ + 0.17001937329769135, + 0.8335672616958618, + 0.5256034731864929, + -0.014044803693265974 + ], + [ + -0.4000527262687683, + -0.4290560483932495, + 0.8098572492599487, + 0.03687269994598662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.8981435298919678, + -0.35130545496940613, + 0.26442891359329224, + -0.18753863260774556 + ], + [ + 0.17348399758338928, + 0.8357157707214355, + 0.5210397839546204, + -0.011308947361693418 + ], + [ + -0.40403151512145996, + -0.42209431529045105, + 0.8115386366844177, + 0.03911509660189737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.8956528306007385, + -0.35496896505355835, + 0.2679609954357147, + -0.18878748736338702 + ], + [ + 0.17443297803401947, + 0.8345825672149658, + 0.5225371718406677, + -0.012993146447899818 + ], + [ + -0.4091200530529022, + -0.4212706685066223, + 0.8094145059585571, + 0.04201299790850656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.893543004989624, + -0.3583976626396179, + 0.27042925357818604, + -0.18874582585817326 + ], + [ + 0.17652569711208344, + 0.8342536687850952, + 0.5223595499992371, + -0.01013690519654109 + ], + [ + -0.4128190279006958, + -0.41901302337646484, + 0.8087079524993896, + 0.045908742572019184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.8919060826301575, + -0.361491322517395, + 0.2717123031616211, + -0.1894645534589619 + ], + [ + 0.17720937728881836, + 0.8321713805198669, + 0.5254403948783875, + -0.010748548029425625 + ], + [ + -0.4160533547401428, + -0.420493483543396, + 0.8062783479690552, + 0.04801477698865764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.8894999623298645, + -0.3666476011276245, + 0.2726891338825226, + -0.1903058560308582 + ], + [ + 0.18059825897216797, + 0.8302853107452393, + 0.5272670984268188, + -0.010422267604195429 + ], + [ + -0.4197309911251068, + -0.41975685954093933, + 0.8047546744346619, + 0.0501576964012877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.8879737854003906, + -0.3710331618785858, + 0.2717295289039612, + -0.19041811679294723 + ], + [ + 0.18396684527397156, + 0.8280940651893616, + 0.5295435786247253, + -0.009949465818747796 + ], + [ + -0.42149585485458374, + -0.4202316105365753, + 0.8035836219787598, + 0.05287394421900103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.8880909085273743, + -0.371340811252594, + 0.2709253430366516, + -0.19110456635495146 + ], + [ + 0.18462610244750977, + 0.8279232978820801, + 0.5295811295509338, + -0.007867477343467898 + ], + [ + -0.4209604859352112, + -0.420296311378479, + 0.8038303852081299, + 0.05413373974625936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.8876202702522278, + -0.37372177839279175, + 0.2691883444786072, + -0.1905285787796546 + ], + [ + 0.1871071606874466, + 0.8266509771347046, + 0.5306968092918396, + -0.005687107984534284 + ], + [ + -0.4208577275276184, + -0.4206901788711548, + 0.8036781549453735, + 0.056519624465953794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.8872832655906677, + -0.3743845224380493, + 0.26937827467918396, + -0.1906617021489286 + ], + [ + 0.18707197904586792, + 0.825972855091095, + 0.5317639112472534, + -0.005268114403693264 + ], + [ + -0.4215833246707916, + -0.42143210768699646, + 0.8029087781906128, + 0.058590302460207896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.8874948620796204, + -0.37397316098213196, + 0.26925259828567505, + -0.19078986336014228 + ], + [ + 0.1863841712474823, + 0.8256787657737732, + 0.5324617624282837, + -0.005656519621432189 + ], + [ + -0.42144256830215454, + -0.4223726689815521, + 0.8024883270263672, + 0.06014373612974931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.8875479102134705, + -0.37381047010421753, + 0.26930370926856995, + -0.1907838990231474 + ], + [ + 0.18607163429260254, + 0.8255820274353027, + 0.5327209234237671, + -0.005087748339433165 + ], + [ + -0.4214690029621124, + -0.4227055609226227, + 0.8022991418838501, + 0.06212804688664966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.887708306312561, + -0.37434786558151245, + 0.2680254578590393, + -0.1906030658119453 + ], + [ + 0.186318039894104, + 0.8244422078132629, + 0.5343974828720093, + -0.004673739214857184 + ], + [ + -0.4210219979286194, + -0.4244511127471924, + 0.8016119599342346, + 0.06385202215103332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.8879390954971313, + -0.3751997947692871, + 0.26606249809265137, + -0.1905198915632899 + ], + [ + 0.18681222200393677, + 0.8227651715278625, + 0.5368040800094604, + -0.004939712668785803 + ], + [ + -0.4203157424926758, + -0.42694562673568726, + 0.8006572723388672, + 0.06509489374246424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.8886164426803589, + -0.3746277093887329, + 0.2646034061908722, + -0.19030067920684815 + ], + [ + 0.18675597012043, + 0.8224692344665527, + 0.5372770428657532, + -0.004473458230495456 + ], + [ + -0.4189070165157318, + -0.4280169606208801, + 0.8008236289024353, + 0.06631639003753662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/push_in/transforms.json b/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..f9e4dffc2339b226ab3ca4b1051b7d8ae28b64a6 --- /dev/null +++ b/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/push_in/transforms.json @@ -0,0 +1,5893 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 168, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -6.386433960869908e-05, + 4.9870759539771825e-05, + -7.26116995792836e-05 + ], + [ + 6.386695895344019e-05, + 1.0, + -5.262265040073544e-05, + 2.3591896024299785e-05 + ], + [ + -4.986739804735407e-05, + 5.262583727017045e-05, + 1.0, + 0.000261035340372473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999998211860657, + -0.0004513963358476758, + 0.00043834978714585304, + -0.0012117369649764485 + ], + [ + 0.0004514788743108511, + 0.9999998807907104, + -0.0001882771757664159, + 7.782642219653409e-05 + ], + [ + -0.00043826474575325847, + 0.00018847505270969123, + 0.9999998807907104, + 0.0010647770011808703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999999463558197, + -0.0005155851249583066, + 0.0008805471006780863, + -0.0018658824854747888 + ], + [ + 0.0005157400737516582, + 0.9999998807907104, + -0.00017578608822077513, + -0.0009535478745185642 + ], + [ + -0.0008804562967270613, + 0.00017624013707973063, + 0.9999995827674866, + 0.0021573485602334724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999998211860657, + -0.00022963089577388018, + 0.0005722171626985073, + -0.0016630630830057455 + ], + [ + 0.00023016591148916632, + 0.9999995231628418, + -0.0009350882028229535, + -0.0007812133250956028 + ], + [ + -0.000572002143599093, + 0.0009352197521366179, + 0.9999994039535522, + 0.001175780318158785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999997019767761, + -0.00046732480404898524, + 0.0006452467641793191, + -0.0020013922179943164 + ], + [ + 0.00046829163329675794, + 0.9999987483024597, + -0.0014990560011938214, + -0.0004899593032854693 + ], + [ + -0.0006445454782806337, + 0.0014993577497079968, + 0.9999986886978149, + 0.0015743308646944607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999997019767761, + -0.00019359869475010782, + 0.0007237441022880375, + -0.0021146869384139934 + ], + [ + 0.00019498301844578236, + 0.999998152256012, + -0.0019131302833557129, + -0.0001623774688721573 + ], + [ + -0.0007233723881654441, + 0.0019132709130644798, + 0.9999979138374329, + 0.0027234220631911373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999996423721313, + 0.00017050415044650435, + 0.0007969001890160143, + -0.0021477623416729895 + ], + [ + -0.00016883565695025027, + 0.9999977946281433, + -0.0020933153573423624, + -0.00047048125802929663 + ], + [ + -0.0007972553721629083, + 0.002093180315569043, + 0.9999974966049194, + 0.003142998488668721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999989867210388, + -0.0005578714772127569, + 0.001314881956204772, + -0.0023291400559859988 + ], + [ + 0.000559780455660075, + 0.9999988079071045, + -0.0014519282849505544, + -0.002718428815059743 + ], + [ + -0.0013140703085809946, + 0.0014526628656312823, + 0.9999980926513672, + 0.003873308909036398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999992847442627, + 0.0002549107011873275, + 0.0011836827034130692, + -0.0019789247519844126 + ], + [ + -0.0002528218610677868, + 0.9999983906745911, + -0.001764523796737194, + -0.002595653183880948 + ], + [ + -0.0011841306695714593, + 0.001764223212376237, + 0.9999977350234985, + 0.004066884583405995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999985694885254, + 0.0011831024894490838, + 0.0012033168459311128, + -0.0017781360983196088 + ], + [ + -0.001181108527816832, + 0.9999979138374329, + -0.0016564088873565197, + -0.0026147428710392847 + ], + [ + -0.0012052740203216672, + 0.00165498536080122, + 0.9999979138374329, + 0.004560984915657761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999971389770508, + 0.0011831377632915974, + 0.0020694038830697536, + -0.00178641553767427 + ], + [ + -0.001178534235805273, + 0.9999968409538269, + -0.0022243561688810587, + -0.0018164235652385358 + ], + [ + -0.0020720288157463074, + 0.0022219109814614058, + 0.9999954104423523, + 0.004697580590375705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999939203262329, + 0.0023831583093851805, + 0.002556296531111002, + -0.0016212970601160548 + ], + [ + -0.002378321485593915, + 0.9999953508377075, + -0.0018935262924060225, + -0.002311002985716513 + ], + [ + -0.0025607971474528313, + 0.00188743497710675, + 0.9999949336051941, + 0.005607888432398082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999905228614807, + 0.0033453917130827904, + 0.002780444687232375, + -0.0016184633838927406 + ], + [ + -0.0033397232182323933, + 0.999992311000824, + -0.002040930325165391, + -0.0022056499203321283 + ], + [ + -0.0027872512582689524, + 0.0020316250156611204, + 0.9999940395355225, + 0.0059200072424029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999861717224121, + 0.004599347710609436, + 0.0025467174127697945, + -0.0008548640443184998 + ], + [ + -0.0045942021533846855, + 0.9999874234199524, + -0.002022651256993413, + -0.003179317124572744 + ], + [ + -0.0025559882633388042, + 0.0020109231118112803, + 0.999994695186615, + 0.0063794587724870025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999824166297913, + 0.0049236249178647995, + 0.003302266588434577, + -0.0016880473201469836 + ], + [ + -0.004911785013973713, + 0.9999815225601196, + -0.0035838696639984846, + -0.0021829369444466996 + ], + [ + -0.003319851355627179, + 0.003567586885765195, + 0.9999881386756897, + 0.007805097855914742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999813437461853, + 0.005462336353957653, + 0.002723792102187872, + -0.0008373663929419335 + ], + [ + -0.005448244512081146, + 0.999971866607666, + -0.005154474172741175, + -0.0009653873248081543 + ], + [ + -0.0027518710121512413, + 0.005139538552612066, + 0.999983012676239, + 0.00826602667419541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999813437461853, + 0.005650729406625032, + 0.0023196707479655743, + -0.0007925585890328232 + ], + [ + -0.005635865498334169, + 0.9999638795852661, + -0.006365066394209862, + -0.0006550335283474829 + ], + [ + -0.0023555541411042213, + 0.0063518742099404335, + 0.9999770522117615, + 0.008231889102524315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999671578407288, + 0.006521407049149275, + 0.004805780481547117, + -0.005439299483599509 + ], + [ + -0.006483227480202913, + 0.9999476075172424, + -0.0079177962616086, + 0.0005078141126519594 + ], + [ + -0.004857164341956377, + 0.007886379025876522, + 0.9999570846557617, + 0.008444519168669416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999735355377197, + 0.006690052337944508, + 0.002863154746592045, + -0.0026623962455412406 + ], + [ + -0.006668388843536377, + 0.99994957447052, + -0.007510227616876364, + -0.0016722311085915404 + ], + [ + -0.00291325431317091, + 0.007490936201065779, + 0.9999676942825317, + 0.00903701878732773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.99996018409729, + 0.00690375966951251, + 0.005653887987136841, + -0.00821021183945997 + ], + [ + -0.006850677076727152, + 0.9999327659606934, + -0.009354774840176105, + -0.0008335845457797056 + ], + [ + -0.005718090571463108, + 0.009315668605268002, + 0.9999402761459351, + 0.009593912977641618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999510645866394, + 0.0071453070268034935, + 0.006842389237135649, + -0.010729973633846123 + ], + [ + -0.007081286050379276, + 0.9999313354492188, + -0.00933554396033287, + -0.003132490183276955 + ], + [ + -0.0069086248986423016, + 0.009286634624004364, + 0.9999330043792725, + 0.010712130704872355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999123215675354, + 0.007235681638121605, + 0.011092716827988625, + -0.017980758617158064 + ], + [ + -0.007122356444597244, + 0.9999223947525024, + -0.010221858508884907, + -0.003331024890966312 + ], + [ + -0.011165818199515343, + 0.010141956619918346, + 0.9998862147331238, + 0.012344661729499521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.999873161315918, + 0.007011420093476772, + 0.01429921668022871, + -0.022965313981616213 + ], + [ + -0.006869880482554436, + 0.9999271631240845, + -0.009923621080815792, + -0.005734913173259911 + ], + [ + -0.014367754571139812, + 0.00982412789016962, + 0.9998485445976257, + 0.013586532373175104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9997297525405884, + 0.0072752260603010654, + 0.02208041027188301, + -0.035521687515927644 + ], + [ + -0.007036380935460329, + 0.9999160766601562, + -0.01087554357945919, + -0.006059343649442503 + ], + [ + -0.022157680243253708, + 0.010717237368226051, + 0.9996970295906067, + 0.016107026444926502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9995831251144409, + 0.0070657809264957905, + 0.02799452468752861, + -0.04444507129802675 + ], + [ + -0.006797217298299074, + 0.9999300837516785, + -0.009677005931735039, + -0.010115295717726925 + ], + [ + -0.028060942888259888, + 0.009482687339186668, + 0.9995612502098083, + 0.018635586247093487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9995039701461792, + 0.006694944575428963, + 0.030772455036640167, + -0.047716040342689274 + ], + [ + -0.006402663886547089, + 0.9999335408210754, + -0.009586879052221775, + -0.011694706321141855 + ], + [ + -0.030834592878818512, + 0.009385098703205585, + 0.9994804263114929, + 0.020004333727463276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9992969036102295, + 0.006890510208904743, + 0.03685363754630089, + -0.05619376525729002 + ], + [ + -0.00653367955237627, + 0.9999306797981262, + -0.00979406014084816, + -0.012326399517987302 + ], + [ + -0.03691856935620308, + 0.00954638421535492, + 0.9992727041244507, + 0.021439896818964247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9990857243537903, + 0.006756249349564314, + 0.042214710265398026, + -0.06302304281490649 + ], + [ + -0.006343595217913389, + 0.9999308586120605, + -0.009901443496346474, + -0.013149141377496149 + ], + [ + -0.04227868840098381, + 0.009624598547816277, + 0.9990594983100891, + 0.02233739126484819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9988430738449097, + 0.006525752600282431, + 0.04764325171709061, + -0.06924722842470614 + ], + [ + -0.00607175612822175, + 0.9999348521232605, + -0.009667590260505676, + -0.014162752073548154 + ], + [ + -0.04770323634147644, + 0.00936712697148323, + 0.9988176226615906, + 0.023897643908189086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.998616099357605, + 0.0065301088616251945, + 0.05218508094549179, + -0.07355498390015727 + ], + [ + -0.006033869460225105, + 0.9999351501464844, + -0.00966111570596695, + -0.014151912542829614 + ], + [ + -0.05224478244781494, + 0.009332867339253426, + 0.9985907077789307, + 0.026280235221419864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9984476566314697, + 0.006945790722966194, + 0.05526307597756386, + -0.07537952339845504 + ], + [ + -0.006409437395632267, + 0.9999306797981262, + -0.00987678486853838, + -0.013783305030159964 + ], + [ + -0.05532784387469292, + 0.009507247246801853, + 0.9984229803085327, + 0.027537915392773237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9983399510383606, + 0.006739707663655281, + 0.05720023065805435, + -0.07570057752692771 + ], + [ + -0.006165247410535812, + 0.9999288320541382, + -0.01021350733935833, + -0.013286715295321928 + ], + [ + -0.05726499855518341, + 0.009843898937106133, + 0.9983105063438416, + 0.028267678728851373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9983023405075073, + 0.0063195484690368176, + 0.05790082365274429, + -0.07426529032384564 + ], + [ + -0.0057501341216266155, + 0.9999334812164307, + -0.009995643049478531, + -0.013857097638224413 + ], + [ + -0.057960145175457, + 0.00964573584496975, + 0.9982722997665405, + 0.028832558291534825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9983341097831726, + 0.006686300504952669, + 0.057308658957481384, + -0.07185896185343851 + ], + [ + -0.006100588012486696, + 0.9999274015426636, + -0.010389178059995174, + -0.013184912477670138 + ], + [ + -0.05737396329641342, + 0.010022253729403019, + 0.9983024597167969, + 0.02866376376638334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9985660910606384, + 0.00668152654543519, + 0.0531141422688961, + -0.06420320677096972 + ], + [ + -0.0061379666440188885, + 0.9999271631240845, + -0.010390350595116615, + -0.013203841096492941 + ], + [ + -0.053179699927568436, + 0.01004943810403347, + 0.9985343813896179, + 0.027222535261761646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9986178874969482, + 0.006831558421254158, + 0.052112095057964325, + -0.062053467855303586 + ], + [ + -0.0062375618144869804, + 0.9999138116836548, + -0.011552577838301659, + -0.011497071252656197 + ], + [ + -0.052186526358127594, + 0.011211559176445007, + 0.998574435710907, + 0.026605377787958365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9988216757774353, + 0.006778831593692303, + 0.048055801540613174, + -0.05519024183204074 + ], + [ + -0.006217414513230324, + 0.9999107718467712, + -0.011822468601167202, + -0.01153876364989552 + ], + [ + -0.048131655901670456, + 0.011509754694998264, + 0.9987747073173523, + 0.02592309104602137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9990420937538147, + 0.007431824691593647, + 0.04312368109822273, + -0.04722995091296599 + ], + [ + -0.006932663731276989, + 0.999907374382019, + -0.011713134124875069, + -0.011931112484482235 + ], + [ + -0.04320673272013664, + 0.011402951553463936, + 0.9990010857582092, + 0.02551620789234733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9991994500160217, + 0.007518649101257324, + 0.03929278627038002, + -0.04165557121445319 + ], + [ + -0.006993715651333332, + 0.9998846650123596, + -0.013479962944984436, + -0.009350355251686659 + ], + [ + -0.039389606565237045, + 0.013194369152188301, + 0.9991368055343628, + 0.024695442975805462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9994207620620728, + 0.007818002253770828, + 0.033121947199106216, + -0.032355224401383345 + ], + [ + -0.007364784367382526, + 0.9998778700828552, + -0.013783303089439869, + -0.009360224890249397 + ], + [ + -0.033225659281015396, + 0.013531382195651531, + 0.9993562698364258, + 0.02357170945390694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9994701743125916, + 0.00791752990335226, + 0.031570788472890854, + -0.031036085332046725 + ], + [ + -0.0074490830302238464, + 0.9998608231544495, + -0.014928106218576431, + -0.007953576757544708 + ], + [ + -0.03168458864092827, + 0.014685023576021194, + 0.9993900060653687, + 0.02421783358465133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9995211362838745, + 0.00805150717496872, + 0.029878228902816772, + -0.02961963625725158 + ], + [ + -0.007571677211672068, + 0.9998410940170288, + -0.01613805815577507, + -0.006087181731656997 + ], + [ + -0.030003417283296585, + 0.015904102474451065, + 0.9994232654571533, + 0.024983820691042512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9995500445365906, + 0.007689427584409714, + 0.02899339236319065, + -0.02904319964170813 + ], + [ + -0.007216855883598328, + 0.9998399615287781, + -0.016368862241506577, + -0.005746870699846102 + ], + [ + -0.0291146207600832, + 0.01615225523710251, + 0.9994455575942993, + 0.02573930985345868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9995750784873962, + 0.007741834502667189, + 0.02810276858508587, + -0.02846030693858148 + ], + [ + -0.007271723356097937, + 0.9998325705528259, + -0.01679210364818573, + -0.004210925331718462 + ], + [ + -0.028228064998984337, + 0.01658061146736145, + 0.9994639754295349, + 0.02594720713285699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995899200439453, + 0.007595139555633068, + 0.02760970965027809, + -0.028454526968880327 + ], + [ + -0.007148189470171928, + 0.9998424053192139, + -0.016250966116786003, + -0.0041715888236788755 + ], + [ + -0.027728784829378128, + 0.01604694314301014, + 0.9994866847991943, + 0.02651001322501434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.999603807926178, + 0.007792814169079065, + 0.027045177295804024, + -0.028366252294780608 + ], + [ + -0.0073702954687178135, + 0.999849796295166, + -0.0156873669475317, + -0.004930150363326608 + ], + [ + -0.027163362130522728, + 0.01548182126134634, + 0.9995111227035522, + 0.027403955609247674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9996150732040405, + 0.0076269893907010555, + 0.026675716042518616, + -0.028767091934820136 + ], + [ + -0.007221064064651728, + 0.9998571872711182, + -0.015280402265489101, + -0.005730530287245077 + ], + [ + -0.02678845077753067, + 0.015081892721354961, + 0.9995273351669312, + 0.027865153538658493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9996243119239807, + 0.007767193019390106, + 0.02628517709672451, + -0.029260814280254756 + ], + [ + -0.007372290827333927, + 0.9998589754104614, + -0.015087462030351162, + -0.006069060174112548 + ], + [ + -0.026398656889796257, + 0.01488801185041666, + 0.9995406270027161, + 0.027780101553594113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9996458292007446, + 0.007948072627186775, + 0.02539803273975849, + -0.028664558088618838 + ], + [ + -0.007572000380605459, + 0.9998607635498047, + -0.014869149774312973, + -0.006401043666337065 + ], + [ + -0.025512678548693657, + 0.0146715696901083, + 0.9995668530464172, + 0.028531381288424147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.99964439868927, + 0.008038237690925598, + 0.025424784049391747, + -0.029222360055915966 + ], + [ + -0.007659760769456625, + 0.9998589158058167, + -0.014948677271604538, + -0.006228425606951385 + ], + [ + -0.025541359558701515, + 0.01474861428141594, + 0.9995649456977844, + 0.02904560561591626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9996656179428101, + 0.008111256174743176, + 0.024552104994654655, + -0.02827003592636414 + ], + [ + -0.00773939024657011, + 0.9998544454574585, + -0.015203287824988365, + -0.00574157589176547 + ], + [ + -0.024671850726008415, + 0.015008186921477318, + 0.9995829463005066, + 0.02927578590088106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9996684789657593, + 0.008222120814025402, + 0.02439887262880802, + -0.028597448550967755 + ], + [ + -0.007857277058064938, + 0.9998564720153809, + -0.015011711046099663, + -0.006013828130093163 + ], + [ + -0.024518797174096107, + 0.01481502503156662, + 0.9995895624160767, + 0.030432802080915696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9996724724769592, + 0.008072137832641602, + 0.024285543709993362, + -0.028829081091070602 + ], + [ + -0.0077140615321695805, + 0.9998607039451599, + -0.014802145771682262, + -0.006272750090205384 + ], + [ + -0.024401646107435226, + 0.014609958045184612, + 0.9995954632759094, + 0.03115755570389754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9996761679649353, + 0.007788644637912512, + 0.02422529086470604, + -0.028884744949772688 + ], + [ + -0.007430603262037039, + 0.9998623728752136, + -0.014834709465503693, + -0.006218533931735033 + ], + [ + -0.02433750033378601, + 0.014649897813796997, + 0.9995964765548706, + 0.03200181937137964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9996917247772217, + 0.007382367737591267, + 0.023706650361418724, + -0.028333447824516696 + ], + [ + -0.007038479670882225, + 0.9998692870140076, + -0.014556808397173882, + -0.006037892690653394 + ], + [ + -0.023811014369130135, + 0.014385461807250977, + 0.9996129870414734, + 0.033038087127086134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9997141361236572, + 0.0077614495530724525, + 0.02261326089501381, + -0.02700515352412612 + ], + [ + -0.007453246973454952, + 0.9998786449432373, + -0.013681857846677303, + -0.006504235027949075 + ], + [ + -0.022716708481311798, + 0.013509404845535755, + 0.9996506571769714, + 0.03347823048996165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9998139142990112, + 0.0081156762316823, + 0.01749923825263977, + -0.018381840954283753 + ], + [ + -0.007872235961258411, + 0.9998719096183777, + -0.013935769908130169, + -0.005779051542014419 + ], + [ + -0.0176100954413414, + 0.013795419596135616, + 0.9997497797012329, + 0.033459913907936865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9997667670249939, + 0.008345414884388447, + 0.019920457154512405, + -0.021941886915864343 + ], + [ + -0.008046344853937626, + 0.9998544454574585, + -0.015046477317810059, + -0.0038261042698704735 + ], + [ + -0.020043127238750458, + 0.014882680028676987, + 0.9996883273124695, + 0.03430263909447136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9997076392173767, + 0.007524171378463507, + 0.02297770231962204, + -0.026348430641040116 + ], + [ + -0.007193137425929308, + 0.9998696446418762, + -0.014455582946538925, + -0.004625038507054309 + ], + [ + -0.02308347448706627, + 0.014286074787378311, + 0.9996314644813538, + 0.03549797225954056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9996886253356934, + 0.007605462335050106, + 0.02376602776348591, + -0.027183275155633867 + ], + [ + -0.007280364632606506, + 0.9998791813850403, + -0.01373579166829586, + -0.004444400914303379 + ], + [ + -0.023867623880505562, + 0.013558488339185715, + 0.99962317943573, + 0.035700642104674704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9996670484542847, + 0.0071052988059818745, + 0.024805603548884392, + -0.027975475950958485 + ], + [ + -0.006769724655896425, + 0.9998847842216492, + -0.013586045242846012, + -0.003437613693350357 + ], + [ + -0.024899279698729515, + 0.013413594104349613, + 0.9995999932289124, + 0.037158589490165116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9998008608818054, + 0.0071569811552762985, + 0.018628811463713646, + -0.01759314585343271 + ], + [ + -0.006944304332137108, + 0.9999102354049683, + -0.011456298641860485, + -0.005269132901406931 + ], + [ + -0.018709132447838783, + 0.011324652470648289, + 0.9997608065605164, + 0.037988177803623874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9996729493141174, + 0.006316722370684147, + 0.02478105202317238, + -0.027140229291277018 + ], + [ + -0.006058220751583576, + 0.9999266266822815, + -0.01049266941845417, + -0.004739029520375286 + ], + [ + -0.024845510721206665, + 0.010339109227061272, + 0.9996378421783447, + 0.038908267438322486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9996913075447083, + 0.006148273125290871, + 0.024071862921118736, + -0.025228558867768255 + ], + [ + -0.005922340787947178, + 0.9999378323554993, + -0.009445813484489918, + -0.0035395872915821697 + ], + [ + -0.024128442630171776, + 0.009300335310399532, + 0.9996656179428101, + 0.04111847674312394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9997377991676331, + 0.006074485834687948, + 0.022076621651649475, + -0.0219374360014757 + ], + [ + -0.005911553744226694, + 0.999954879283905, + -0.007438077591359615, + -0.002960489443810043 + ], + [ + -0.022120807319879532, + 0.007305620238184929, + 0.9997286200523376, + 0.04029991025897022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9997482299804688, + 0.004864264279603958, + 0.021904494613409042, + -0.02269214184252088 + ], + [ + -0.004783915355801582, + 0.9999816417694092, + -0.0037190685980021954, + -0.0036510719017064323 + ], + [ + -0.02192218229174614, + 0.003613342996686697, + 0.9997531771659851, + 0.04257429147858597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9998794794082642, + 0.005745246075093746, + 0.014423276297748089, + -0.012982882431033486 + ], + [ + -0.005745763890445232, + 0.9999834895133972, + -5.509744369192049e-06, + -0.002063431132292552 + ], + [ + -0.014423069544136524, + -7.736365660093725e-05, + 0.9998959898948669, + 0.04354347467288643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9998847246170044, + 0.004660379607230425, + 0.014450819231569767, + -0.01489315347991393 + ], + [ + -0.004736160393804312, + 0.9999752044677734, + 0.005214241798967123, + -0.0013123654165098856 + ], + [ + -0.014426159672439098, + -0.005282082129269838, + 0.9998819828033447, + 0.045386541000717956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9998562335968018, + 0.004417748656123877, + 0.016370339319109917, + -0.019235829569533198 + ], + [ + -0.004619461949914694, + 0.9999136328697205, + 0.012304612435400486, + -0.0025920898502993727 + ], + [ + -0.016314567998051643, + -0.012378466315567493, + 0.9997903108596802, + 0.0479668626611952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996848106384277, + 0.00447346456348896, + 0.02470412291586399, + -0.033889094150128835 + ], + [ + -0.004984932020306587, + 0.9997736811637878, + 0.02068108692765236, + -0.0028612659981998496 + ], + [ + -0.024606017395853996, + -0.020797718316316605, + 0.9994808435440063, + 0.053121112468847625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.999539852142334, + 0.0024569351226091385, + 0.030233394354581833, + -0.04450484860443069 + ], + [ + -0.0034084906801581383, + 0.9994991421699524, + 0.03146248310804367, + -0.00479389125938544 + ], + [ + -0.0301409512758255, + -0.0315510556101799, + 0.999047577381134, + 0.05807190621550569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9993760585784912, + 0.0023637558333575726, + 0.03524153307080269, + -0.055199765077161934 + ], + [ + -0.003805282525718212, + 0.9991562962532043, + 0.04089342802762985, + -0.004590012002624794 + ], + [ + -0.035115133970975876, + -0.04100201278924942, + 0.9985418319702148, + 0.06277690826061957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9991748929023743, + 0.0012345948489382863, + 0.040595777332782745, + -0.06634868049692964 + ], + [ + -0.0032525593414902687, + 0.9987598657608032, + 0.04968033730983734, + -0.005172724957148472 + ], + [ + -0.040484100580215454, + -0.04977138340473175, + 0.9979398250579834, + 0.0687702380789968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.999023973941803, + -0.0001724864123389125, + 0.044170405715703964, + -0.07420264273926526 + ], + [ + -0.0025449800305068493, + 0.9981063604354858, + 0.06145870313048363, + -0.010290038855579085 + ], + [ + -0.04409736767411232, + -0.06151113286614418, + 0.9971317648887634, + 0.07603658764751373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9988054633140564, + -0.0021301116794347763, + 0.04881652444601059, + -0.08367599510325643 + ], + [ + -0.0015392417553812265, + 0.9971819519996643, + 0.07500559836626053, + -0.01715700347757268 + ], + [ + -0.04883872717618942, + -0.0749911442399025, + 0.9959874749183655, + 0.08260600192550414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9982821345329285, + -0.0036016397643834352, + 0.05847873538732529, + -0.09838979880877598 + ], + [ + -0.001673331717029214, + 0.9959489703178406, + 0.08990459144115448, + -0.024518125082650583 + ], + [ + -0.058565638959407806, + -0.08984799683094025, + 0.9942320585250854, + 0.08973401494904193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.997722864151001, + -0.004041397478431463, + 0.06732542812824249, + -0.10917559067110816 + ], + [ + -0.0028166212141513824, + 0.9948357939720154, + 0.10145846009254456, + -0.02377973753892019 + ], + [ + -0.06738777458667755, + -0.10141706466674805, + 0.9925590753555298, + 0.09600808225616725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9964608550071716, + -0.003972629550844431, + 0.08396399766206741, + -0.13167335321000237 + ], + [ + -0.005858753342181444, + 0.9931710362434387, + 0.11652041226625443, + -0.027003597601980504 + ], + [ + -0.08385350555181503, + -0.11659995466470718, + 0.989632785320282, + 0.10728955080587707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9950811862945557, + -0.0038010680582374334, + 0.09898971021175385, + -0.15130561709760906 + ], + [ + -0.009370786137878895, + 0.9911710023880005, + 0.13225820660591125, + -0.03248675451753382 + ], + [ + -0.09861844778060913, + -0.13253527879714966, + 0.9862599968910217, + 0.11658350319384102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9948915243148804, + -0.0023323181085288525, + 0.10092268884181976, + -0.14861097527656728 + ], + [ + -0.01225791871547699, + 0.9895444512367249, + 0.14370636641979218, + -0.030550117763930452 + ], + [ + -0.10020264983177185, + -0.1442093402147293, + 0.9844608306884766, + 0.12009389869824141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9946932792663574, + -0.0017923330888152122, + 0.10286892205476761, + -0.14597556610664209 + ], + [ + -0.014321944676339626, + 0.9877012372016907, + 0.15569554269313812, + -0.02856487945882146 + ], + [ + -0.10188282281160355, + -0.15634261071681976, + 0.9824341535568237, + 0.12401026143820701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9945182204246521, + -0.004239181987941265, + 0.10447731614112854, + -0.14419906346383923 + ], + [ + -0.013343009166419506, + 0.9858643412590027, + 0.1670135259628296, + -0.026668271792684488 + ], + [ + -0.10370846092700958, + -0.16749203205108643, + 0.980403482913971, + 0.1283339938717688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.994388997554779, + -0.0068658022210001945, + 0.10556215792894363, + -0.14276612087816534 + ], + [ + -0.012134269811213017, + 0.9839017987251282, + 0.17829741537570953, + -0.02493576271359078 + ], + [ + -0.10508695989847183, + -0.17857791483402252, + 0.9782978296279907, + 0.13175107580637505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9943193793296814, + -0.007832661271095276, + 0.10614892095327377, + -0.14157068907411513 + ], + [ + -0.012615418061614037, + 0.9815863370895386, + 0.19060194492340088, + -0.02314593143270401 + ], + [ + -0.10568725317716599, + -0.19085833430290222, + 0.9759114980697632, + 0.1361976209782555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9940391182899475, + -0.008892891928553581, + 0.10866080969572067, + -0.13999427200077535 + ], + [ + -0.013330681249499321, + 0.9792751669883728, + 0.20209501683712006, + -0.021313847021428408 + ], + [ + -0.10820604115724564, + -0.20233885943889618, + 0.9733192920684814, + 0.14142242063305335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9934791922569275, + -0.007713403087109327, + 0.11375240236520767, + -0.13871357699265024 + ], + [ + -0.016878655180335045, + 0.9767652750015259, + 0.2136462926864624, + -0.01861574429416371 + ], + [ + -0.11275733262300491, + -0.21417313814163208, + 0.9702657461166382, + 0.14826797274593823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9927285313606262, + -0.009222326800227165, + 0.12002087384462357, + -0.13655019094665607 + ], + [ + -0.018174398690462112, + 0.9741479158401489, + 0.2251788228750229, + -0.015763325639024467 + ], + [ + -0.11899476498365402, + -0.22572274506092072, + 0.9668968319892883, + 0.15603805554662636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9918584823608398, + -0.011000482365489006, + 0.12686890363693237, + -0.13506026310835056 + ], + [ + -0.019471606239676476, + 0.9714460372924805, + 0.23646028339862823, + -0.01318980671331554 + ], + [ + -0.1258474588394165, + -0.23700548708438873, + 0.9633228182792664, + 0.16258114982329444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9910079836845398, + -0.013767373748123646, + 0.1330925077199936, + -0.13488182768136442 + ], + [ + -0.01992298662662506, + 0.9684212803840637, + 0.2485222965478897, + -0.011739346376079283 + ], + [ + -0.1323111206293106, + -0.2489391714334488, + 0.9594389200210571, + 0.1667414131189535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9902012944221497, + -0.017776211723685265, + 0.13851149380207062, + -0.13354030437990577 + ], + [ + -0.01898604817688465, + 0.9655185341835022, + 0.25964105129241943, + -0.008691438399032204 + ], + [ + -0.13835085928440094, + -0.25972670316696167, + 0.9557201862335205, + 0.17296696328474376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9892460107803345, + -0.022568240761756897, + 0.1445097029209137, + -0.13474420685611085 + ], + [ + -0.017672915011644363, + 0.9623408913612366, + 0.27127039432525635, + -0.008614712366890048 + ], + [ + -0.14518970251083374, + -0.27090704441070557, + 0.9515930414199829, + 0.17387690488806742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.988050639629364, + -0.02109021134674549, + 0.15267984569072723, + -0.1357406036850221 + ], + [ + -0.02290361188352108, + 0.9595052599906921, + 0.2807580828666687, + -0.007704657789118987 + ], + [ + -0.1524183601140976, + -0.28090012073516846, + 0.947556734085083, + 0.1756720869127148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9861018657684326, + -0.03631540387868881, + 0.1621243953704834, + -0.14326169544351314 + ], + [ + -0.012290949001908302, + 0.9571993947029114, + 0.28916820883750916, + -0.012958826028747473 + ], + [ + -0.16568663716316223, + -0.28714194893836975, + 0.9434497356414795, + 0.1638307731130166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9857988357543945, + -0.03328615054488182, + 0.16459842026233673, + -0.13414184375258978 + ], + [ + -0.01718241721391678, + 0.9550215601921082, + 0.29603809118270874, + -0.0038458948319186684 + ], + [ + -0.16704900562763214, + -0.2946622371673584, + 0.9408872723579407, + 0.1900133805360623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9852051734924316, + -0.03808746114373207, + 0.16709324717521667, + -0.13513066542005825 + ], + [ + -0.014780589379370213, + 0.9524753093719482, + 0.30425694584846497, + -0.0030400317630724996 + ], + [ + -0.17074057459831238, + -0.302225261926651, + 0.9378206729888916, + 0.1951698793801005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9848159551620483, + -0.04467657208442688, + 0.16775447130203247, + -0.13460626520082622 + ], + [ + -0.01054922491312027, + 0.9491313099861145, + 0.3147038519382477, + -0.0016732324963201275 + ], + [ + -0.17328089475631714, + -0.31169506907463074, + 0.9342483282089233, + 0.2032241149398381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9840211272239685, + -0.05128028243780136, + 0.17050719261169434, + -0.13443987094713541 + ], + [ + -0.007079873234033585, + 0.9456015825271606, + 0.32524996995925903, + 0.0005823853040883668 + ], + [ + -0.17791077494621277, + -0.3212600350379944, + 0.9301288723945618, + 0.2110433930229998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9827715754508972, + -0.05724567174911499, + 0.17573563754558563, + -0.1339370761535125 + ], + [ + -0.004911985248327255, + 0.9423990249633789, + 0.334454745054245, + 0.002664447285814917 + ], + [ + -0.18475918471813202, + -0.32955583930015564, + 0.9258817434310913, + 0.21840336155034826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9809181094169617, + -0.06229002773761749, + 0.1841726452112198, + -0.13446371421485603 + ], + [ + -0.004366079345345497, + 0.9399902820587158, + 0.34117332100868225, + 0.0038537557253580657 + ], + [ + -0.19437219202518463, + -0.3354671895503998, + 0.9217815399169922, + 0.22393114691722893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9790257811546326, + -0.06576104462146759, + 0.1928316354751587, + -0.13470329337134332 + ], + [ + -0.005055898800492287, + 0.9383423328399658, + 0.34567058086395264, + 0.005582161353689111 + ], + [ + -0.20367375016212463, + -0.33939534425735474, + 0.9183288216590881, + 0.22871538466679123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9771909117698669, + -0.07149715721607208, + 0.1999652236700058, + -0.13326997724835743 + ], + [ + -0.0033394284546375275, + 0.9363310933113098, + 0.35110241174697876, + 0.005664366052045438 + ], + [ + -0.2123364955186844, + -0.3437618613243103, + 0.9147354960441589, + 0.23670080125688794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.975588321685791, + -0.07289101183414459, + 0.20715788006782532, + -0.1344549878985582 + ], + [ + -0.004241034388542175, + 0.9368799924850464, + 0.3496253192424774, + 0.007368844492126724 + ], + [ + -0.21956661343574524, + -0.34196892380714417, + 0.9137000441551208, + 0.24046909677054354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.974646806716919, + -0.07436783611774445, + 0.211028590798378, + -0.13505857212100914 + ], + [ + -0.00411190465092659, + 0.9370359778404236, + 0.3492085933685303, + 0.00836390134415584 + ], + [ + -0.2237112671136856, + -0.34122276306152344, + 0.9129733443260193, + 0.2443754562182341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.973723292350769, + -0.07560980319976807, + 0.21481651067733765, + -0.1370453355733506 + ], + [ + -0.0033274777233600616, + 0.9384520649909973, + 0.34539344906806946, + 0.010099458885183953 + ], + [ + -0.22771012783050537, + -0.3370324671268463, + 0.9135410189628601, + 0.24471269066105347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9726664423942566, + -0.07747045159339905, + 0.21890252828598022, + -0.13771691873758854 + ], + [ + -0.0026985593140125275, + 0.9388702511787415, + 0.344260573387146, + 0.011261924579293432 + ], + [ + -0.2321910858154297, + -0.3354414105415344, + 0.9129985570907593, + 0.2478723704814911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9708721041679382, + -0.08304299414157867, + 0.22474710643291473, + -0.1377211459828708 + ], + [ + -6.62095844745636e-05, + 0.9379227757453918, + 0.3468440771102905, + 0.011804870435756128 + ], + [ + -0.23959840834140778, + -0.3367561101913452, + 0.910597562789917, + 0.2529478847623585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9695166349411011, + -0.0871080681681633, + 0.229018896818161, + -0.13774897258081836 + ], + [ + 0.0016973987221717834, + 0.9370391368865967, + 0.3492202162742615, + 0.012932002829934307 + ], + [ + -0.2450195848941803, + -0.3381860852241516, + 0.9086229205131531, + 0.25669201193098534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9685829281806946, + -0.0894741341471672, + 0.23203767836093903, + -0.13724794729562576 + ], + [ + 0.0022243931889533997, + 0.9361165165901184, + 0.3516830503940582, + 0.01423110472161078 + ], + [ + -0.24868084490299225, + -0.34011808037757874, + 0.906905472278595, + 0.26132505562847963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9674249887466431, + -0.09223158657550812, + 0.23575879633426666, + -0.1372546084269792 + ], + [ + 0.00279887393116951, + 0.9351118803024292, + 0.35434162616729736, + 0.015300664678215982 + ], + [ + -0.2531423270702362, + -0.3421390652656555, + 0.9049087166786194, + 0.26545793860258454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.966227650642395, + -0.09620320051908493, + 0.23905876278877258, + -0.13717339211952187 + ], + [ + 0.004673823714256287, + 0.9340888857841492, + 0.35701003670692444, + 0.01681766921241662 + ], + [ + -0.25764763355255127, + -0.34383562207221985, + 0.9029921293258667, + 0.2688014425560386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9650055170059204, + -0.09830661118030548, + 0.24310530722141266, + -0.13770602393650008 + ], + [ + 0.004159752279520035, + 0.9326924085617065, + 0.36064887046813965, + 0.018625799627851942 + ], + [ + -0.2621966302394867, + -0.3470168709754944, + 0.9004622101783752, + 0.2719011907270569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9642744660377502, + -0.10098353028297424, + 0.244902104139328, + -0.13534176338932472 + ], + [ + 0.004100888967514038, + 0.930069625377655, + 0.3673604428768158, + 0.02153211386015494 + ], + [ + -0.26487335562705994, + -0.3532319962978363, + 0.8972565531730652, + 0.2780297418019015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.963081955909729, + -0.103729248046875, + 0.24842169880867004, + -0.13503555841074733 + ], + [ + 0.0035968199372291565, + 0.9276618957519531, + 0.373403936624527, + 0.02297105695271564 + ], + [ + -0.26918426156044006, + -0.35872510075569153, + 0.8937875628471375, + 0.2819126904724601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9621568322181702, + -0.1073666512966156, + 0.25045299530029297, + -0.1332759439766764 + ], + [ + 0.004570223391056061, + 0.9253345131874084, + 0.3791242837905884, + 0.02492519132346807 + ], + [ + -0.2724580764770508, + -0.3636323809623718, + 0.890807569026947, + 0.2878467047285891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9612036943435669, + -0.10919062793254852, + 0.2533077895641327, + -0.1330600187985483 + ], + [ + 0.004362072795629501, + 0.9242180585861206, + 0.38184019923210144, + 0.02681751104662876 + ], + [ + -0.2758050262928009, + -0.365921288728714, + 0.8888381123542786, + 0.2912753696748597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9614848494529724, + -0.1103290319442749, + 0.25174275040626526, + -0.13047610241139007 + ], + [ + 0.00533955916762352, + 0.9232259392738342, + 0.3842204511165619, + 0.029499266703730216 + ], + [ + -0.27480611205101013, + -0.36807796359062195, + 0.888256847858429, + 0.2965265200166645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9607681035995483, + -0.11349338293075562, + 0.25306907296180725, + -0.1300234370067448 + ], + [ + 0.00702580064535141, + 0.9221101403236389, + 0.38686370849609375, + 0.030812032768380144 + ], + [ + -0.2772640287876129, + -0.36990827322006226, + 0.8867313861846924, + 0.3022933243277544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.960780680179596, + -0.11655630171298981, + 0.2516250014305115, + -0.1269890827868513 + ], + [ + 0.010498136281967163, + 0.9220172166824341, + 0.3870064914226532, + 0.034214492754531124 + ], + [ + -0.27711063623428345, + -0.36918678879737854, + 0.8870799541473389, + 0.3099442226622633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9601036310195923, + -0.12133573740720749, + 0.2519497871398926, + -0.12527502286220024 + ], + [ + 0.014718569815158844, + 0.9216417074203491, + 0.38776275515556335, + 0.03597298762175495 + ], + [ + -0.2792568802833557, + -0.3685840666294098, + 0.8866574168205261, + 0.3154925607278676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9587393999099731, + -0.1279728263616562, + 0.2538537383079529, + -0.12142327683057613 + ], + [ + 0.019249025732278824, + 0.9201236963272095, + 0.3911544978618622, + 0.037718498580782356 + ], + [ + -0.2836340069770813, + -0.3701287806034088, + 0.8846222162246704, + 0.3240291965935759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9253022074699402, + -0.30606701970100403, + 0.22391706705093384, + -0.19171049450328964 + ], + [ + 0.1614418923854828, + 0.8521894216537476, + 0.49770450592041016, + -0.003930004793191388 + ], + [ + -0.34315067529678345, + -0.42437744140625, + 0.837944746017456, + 0.010798073948143486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9247046113014221, + -0.3044438362121582, + 0.22855055332183838, + -0.1883382147836114 + ], + [ + 0.15690463781356812, + 0.8517982959747314, + 0.49982064962387085, + -8.53230808666311e-05 + ], + [ + -0.3468462824821472, + -0.42632579803466797, + 0.8354304432868958, + 0.016860414300850064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9240046143531799, + -0.30397188663482666, + 0.23198410868644714, + -0.18488745578748736 + ], + [ + 0.15329335629940033, + 0.8502649068832397, + 0.5035382509231567, + 0.0022572705042576413 + ], + [ + -0.3503094017505646, + -0.4297100305557251, + 0.8322455286979675, + 0.023794587447257827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.924419641494751, + -0.30062928795814514, + 0.23467087745666504, + -0.18198761095900734 + ], + [ + 0.14804396033287048, + 0.8499398827552795, + 0.5056532025337219, + 0.004333715024822486 + ], + [ + -0.35147029161453247, + -0.43269413709640503, + 0.8302074670791626, + 0.02972275168149771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.92434161901474, + -0.2998200058937073, + 0.23600956797599792, + -0.1788017003300661 + ], + [ + 0.1455904245376587, + 0.8488655686378479, + 0.5081640481948853, + 0.007431027924496972 + ], + [ + -0.35269811749458313, + -0.4353564381599426, + 0.828292727470398, + 0.036328692723087926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9245398044586182, + -0.29892322421073914, + 0.2363705337047577, + -0.17580234683202411 + ], + [ + 0.1437830924987793, + 0.848034143447876, + 0.5100632309913635, + 0.01058968840289616 + ], + [ + -0.3529200255870819, + -0.437587708234787, + 0.8270214200019836, + 0.04218479650775473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9250594973564148, + -0.2970941662788391, + 0.2366432398557663, + -0.17160927433810547 + ], + [ + 0.14079119265079498, + 0.8468649983406067, + 0.5128328204154968, + 0.014516705205429817 + ], + [ + -0.3527645170688629, + -0.4410836100578308, + 0.825228750705719, + 0.050159137787486985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9241390228271484, + -0.29908299446105957, + 0.23773188889026642, + -0.16990608049188544 + ], + [ + 0.1411786675453186, + 0.8455287218093872, + 0.5149269104003906, + 0.015499810426088868 + ], + [ + -0.35501500964164734, + -0.4423013925552368, + 0.823610246181488, + 0.05342215689757984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9243143796920776, + -0.29986903071403503, + 0.23605391383171082, + -0.16741372287987236 + ], + [ + 0.1417478322982788, + 0.8440502882003784, + 0.5171911120414734, + 0.018746197895107876 + ], + [ + -0.35433098673820496, + -0.4445870816707611, + 0.8226736187934875, + 0.058809893828130774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9245679974555969, + -0.30160200595855713, + 0.23283085227012634, + -0.16464136303541904 + ], + [ + 0.1432645320892334, + 0.8414187431335449, + 0.5210468173027039, + 0.02149777521496405 + ], + [ + -0.35305699706077576, + -0.4483868479728699, + 0.821157693862915, + 0.06390334365744435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.923893392086029, + -0.3059157431125641, + 0.2298620045185089, + -0.16231487593251073 + ], + [ + 0.14649930596351624, + 0.8377265930175781, + 0.5260723233222961, + 0.023289259132778573 + ], + [ + -0.353495329618454, + -0.4523601233959198, + 0.8187865614891052, + 0.06879180230334134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9226478934288025, + -0.3109970986843109, + 0.22803881764411926, + -0.1606044413622268 + ], + [ + 0.14982634782791138, + 0.8339424729347229, + 0.5311233997344971, + 0.02471514876463457 + ], + [ + -0.3553490936756134, + -0.45587363839149475, + 0.8160308003425598, + 0.07332488552048179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9223259091377258, + -0.31250011920928955, + 0.22728535532951355, + -0.15989341676949026 + ], + [ + 0.15062163770198822, + 0.8324172496795654, + 0.5332866907119751, + 0.027298556087527452 + ], + [ + -0.35584840178489685, + -0.4576300382614136, + 0.8148292303085327, + 0.07689263655910057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9217403531074524, + -0.3151185214519501, + 0.22604212164878845, + -0.15912451885060636 + ], + [ + 0.15241989493370056, + 0.8303343653678894, + 0.5360159277915955, + 0.02918281386087755 + ], + [ + -0.3565990626811981, + -0.45961421728134155, + 0.8133830428123474, + 0.08091846677045265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9219379425048828, + -0.3172074556350708, + 0.22228342294692993, + -0.15744727821407203 + ], + [ + 0.1545400470495224, + 0.827455997467041, + 0.5398462414741516, + 0.03040685009010538 + ], + [ + -0.3551729917526245, + -0.4633530080318451, + 0.8118842840194702, + 0.08700874665763207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9231804013252258, + -0.3163664638996124, + 0.21828919649124146, + -0.15495976930606864 + ], + [ + 0.15647608041763306, + 0.8280653357505798, + 0.5383521914482117, + 0.03562558348664267 + ], + [ + -0.3510742783546448, + -0.46283918619155884, + 0.8139574527740479, + 0.09266551842768037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9228270649909973, + -0.31831037998199463, + 0.21695317327976227, + -0.15413695149079054 + ], + [ + 0.1572735756635666, + 0.8254535794258118, + 0.5421175360679626, + 0.036780641345630694 + ], + [ + -0.35164642333984375, + -0.46615976095199585, + 0.8118127584457397, + 0.09733728959174928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9228472709655762, + -0.31892573833465576, + 0.21596139669418335, + -0.1533319879791694 + ], + [ + 0.1575971394777298, + 0.8242725729942322, + 0.5438178777694702, + 0.04004072971798167 + ], + [ + -0.35144859552383423, + -0.46782591938972473, + 0.8109394311904907, + 0.10069413664276729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9226131439208984, + -0.31971994042396545, + 0.2157873958349228, + -0.15194390798043347 + ], + [ + 0.15711605548858643, + 0.8224135637283325, + 0.5467636585235596, + 0.04321587893186127 + ], + [ + -0.3522776961326599, + -0.4705476760864258, + 0.809002697467804, + 0.10587304800213455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.92180335521698, + -0.3206610381603241, + 0.21784180402755737, + -0.15145709107735914 + ], + [ + 0.15613922476768494, + 0.8214601278305054, + 0.548474133014679, + 0.044729703342441675 + ], + [ + -0.35482263565063477, + -0.4715716540813446, + 0.8072924613952637, + 0.10956993076704934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9215361475944519, + -0.3202306628227234, + 0.2195984423160553, + -0.1486201242593948 + ], + [ + 0.15488901734352112, + 0.8217697143554688, + 0.5483648180961609, + 0.04865888815964322 + ], + [ + -0.35606256127357483, + -0.471324622631073, + 0.8068907260894775, + 0.11623168689851276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9193998575210571, + -0.3227190375328064, + 0.22484739124774933, + -0.14733404221827398 + ], + [ + 0.1546926498413086, + 0.8222765922546387, + 0.5476599335670471, + 0.051030884617326154 + ], + [ + -0.3616270422935486, + -0.4687362313270569, + 0.8059232234954834, + 0.12096766212475515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9181817770004272, + -0.3222098648548126, + 0.23048433661460876, + -0.1455310855796951 + ], + [ + 0.15239518880844116, + 0.824303150177002, + 0.54525226354599, + 0.054508144359388756 + ], + [ + -0.3656746447086334, + -0.46551600098609924, + 0.8059633374214172, + 0.12645787402630568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9158769845962524, + -0.3240938186645508, + 0.2369230091571808, + -0.1443672080953678 + ], + [ + 0.1513138711452484, + 0.8253099918365479, + 0.5440289974212646, + 0.056154757121321335 + ], + [ + -0.3718513548374176, + -0.4624139070510864, + 0.804922342300415, + 0.13152787224975176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.914202094078064, + -0.32499265670776367, + 0.24210390448570251, + -0.14218320932216988 + ], + [ + 0.15098626911640167, + 0.8275378942489624, + 0.5407256484031677, + 0.061487122905066985 + ], + [ + -0.37608203291893005, + -0.4577781856060028, + 0.8056063055992126, + 0.13884921667283168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9127700328826904, + -0.32623451948165894, + 0.24580873548984528, + -0.14019722268431487 + ], + [ + 0.1508706957101822, + 0.8284791707992554, + 0.5393146872520447, + 0.06538819932116721 + ], + [ + -0.3795905113220215, + -0.4551849663257599, + 0.8054301738739014, + 0.14549770442668553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9109768867492676, + -0.3268957734107971, + 0.25151604413986206, + -0.14103674508497388 + ], + [ + 0.1490490734577179, + 0.8294985294342041, + 0.5382532477378845, + 0.06479517392992618 + ], + [ + -0.384584903717041, + -0.45284801721572876, + 0.8043774962425232, + 0.14796854207615653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9087514281272888, + -0.33129629492759705, + 0.25379836559295654, + -0.14044702775821 + ], + [ + 0.15113285183906555, + 0.8281028270721436, + 0.539819061756134, + 0.0661854725487218 + ], + [ + -0.3890112042427063, + -0.4522041082382202, + 0.802609384059906, + 0.1547423685292998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9089552164077759, + -0.3318856656551361, + 0.25229406356811523, + -0.13905175410344928 + ], + [ + 0.1543082594871521, + 0.830030620098114, + 0.5359460115432739, + 0.07190999210460815 + ], + [ + -0.3872845768928528, + -0.4482198655605316, + 0.805673360824585, + 0.16133416432463482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9069146513938904, + -0.33577969670295715, + 0.25447559356689453, + -0.13979760997309656 + ], + [ + 0.15644320845603943, + 0.8292094469070435, + 0.5365979075431824, + 0.0724219714542349 + ], + [ + -0.3911921977996826, + -0.44683751463890076, + 0.8045526146888733, + 0.1652222931831183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9061185121536255, + -0.3376712501049042, + 0.2548085153102875, + -0.13879959196030736 + ], + [ + 0.15875470638275146, + 0.8297652006149292, + 0.5350576639175415, + 0.07601456829307679 + ], + [ + -0.392104834318161, + -0.44437360763549805, + 0.8054724931716919, + 0.17135784177187674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9040566086769104, + -0.3416140079498291, + 0.25686872005462646, + -0.13908008188901547 + ], + [ + 0.1614120602607727, + 0.8293618559837341, + 0.5348879098892212, + 0.07681732118397416 + ], + [ + -0.3957623243331909, + -0.44210726022720337, + 0.8049306869506836, + 0.17601927859697514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9023385643959045, + -0.34412339329719543, + 0.2595461308956146, + -0.13900858340506067 + ], + [ + 0.1647651493549347, + 0.8318086862564087, + 0.5300441980361938, + 0.07981314387863983 + ], + [ + -0.39829328656196594, + -0.4355151653289795, + 0.8072725534439087, + 0.18049804583459558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9005838632583618, + -0.3479604721069336, + 0.2605230212211609, + -0.13834576396171205 + ], + [ + 0.17001937329769135, + 0.8335672616958618, + 0.5256034731864929, + 0.0822633776211453 + ], + [ + -0.4000527262687683, + -0.4290560483932495, + 0.8098572492599487, + 0.18526570490020478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.8981435298919678, + -0.35130545496940613, + 0.26442891359329224, + -0.1387697072264677 + ], + [ + 0.17348399758338928, + 0.8357157707214355, + 0.5210397839546204, + 0.08478701279281142 + ], + [ + -0.40403151512145996, + -0.42209431529045105, + 0.8115386366844177, + 0.18878809067303548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.8956528306007385, + -0.35496896505355835, + 0.2679609954357147, + -0.13904622473759565 + ], + [ + 0.17443297803401947, + 0.8345825672149658, + 0.5225371718406677, + 0.08400477167821216 + ], + [ + -0.4091200530529022, + -0.4212706685066223, + 0.8094145059585571, + 0.19226359482296929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.893543004989624, + -0.3583976626396179, + 0.27042925357818604, + -0.1382225162076379 + ], + [ + 0.17652569711208344, + 0.8342536687850952, + 0.5223595499992371, + 0.08745362150990321 + ], + [ + -0.4128190279006958, + -0.41901302337646484, + 0.8087079524993896, + 0.1969966953743004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.8919060826301575, + -0.361491322517395, + 0.2717123031616211, + -0.13837613238545948 + ], + [ + 0.17720937728881836, + 0.8321713805198669, + 0.5254403948783875, + 0.08804683160639096 + ], + [ + -0.4160533547401428, + -0.420493483543396, + 0.8062783479690552, + 0.1996144184630788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.8894999623298645, + -0.3666476011276245, + 0.2726891338825226, + -0.13870719357165034 + ], + [ + 0.18059825897216797, + 0.8302853107452393, + 0.5272670984268188, + 0.08934803365501101 + ], + [ + -0.4197309911251068, + -0.41975685954093933, + 0.8047546744346619, + 0.2024346288092836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.8879737854003906, + -0.3710331618785858, + 0.2717295289039612, + -0.1386756076962648 + ], + [ + 0.18396684527397156, + 0.8280940651893616, + 0.5295435786247253, + 0.09088577849422387 + ], + [ + -0.42149585485458374, + -0.4202316105365753, + 0.8035836219787598, + 0.20589166385327984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.8880909085273743, + -0.371340811252594, + 0.2709253430366516, + -0.13919072816828768 + ], + [ + 0.18462610244750977, + 0.8279232978820801, + 0.5295811295509338, + 0.09360914628305836 + ], + [ + -0.4209604859352112, + -0.420296311378479, + 0.8038303852081299, + 0.2081611189478172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.8876202702522278, + -0.37372177839279175, + 0.2691883444786072, + -0.13862519738916865 + ], + [ + 0.1871071606874466, + 0.8266509771347046, + 0.5306968092918396, + 0.09663886362742521 + ], + [ + -0.4208577275276184, + -0.4206901788711548, + 0.8036781549453735, + 0.21148032260512165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.8872832655906677, + -0.3743845224380493, + 0.26937827467918396, + -0.13839909077404502 + ], + [ + 0.18707197904586792, + 0.825972855091095, + 0.5317639112472534, + 0.09790045280834872 + ], + [ + -0.4215833246707916, + -0.42143210768699646, + 0.8029087781906128, + 0.2143642211031771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.8874948620796204, + -0.37397316098213196, + 0.26925259828567505, + -0.1382291765091662 + ], + [ + 0.1863841712474823, + 0.8256787657737732, + 0.5324617624282837, + 0.09828511783462798 + ], + [ + -0.42144256830215454, + -0.4223726689815521, + 0.8024883270263672, + 0.2167971460762138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.8875479102134705, + -0.37381047010421753, + 0.26930370926856995, + -0.13789071540632647 + ], + [ + 0.18607163429260254, + 0.8255820274353027, + 0.5327209234237671, + 0.0995424689557738 + ], + [ + -0.4214690029621124, + -0.4227055609226227, + 0.8022991418838501, + 0.21970536337641186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.887708306312561, + -0.37434786558151245, + 0.2680254578590393, + -0.13763995138470997 + ], + [ + 0.186318039894104, + 0.8244422078132629, + 0.5343974828720093, + 0.10092576338859376 + ], + [ + -0.4210219979286194, + -0.4244511127471924, + 0.8016119599342346, + 0.2222543854913312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.8879390954971313, + -0.3751997947692871, + 0.26606249809265137, + -0.13762602966702625 + ], + [ + 0.18681222200393677, + 0.8227651715278625, + 0.5368040800094604, + 0.10177822419537043 + ], + [ + -0.4203157424926758, + -0.42694562673568726, + 0.8006572723388672, + 0.22426747722540075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.8886164426803589, + -0.3746277093887329, + 0.2646034061908722, + -0.1373799979686737 + ], + [ + 0.18675597012043, + 0.8224692344665527, + 0.5372770428657532, + 0.10298195034265518 + ], + [ + -0.4189070165157318, + -0.4280169606208801, + 0.8008236289024353, + 0.2264811158180237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/tilt_down/transforms.json b/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..a7cbdf0013d625d8224895229b47728ba5fec167 --- /dev/null +++ b/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/tilt_down/transforms.json @@ -0,0 +1,5893 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 168, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -6.386433960869908e-05, + 4.9870759539771825e-05, + -7.26116995792836e-05 + ], + [ + 6.386695895344019e-05, + 1.0, + -5.262265040073544e-05, + 2.3591896024299785e-05 + ], + [ + -4.986739804735407e-05, + 5.262583727017045e-05, + 1.0, + 0.000261035340372473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999998211860657, + -0.0004520829647670668, + 0.00043764161236671897, + -0.001211999449878931 + ], + [ + 0.0004514788743108511, + 0.9999989471652613, + 0.0013793832313868234, + 7.793916302034631e-05 + ], + [ + -0.00043826474575325847, + -0.0013791853546866956, + 0.9999989474754652, + 0.00046597467735409737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999999463558197, + -0.0005183433849785662, + 0.0008789262499435424, + -0.0018669370329007506 + ], + [ + 0.0005157400737516582, + 0.9999955168183593, + 0.0029595312747727593, + -0.0009533373522572219 + ], + [ + -0.0008804562967270613, + -0.0029590762937482654, + 0.9999952202201873, + 0.0009597442694939673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999998211860657, + -0.0002323194739611214, + 0.0005711308883251478, + -0.0016640910180285573 + ], + [ + 0.00023016591148916632, + 0.9999928618516056, + 0.003767885573346159, + -0.0007795335259288549 + ], + [ + -0.000572002143599093, + -0.0037677534648501024, + 0.9999927432623062, + -0.0006206257967278361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999997019767763, + -0.00047136170249183185, + 0.0006423036700714907, + -0.0020029377192258835 + ], + [ + 0.00046829163329675804, + 0.9999884878882289, + 0.004771568546565351, + -0.00048636874998919666 + ], + [ + -0.0006445454782806338, + -0.00477126643022662, + 0.9999884301769011, + -0.0008208755753003061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999997019767761, + -0.00019926561646629962, + 0.0007222043992527105, + -0.0021168538369238377 + ], + [ + 0.00019498301844578236, + 0.9999824285023889, + 0.005925138764943607, + -0.00015664953389205039 + ], + [ + -0.0007233723881654441, + -0.005924996270776484, + 0.9999821911934212, + -0.0002705836668610573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999996423721313, + 0.00016300110248268043, + 0.0007984686701196699, + -0.002150625456124544 + ], + [ + -0.00016883565695025027, + 0.9999732483161794, + 0.00731258383364465, + -0.000462960364529863 + ], + [ + -0.0007972553721629083, + -0.007312716066289306, + 0.9999729490359592, + -0.0004498068883549422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999989867210388, + -0.0005722666225619473, + 0.0013086810369765329, + -0.0023346515372395515 + ], + [ + 0.000559780455660075, + 0.9999545309376601, + 0.009521552847041977, + -0.0027123428881168365 + ], + [ + -0.0013140703085809946, + -0.00952081046179792, + 0.9999538237858407, + -0.0003182998625561595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999992847442627, + 0.00024004613818636797, + 0.0011867864422384082, + -0.001984595088288188 + ], + [ + -0.0002528218610677868, + 0.9999418787001646, + 0.010776554068297342, + -0.0025872003752738237 + ], + [ + -0.0011841306695714593, + -0.010776846406526413, + 0.9999412193310168, + -0.0007235237280838192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999985694885256, + 0.0011660077629639253, + 0.0012198888592614017, + -0.0017846210394054651 + ], + [ + -0.0011811085278168323, + 0.9999217538878238, + 0.012452207495806297, + -0.0026058161165565252 + ], + [ + -0.0012052740203216674, + -0.012453630880678608, + 0.9999217338040265, + -0.0008282253984361887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.999997138977051, + 0.0011505524756554725, + 0.00208769643362101, + -0.0017988071776926517 + ], + [ + -0.0011785342358052733, + 0.9999088347431995, + 0.013451835580944965, + -0.001803104067221284 + ], + [ + -0.002072028815746308, + -0.013454258043258876, + 0.9999073660768202, + -0.0012904158793389797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999939203262331, + 0.0023387246987760244, + 0.002597010255254448, + -0.001638134941458702 + ], + [ + -0.0023783214855939154, + 0.999879323633618, + 0.015350091492524254, + -0.0022985306568443775 + ], + [ + -0.0025607971474528317, + -0.015356174707660361, + 0.9998788014280519, + -0.0009789045434445143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999905228614809, + 0.003292497330687581, + 0.002842882287421853, + -0.0016384426271542907 + ], + [ + -0.003339723218232394, + 0.9998537647637269, + 0.01677010868071674, + -0.0021909845527261496 + ], + [ + -0.002787251258268953, + -0.01677944485890665, + 0.9998553179520543, + -0.0012655786704272032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999861717224121, + 0.004546495153220415, + 0.002639914916306284, + -0.0008746887906454504 + ], + [ + -0.0045942021533846855, + 0.9998209872683822, + 0.018355694861822522, + -0.003163571935147047 + ], + [ + -0.0025559882633388042, + -0.018367568756963847, + 0.9998280185267319, + -0.0014049310702830553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999824166297913, + 0.004849969289227772, + 0.0034095226713512206, + -0.0017157309921458364 + ], + [ + -0.004911785013973713, + 0.9998193454804398, + 0.0183620801242258, + -0.002152892528101802 + ], + [ + -0.003319851355627179, + -0.018378504174968707, + 0.9998256026690598, + -0.0005780362407676876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999813437461855, + 0.0053967823833514375, + 0.0028514736131439126, + -0.0008618315914645791 + ], + [ + -0.005448244512081147, + 0.9998166073621063, + 0.01835903738613576, + -0.0009190896525979042 + ], + [ + -0.0027518710121512417, + -0.018374230951822272, + 0.9998273991717322, + -0.0007158566731959581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999813437461853, + 0.005590774744899962, + 0.002460661081427677, + -0.0008147829794324934 + ], + [ + -0.005635865498334169, + 0.9998089751495816, + 0.01871597595004607, + -0.0005940508563071489 + ], + [ + -0.0023555541411042213, + -0.018729494353459053, + 0.9998218127733395, + -0.0013487293617799878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999671578407288, + 0.006391031290851375, + 0.004977850437374721, + -0.005488220602273941 + ], + [ + -0.006483227480202913, + 0.9998035157414688, + 0.018730701751301197, + 0.0005884144338779151 + ], + [ + -0.004857164341956377, + -0.01876236036897358, + 0.9998121523370151, + -0.0017346846871078014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999735355377197, + 0.006606607550872097, + 0.003050769092561598, + -0.0026932565961033106 + ], + [ + -0.006668388843536377, + 0.9997633907898805, + 0.020705492965682415, + -0.0015912825474515557 + ], + [ + -0.00291325431317091, + -0.020725287936767124, + 0.9997809590974562, + -0.0017410761211067438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.99996018409729, + 0.006732318143742615, + 0.005856982103174959, + -0.00827453751116991 + ], + [ + -0.006850677076727152, + 0.999767834812393, + 0.02042852732462395, + -0.0007271529757417738 + ], + [ + -0.005718090571463108, + -0.020467839875680446, + 0.9997741770375926, + -0.0017826530383899808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999510645866394, + 0.006927299519610694, + 0.007063018076244644, + -0.010811918415129185 + ], + [ + -0.007081286050379276, + 0.999732548665211, + 0.02201497521358442, + -0.003020687261596322 + ], + [ + -0.0069086248986423016, + -0.022063912830105104, + 0.9997326835610725, + -0.001263114856556058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999123215675356, + 0.006866644980490658, + 0.01132486830413911, + -0.01812024787068367 + ], + [ + -0.007122356444597246, + 0.9997170453429673, + 0.022696060664410565, + -0.003202486550435424 + ], + [ + -0.011165818199515344, + -0.02277472839609406, + 0.9996782549620149, + -0.0002287577372044325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.999873161315918, + 0.006514189229650434, + 0.014532479075355556, + -0.02315368689596653 + ], + [ + -0.006869880482554436, + 0.9996747189965417, + 0.02456147405837786, + -0.005604182835668325 + ], + [ + -0.014367754571139812, + -0.02465819718245914, + 0.9995927165273383, + 0.00041487489943392575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9997297525405884, + 0.006474534228542971, + 0.022328319205139155, + -0.03582578897476196 + ], + [ + -0.007036380935460329, + 0.9996582225829849, + 0.025176890868722997, + -0.005909560713917017 + ], + [ + -0.022157680243253708, + -0.02532719789368465, + 0.9994336111998352, + 0.0023387440014630556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9995831251144409, + 0.00600776679650441, + 0.028240492394798995, + -0.044847387820482254 + ], + [ + -0.006797217298299074, + 0.9995864396080119, + 0.027942200829929063, + -0.009976224973797798 + ], + [ + -0.028060942888259888, + -0.028122508234995996, + 0.9992105577958734, + 0.004270634148269892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9995039701461792, + 0.005484092865431353, + 0.031011143114910027, + -0.048176705837249756 + ], + [ + -0.006402663886547089, + 0.9995413305642874, + 0.029599371660718802, + -0.011551190167665482 + ], + [ + -0.030834592878818512, + -0.02978324336172476, + 0.999080657941254, + 0.005042051896452904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9992969036102295, + 0.005383078969514795, + 0.03710380293367658, + -0.0567675344645977 + ], + [ + -0.00653367955237627, + 0.9994992841337447, + 0.030959151017388213, + -0.012173917144536972 + ], + [ + -0.03691856935620308, + -0.031179810110056185, + 0.9988317626614004, + 0.0058823577128350735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9990857243537903, + 0.0049639160293315585, + 0.04246278612760514, + -0.06370555609464645 + ], + [ + -0.006343595217913389, + 0.9994542450304473, + 0.0324187087741403, + -0.012989058159291744 + ], + [ + -0.04227868840098381, + -0.03265843484467908, + 0.9985719506847314, + 0.0061849323101341724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9988430738449099, + 0.0044288613239089804, + 0.04788371402211543, + -0.07004603743553162 + ], + [ + -0.006071756128221752, + 0.9993959234838466, + 0.034219276966083914, + -0.014000660739839077 + ], + [ + -0.047703236341476454, + -0.03447042635474138, + 0.9982665856944096, + 0.0071510011330246925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.998616099357605, + 0.0041517319519948385, + 0.05242793260115252, + -0.0744611918926239 + ], + [ + -0.006033869460225105, + 0.9993410547111108, + 0.035792429702956444, + -0.013984144665300846 + ], + [ + -0.05224478244781494, + -0.03605923870062186, + 0.9979830837141126, + 0.008939438499510288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9984476566314697, + 0.0043400556742118285, + 0.05552851062304823, + -0.07637227326631546 + ], + [ + -0.006409437395632267, + 0.9992893901072019, + 0.037143372222493705, + -0.013605877757072449 + ], + [ + -0.05532784387469292, + -0.037441620531877794, + 0.9977659847931935, + 0.00960217323154211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9983399510383606, + 0.003953056937627358, + 0.057460102571906625, + -0.0767623782157898 + ], + [ + -0.006165247410535812, + 0.9992444458721811, + 0.03837345826116799, + -0.013097123242914677 + ], + [ + -0.05726499855518341, + -0.03866401467802186, + 0.9976100758271033, + 0.009736166335642338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9983023405075073, + 0.0034082129084714897, + 0.05814487214956472, + -0.07537476718425751 + ], + [ + -0.0057501341216266155, + 0.9991767801725836, + 0.04015771036216158, + -0.013665564358234406 + ], + [ + -0.057960145175457, + -0.040423878908250346, + 0.9975001427143657, + 0.009703987278044224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9983341097831726, + 0.003713939371227462, + 0.0575777358038182, + -0.07299140840768814 + ], + [ + -0.006100588012486696, + 0.9991268768064264, + 0.04133070795015846, + -0.012979617342352867 + ], + [ + -0.05737396329641342, + -0.04161311607250026, + 0.9974851353364419, + 0.008936828933656216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9985660910606384, + 0.003842369178934016, + 0.053394673002376075, + -0.06528457254171371 + ], + [ + -0.0061379666440188885, + 0.9990606809735245, + 0.042895765194088116, + -0.012992301024496555 + ], + [ + -0.053179699927568436, + -0.04316199276187729, + 0.9976517149808231, + 0.006893092766404152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9986178874969482, + 0.0039634187205388974, + 0.05240831950977822, + -0.06314563751220703 + ], + [ + -0.0062375618144869804, + 0.9990426132584679, + 0.043300689880613176, + -0.011254951357841492 + ], + [ + -0.052186526358127594, + -0.043567743156630194, + 0.997686551212735, + 0.005677171051502228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9988216757774353, + 0.0040574111778977255, + 0.0483616587186576, + -0.05622617527842522 + ], + [ + -0.006217414513230324, + 0.9989856932981761, + 0.04459716363844076, + -0.011283908039331436 + ], + [ + -0.048131655901670456, + -0.04484529900259216, + 0.9978337985793876, + 0.00439261831343174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9990420937538147, + 0.004919406126486442, + 0.04348198860528899, + -0.04818538576364517 + ], + [ + -0.006932663731276989, + 0.9989048225852489, + 0.046272132763715904, + -0.011671599932014942 + ], + [ + -0.04320673272013664, + -0.046529255290348036, + 0.9979820765185803, + 0.003382650902494788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9991994500160217, + 0.005165981225707652, + 0.03967071684723177, + -0.04254965856671333 + ], + [ + -0.006993715651333332, + 0.9989135768031913, + 0.04607297262096285, + -0.009043625555932522 + ], + [ + -0.039389606565237045, + -0.046313535337363584, + 0.9981500408231672, + 0.001960593508556485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9994207620620728, + 0.00577962108115257, + 0.03353774777260159, + -0.033128730952739716 + ], + [ + -0.007364784367382526, + 0.9988518746453922, + 0.04733568466673494, + -0.009038339368999004 + ], + [ + -0.033225659281015396, + -0.04755526473447942, + 0.9983158564109526, + 0.00023344926012214273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9994701743125916, + 0.005923574129017853, + 0.03200489390872161, + -0.03179227188229561 + ], + [ + -0.0074490830302238464, + 0.9988311670679623, + 0.04775786561414663, + -0.007596017327159643 + ], + [ + -0.03168458864092827, + -0.04797096658155656, + 0.9983460424652352, + 0.00028034840943291783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9995211362838745, + 0.006115807530043876, + 0.030333681418732328, + -0.03035317361354828 + ], + [ + -0.007571677211672068, + 0.9988130982502501, + 0.04811491421528633, + -0.005690977908670902 + ], + [ + -0.030003417283296585, + -0.048321549740575113, + 0.9983811055119315, + 0.0004470818385016173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9995500445365906, + 0.0057651691759763295, + 0.029436489628931223, + -0.029772374778985977 + ], + [ + -0.007216855883598328, + 0.9987504986204231, + 0.04945027630262706, + -0.00533519871532917 + ], + [ + -0.0291146207600832, + -0.049640464474557534, + 0.99834269779018, + 0.0006035533151589334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9995750784873965, + 0.005831294545475309, + 0.02856042029693344, + -0.02918391115963459 + ], + [ + -0.007271723356097938, + 0.9986928848043385, + 0.050593139103949504, + -0.0037785538006573915 + ], + [ + -0.028228064998984344, + -0.0507793229817505, + 0.9983108810463587, + 0.00021250596910249442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995899200439455, + 0.005674151036539466, + 0.028067529671432428, + -0.029181968420743942 + ], + [ + -0.00714818947017193, + 0.9985848596534554, + 0.05269921674113428, + -0.0037434196565300226 + ], + [ + -0.027728784829378135, + -0.052878237441112995, + 0.9982159232752404, + 0.00017623230814933777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9996038079261782, + 0.00586711842559349, + 0.027527195444057403, + -0.029095014557242393 + ], + [ + -0.007370295468717815, + 0.9984686647407629, + 0.05482731220869857, + -0.004507436882704496 + ], + [ + -0.027163362130522735, + -0.05500847482083301, + 0.9981163453704032, + 0.00047102116513997316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9996150732040407, + 0.005685183773469599, + 0.027155910572264554, + -0.02950187213718891 + ], + [ + -0.007221064064651729, + 0.998359537231174, + 0.05679894409813788, + -0.005309632979333401 + ], + [ + -0.026788450777530677, + -0.05697317190273021, + 0.9980162398064009, + 0.0003332628693897277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9996243119239807, + 0.005811177685962147, + 0.026785631153825904, + -0.030000576749444008 + ], + [ + -0.007372290827333927, + 0.9982568493106334, + 0.05855651136963903, + -0.005644442979246378 + ], + [ + -0.026398656889796257, + -0.058731985696533866, + 0.9979246824194615, + -0.0003506825596559793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9996458292007449, + 0.006016240150132884, + 0.025923672193437587, + -0.029394561424851418 + ], + [ + -0.007572000380605461, + 0.9981491970267714, + 0.06033919601901579, + -0.0059736669063568115 + ], + [ + -0.025512678548693664, + -0.06051412176354554, + 0.9978412647979019, + -0.000198683948838152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9996443986892702, + 0.006063439532503247, + 0.025966663439296527, + -0.02996835671365261 + ], + [ + -0.007659760769456627, + 0.9980576397892563, + 0.06182444602948791, + -0.005789811722934246 + ], + [ + -0.025541359558701522, + -0.062001359836132836, + 0.9977491837478533, + -0.0002829466830007732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9996656179428103, + 0.00616385268614801, + 0.025111854898918193, + -0.029005128890275955 + ], + [ + -0.007739390246570112, + 0.9979749737618233, + 0.06313480661901054, + -0.005286387633532286 + ], + [ + -0.024671850726008422, + -0.06330804934142183, + 0.9976890312607711, + -0.0006518472218886018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9996684789657595, + 0.006247226739855017, + 0.02497759824919257, + -0.029342563822865486 + ], + [ + -0.00785727705806494, + 0.99786149323315, + 0.06489034151616317, + -0.005555386655032635 + ], + [ + -0.024518797174096114, + -0.06506508236018972, + 0.9975797277988921, + -9.358575334772468e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9996724724769595, + 0.006067805912695175, + 0.02486219567707212, + -0.029585277661681175 + ], + [ + -0.007714061532169582, + 0.9977456944350359, + 0.06666378364228318, + -0.005811844952404499 + ], + [ + -0.024401646107435233, + -0.06683373510672376, + 0.997465685087736, + 3.242750608478673e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9996761679649353, + 0.005751308150258092, + 0.024788105158242087, + -0.02965357154607773 + ], + [ + -0.007430603262037039, + 0.9976443279027043, + 0.06819551524946327, + -0.005747731775045395 + ], + [ + -0.02433750033378601, + -0.0683576225028763, + 0.9973640112279071, + 0.00027809885796159506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9996917247772219, + 0.0053514721388403215, + 0.024245955760060254, + -0.02910001017153263 + ], + [ + -0.007038479670882227, + 0.9975195867261919, + 0.07003688943849172, + -0.0055671934969723225 + ], + [ + -0.02381101436913014, + -0.07018595160413808, + 0.9972497167564435, + 0.0007152719772420824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9997141361236572, + 0.005785286515425368, + 0.023197631935292163, + -0.02774990163743496 + ], + [ + -0.007453246973454952, + 0.9973425441190841, + 0.07247308146984069, + -0.00605363491922617 + ], + [ + -0.022716708481311798, + -0.07262526078236113, + 0.9971005525572261, + 0.0005556040559895337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9998139142990112, + 0.0065501545197574704, + 0.018143401442051732, + -0.018968641757965088 + ], + [ + -0.007872235961258411, + 0.9972432581088846, + 0.07378296201163509, + -0.005311744287610054 + ], + [ + -0.0176100954413414, + -0.07391206393841045, + 0.997109293116287, + -6.462960300268605e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9997667670249939, + 0.006534461578918967, + 0.020585708020638218, + -0.02262180671095848 + ], + [ + -0.008046344853937626, + 0.9972080887046592, + 0.07423837553932532, + -0.0033125418704003096 + ], + [ + -0.020043127238750458, + -0.07438669531451947, + 0.9970280164016576, + 0.00018154049757868052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9997076392173767, + 0.005406735879992907, + 0.02356597475059436, + -0.027146458625793457 + ], + [ + -0.007193137425929308, + 0.9970519665146164, + 0.07639140150522482, + -0.004122988320887089 + ], + [ + -0.02308347448706627, + -0.07653858291896384, + 0.9967993790320716, + 0.0007802327745594084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9996886253356936, + 0.0053779194027407115, + 0.02436688564183519, + -0.02802291326224804 + ], + [ + -0.007280364632606508, + 0.9968740015117893, + 0.07867194194785405, + -0.003959124442189932 + ], + [ + -0.02386762388050557, + -0.078824843036486, + 0.9966027180333772, + 0.00038461360963992774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9996670484542847, + 0.004744123136543194, + 0.025363291076120797, + -0.02886669524013996 + ], + [ + -0.006769724655896425, + 0.9967409594196596, + 0.08038421585417696, + -0.002949492307379842 + ], + [ + -0.024899279698729515, + -0.08052915683580401, + 0.9964412305145509, + 0.0012448172783479095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9998008608818054, + 0.005345572757536003, + 0.019227060297961777, + -0.018273599445819855 + ], + [ + -0.006944304332137108, + 0.9964357026930833, + 0.08406911468983065, + -0.004850669298321009 + ], + [ + -0.018709132447838783, + -0.08418589168331118, + 0.9962743867678227, + 0.0014699687017127872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9996729493141174, + 0.00388210581461565, + 0.025277080039585363, + -0.028060244396328926 + ], + [ + -0.006058220751583576, + 0.9962254878593815, + 0.0865917559532611, + -0.0043494813144207 + ], + [ + -0.024845510721206665, + -0.08671656715176873, + 0.9959231645443333, + 0.001795964315533638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9996913075447083, + 0.0037447743681364516, + 0.02456079216654164, + -0.02613665908575058 + ], + [ + -0.005922340787947178, + 0.9959964460588249, + 0.08919625219923079, + -0.003183248220011592 + ], + [ + -0.024128442630171776, + -0.08931418051788272, + 0.9957112137021884, + 0.00340654025785625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9997377991676331, + 0.0038326980483849708, + 0.02257403436197901, + -0.022783486172556877 + ], + [ + -0.005911553744226694, + 0.9956712549969492, + 0.0927568734636112, + -0.002675437368452549 + ], + [ + -0.022120807319879532, + -0.09286600211477757, + 0.9954328663903126, + 0.0019869571551680565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9997482299804688, + 0.002610869971923622, + 0.022285674978344373, + -0.023544711992144585 + ], + [ + -0.004783915355801582, + 0.9951729399393807, + 0.0980200742679245, + -0.0035063177347183228 + ], + [ + -0.02192218229174614, + -0.09810201164701057, + 0.9949349058164073, + 0.003661742666736245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9998794794082642, + 0.00422486950802733, + 0.01493951904395529, + -0.01355290412902832 + ], + [ + -0.005745763890445232, + 0.994636352239849, + 0.10327393733539357, + -0.0020632133819162846 + ], + [ + -0.014423069544136524, + -0.10334733048758622, + 0.9945407612934026, + 0.004026627168059349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9998847246170046, + 0.0031196687676138942, + 0.014859777297367895, + -0.015472916886210442 + ], + [ + -0.004736160393804313, + 0.9939177520293662, + 0.11002317968862317, + -0.0015215595485642552 + ], + [ + -0.014426159672439102, + -0.11008087277112212, + 0.9938179317039499, + 0.005271515343338251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9998562335968018, + 0.0026508808598624985, + 0.01674745781539082, + -0.019902406260371208 + ], + [ + -0.004619461949914694, + 0.992928420142817, + 0.1186247409210943, + -0.003093115985393524 + ], + [ + -0.016314567998051643, + -0.11868505421062657, + 0.9927979401792905, + 0.0072568380273878574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996848106384277, + 0.0017803166431799987, + 0.02504268449853019, + -0.03490980342030525 + ], + [ + -0.004984932020306587, + 0.9916977972694632, + 0.1284935788091967, + -0.003715754020959139 + ], + [ + -0.024606017395853996, + -0.12857791443916847, + 0.9913940798779652, + 0.011825197376310825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9995398521423342, + -0.0008688885980441236, + 0.03032061504983961, + -0.045772116631269455 + ], + [ + -0.003408490680158139, + 0.9900415196311915, + 0.1407345460367008, + -0.006112677976489067 + ], + [ + -0.030140951275825507, + -0.14077313213432574, + 0.9895829708772891, + 0.016195660457015038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9993760585784912, + -0.001565297952905144, + 0.03528601475285701, + -0.05669805780053139 + ], + [ + -0.003805282525718212, + 0.9884314194885256, + 0.15162092786343911, + -0.006328594870865345 + ], + [ + -0.035115133970975876, + -0.15166058955037348, + 0.9878086964713542, + 0.02032393217086792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9991748929023743, + -0.0033456480537564135, + 0.04047651171722062, + -0.06809891760349274 + ], + [ + -0.0032525593414902687, + 0.9868089190158366, + 0.1618566116059307, + -0.007314631715416908 + ], + [ + -0.040484100580215454, + -0.16185471546195446, + 0.9859838417162369, + 0.025745287537574768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.999023973941803, + -0.005215160352808977, + 0.043861789693841996, + -0.07613344490528107 + ], + [ + -0.0025449800305068493, + 0.9845597723147942, + 0.17503009361733557, + -0.01297655701637268 + ], + [ + -0.04409736767411232, + -0.17497089170609892, + 0.9835855646928888, + 0.0324493907392025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9988054633140564, + -0.007766155703611208, + 0.048241862115201165, + -0.08583912253379822 + ], + [ + -0.0015392417553812265, + 0.9817979684797349, + 0.18992217950836332, + -0.020480604842305183 + ], + [ + -0.04883872717618942, + -0.1897695655203926, + 0.9806131928089041, + 0.03847242519259453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9982821345329285, + -0.010436556555896913, + 0.05765251589261967, + -0.1010160893201828 + ], + [ + -0.001673331717029214, + 0.9785268497110599, + 0.2061125698105689, + -0.02855575643479824 + ], + [ + -0.058565638959407806, + -0.20585496551934332, + 0.9768284301271086, + 0.04508287459611893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9977228641510012, + -0.012015086473577229, + 0.06636779236393418, + -0.11223950237035751 + ], + [ + -0.002816621214151383, + 0.9757239484286878, + 0.2189859642876972, + -0.028397008776664734 + ], + [ + -0.06738777458667757, + -0.21867425024751563, + 0.9734682898558796, + 0.05083772912621498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9964608550071719, + -0.014054412452879354, + 0.08287465342038093, + -0.13554474711418152 + ], + [ + -0.005858753342181445, + 0.9719130952732746, + 0.23526718628802998, + -0.03237609565258026 + ], + [ + -0.08385350555181505, + -0.23492008443565032, + 0.9683910125240416, + 0.06165977567434311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9950811862945557, + -0.015846766334851332, + 0.09778696663113637, + -0.1559290885925293 + ], + [ + -0.009370786137878895, + 0.9676383943803578, + 0.2521668632283958, + -0.0386640839278698 + ], + [ + -0.09861844778060913, + -0.25184285619587626, + 0.9627302620030282, + 0.07051866501569748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9948915243148804, + -0.014781321538268272, + 0.09986161106453505, + -0.15338516235351562 + ], + [ + -0.01225791871547699, + 0.9642136216511386, + 0.26484303378674245, + -0.03734820336103439 + ], + [ + -0.10020264983177185, + -0.2647141813420985, + 0.9591068048770144, + 0.07352359592914581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9946932792663576, + -0.01464555180767825, + 0.1018368076623562, + -0.15090341866016388 + ], + [ + -0.01432194467633963, + 0.9604688565877744, + 0.27801872510540493, + -0.036023348569869995 + ], + [ + -0.10188282281160357, + -0.2780018812249277, + 0.9551622019510955, + 0.07694754749536514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9945182204246521, + -0.01743601450794406, + 0.10309929994941269, + -0.14926652610301971 + ], + [ + -0.013343009166419506, + 0.9567764261210036, + 0.2905183086135949, + -0.034768927842378616 + ], + [ + -0.10370846092700958, + -0.2903014013665651, + 0.9512989364416716, + 0.080781489610672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.994388997554779, + -0.020341636599361033, + 0.10381101216736432, + -0.14794941246509552 + ], + [ + -0.012134269811213017, + 0.9529269346176584, + 0.3029570516498897, + -0.03369048610329628 + ], + [ + -0.10508695989847183, + -0.3025168389330619, + 0.9473332451060992, + 0.08371489495038986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9943193793296814, + -0.02153917000686416, + 0.10423534984614137, + -0.14684635400772095 + ], + [ + -0.012615418061614037, + 0.9485584404450796, + 0.3163506339962652, + -0.03261896222829819 + ], + [ + -0.10568725317716599, + -0.3158685512383801, + 0.9428983053204703, + 0.08769423514604568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9940391182899477, + -0.023083419830733018, + 0.10655238532994314, + -0.145459845662117 + ], + [ + -0.013330681249499324, + 0.9442611059632561, + 0.32892736626123104, + -0.03147910535335541 + ], + [ + -0.10820604115724566, + -0.32838707184084776, + 0.9383247782082265, + 0.09246504306793213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9934791922569275, + -0.022757851283911872, + 0.11171922769147521, + -0.1445033699274063 + ], + [ + -0.016878655180335045, + 0.9397219868052986, + 0.3415226615353341, + -0.02948995679616928 + ], + [ + -0.11275733262300491, + -0.34118132737441903, + 0.9332100797996884, + 0.09888318926095963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9927285313606262, + -0.025270742693910254, + 0.11769218764954374, + -0.14273090660572052 + ], + [ + -0.018174398690462112, + 0.9350417354554786, + 0.3540714859509213, + -0.027359360828995705 + ], + [ + -0.11899476498365402, + -0.3536358484153961, + 0.927783341122421, + 0.10624576359987259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9918584823608401, + -0.028147942244313003, + 0.12419509921780929, + -0.1416696012020111 + ], + [ + -0.01947160623967648, + 0.930274861058077, + 0.3663462185960143, + -0.025508396327495575 + ], + [ + -0.12584745883941653, + -0.36578189344916495, + 0.9221529480245458, + 0.11239606887102127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9910079836845398, + -0.031939059078453715, + 0.12993480171339827, + -0.1418950855731964 + ], + [ + -0.01992298662662506, + 0.9250446596199082, + 0.3793355847937745, + -0.02483513206243515 + ], + [ + -0.1323111206293106, + -0.37851327179029115, + 0.9160903096331463, + 0.11618415266275406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9902012944221497, + -0.036866212260281694, + 0.13469339260745566, + -0.14092205464839935 + ], + [ + -0.01898604817688465, + 0.9200280336560565, + 0.39139230019899696, + -0.022528596222400665 + ], + [ + -0.13835085928440094, + -0.3901144673664138, + 0.9103129885174843, + 0.12203337252140045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9892460107803347, + -0.042665212245569614, + 0.13990017653102466, + -0.14253215491771698 + ], + [ + -0.017672915011644367, + 0.9146319252863367, + 0.4039010513360033, + -0.02323407493531704 + ], + [ + -0.14518970251083377, + -0.40202992921609587, + 0.9040419676125543, + 0.12259344756603241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9880506396293642, + -0.042583040633490284, + 0.14813040520163712, + -0.14406028389930725 + ], + [ + -0.022903611883521083, + 0.9098418950456537, + 0.41432254472150937, + -0.02300345152616501 + ], + [ + -0.15241836011409762, + -0.41276437272146366, + 0.8979945516264995, + 0.12403875589370728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9861018657684326, + -0.05923974628369721, + 0.1552217143100806, + -0.1521930992603302 + ], + [ + -0.012290949001908302, + 0.905700586945621, + 0.4237397562517245, + -0.02888905070722103 + ], + [ + -0.16568663716316223, + -0.4197583594213939, + 0.8923849069868689, + 0.11185629665851593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9857988357543948, + -0.056845309945608595, + 0.15801651340331827, + -0.1433081030845642 + ], + [ + -0.017182417213916782, + 0.901882431213858, + 0.43163967858695657, + -0.02033184841275215 + ], + [ + -0.16704900562763217, + -0.42822504043288145, + 0.8880979720976147, + 0.13761666417121887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9852051734924316, + -0.062208539861958456, + 0.15969002948267147, + -0.14453591406345367 + ], + [ + -0.014780589379370213, + 0.8974792507053259, + 0.4408089139452958, + -0.02016587182879448 + ], + [ + -0.17074057459831238, + -0.436647547110103, + 0.8832817462365565, + 0.14238236844539642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9848159551620486, + -0.06907308853027316, + 0.1592685379349245, + -0.14414918422698975 + ], + [ + -0.010549224913120272, + 0.891930035660451, + 0.4520504059366335, + -0.01957554742693901 + ], + [ + -0.17328089475631717, + -0.4468666227664959, + 0.8776582343394685, + 0.15007825195789337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9840211272239687, + -0.07626446071248705, + 0.1608915850237533, + -0.14424148201942444 + ], + [ + -0.007079873234033586, + 0.8861492890585483, + 0.46334580319389884, + -0.018114618957042694 + ], + [ + -0.1779107749462128, + -0.4570811742451781, + 0.8714496712520132, + 0.15757490694522858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9827715754508972, + -0.08320513619590644, + 0.16503631887612352, + -0.1441444754600525 + ], + [ + -0.004911985248327255, + 0.8808619103971266, + 0.4733478568164766, + -0.016761966049671173 + ], + [ + -0.18475918471813202, + -0.4660034803033538, + 0.8652773025920586, + 0.16462460160255432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9809181094169619, + -0.08973978956277495, + 0.17247139174042714, + -0.1452714502811432 + ], + [ + -0.004366079345345498, + 0.8767102821244106, + 0.480999008886977, + -0.01616719365119934 + ], + [ + -0.1943721920251847, + -0.4725736524451281, + 0.8595891958437221, + 0.1698385775089264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9790257811546326, + -0.09477782759532215, + 0.18034887863816212, + -0.1461346298456192 + ], + [ + -0.005055898800492287, + 0.8736318503020182, + 0.4865612748793762, + -0.014909687452018261 + ], + [ + -0.20367375016212463, + -0.4772678494771462, + 0.8548288859466542, + 0.17427553236484528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9771909117698669, + -0.10183993943979107, + 0.18635063966156615, + -0.14524394273757935 + ], + [ + -0.0033394284546375275, + 0.8700333941649251, + 0.49298145287014394, + -0.015359730459749699 + ], + [ + -0.2123364955186844, + -0.4823593091408984, + 0.8498486582382908, + 0.18192622065544128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.975588321685791, + -0.10464245615414672, + 0.19307367311580415, + -0.14698369801044464 + ], + [ + -0.004241034388542175, + 0.8700344284525462, + 0.4929726944582592, + -0.013776159845292568 + ], + [ + -0.21956661343574524, + -0.481757217312233, + 0.8483516364730255, + 0.18520939350128174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9746468067169192, + -0.1070192839257376, + 0.19649558277785112, + -0.1479477435350418 + ], + [ + -0.004111904650926591, + 0.86948089252956, + 0.4939494336222955, + -0.0129650067538023 + ], + [ + -0.22371126711368566, + -0.4822342048200233, + 0.8469967374097593, + 0.18861301243305206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.973723292350769, + -0.10916198018203667, + 0.19986654968310985, + -0.1502944976091385 + ], + [ + -0.0033274777233600616, + 0.8707165005723525, + 0.49177402185967567, + -0.011203250847756863 + ], + [ + -0.22771012783050537, + -0.4795168903269923, + 0.8474736745860846, + 0.1883685439825058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9726664423942568, + -0.11197436678886948, + 0.2034249958641054, + -0.15134917199611664 + ], + [ + -0.002698559314012528, + 0.8705410197972926, + 0.49208843086133375, + -0.01017705723643303 + ], + [ + -0.23219108581542974, + -0.47918684460307026, + 0.8464438983862167, + 0.19101497530937195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9708721041679385, + -0.11874805524215858, + 0.20810165809568035, + -0.15185195207595825 + ], + [ + -6.620958447456361e-05, + 0.8684105155793743, + 0.49584586669608854, + -0.01000269129872322 + ], + [ + -0.23959840834140783, + -0.48141668956722966, + 0.8431076859549272, + 0.19569474458694458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9695166349411013, + -0.12378981020971787, + 0.211455795683256, + -0.15228550136089325 + ], + [ + 0.0016973987221717839, + 0.866367630408657, + 0.49940387712943196, + -0.009234070777893066 + ], + [ + -0.24501958489418035, + -0.48382145952065686, + 0.8401679803636832, + 0.1990189403295517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9685829281806948, + -0.12695800472083055, + 0.2138428626300758, + -0.15211503207683563 + ], + [ + 0.0022243931889534, + 0.8642628186041414, + 0.5030356656795941, + -0.008301881141960621 + ], + [ + -0.2486808449029923, + -0.4867561067257711, + 0.8373925822538438, + 0.20321793854236603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9674249887466433, + -0.1306381144579281, + 0.21684685531982006, + -0.15250128507614136 + ], + [ + 0.0027988739311695103, + 0.8620349266658366, + 0.5068411999096517, + -0.0076148416846990585 + ], + [ + -0.25314232707023626, + -0.48972389134292044, + 0.8343197443125449, + 0.20693689584732056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9662276506423952, + -0.13545281075779764, + 0.21921834757616931, + -0.15277662873268127 + ], + [ + 0.0046738237142562875, + 0.8597774674521593, + 0.5106475490164466, + -0.006484183482825756 + ], + [ + -0.2576476335525513, + -0.4923771627550802, + 0.8313738330182823, + 0.20986363291740417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9650055170059206, + -0.13856286217904598, + 0.2226313397204534, + -0.1537189483642578 + ], + [ + 0.004159752279520036, + 0.8569757385093775, + 0.5153400046230544, + -0.005129515193402767 + ], + [ + -0.26219663023948675, + -0.49637982879089343, + 0.8275626660685407, + 0.2125893086194992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9642744660377505, + -0.14185928128342, + 0.22372004450659796, + -0.15161968767642975 + ], + [ + 0.004100888967514039, + 0.8524216342379619, + 0.5228389431974863, + -0.0028852568939328194 + ], + [ + -0.26487335562706, + -0.503242816027212, + 0.8225502012263848, + 0.21839173138141632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.963081955909729, + -0.14552812172269033, + 0.2264832513172255, + -0.15169617533683777 + ], + [ + 0.0035968199372291565, + 0.8481745791155436, + 0.5297046120801401, + -0.0020716022700071335 + ], + [ + -0.26918426156044006, + -0.5093343751021246, + 0.8173850988070035, + 0.22197005152702332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9621568322181702, + -0.14982142851530886, + 0.22761335686459577, + -0.1502227634191513 + ], + [ + 0.004570223391056061, + 0.8440441360053033, + 0.5362543056522399, + -0.0007281284779310226 + ], + [ + -0.2724580764770508, + -0.5149204796507663, + 0.8127875079971931, + 0.22757050395011902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9612036943435669, + -0.15248046984048408, + 0.22986329806951872, + -0.15035168826580048 + ], + [ + 0.004362072795629501, + 0.8416209703420104, + 0.5400510159669006, + 0.0007517728954553604 + ], + [ + -0.2758050262928009, + -0.5180963768914435, + 0.8096343148424229, + 0.23060019314289093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9614848494529726, + -0.15367996336950773, + 0.22788018020578002, + -0.1478116810321808 + ], + [ + 0.005339559167623521, + 0.8393704856837644, + 0.5435335111722823, + 0.003040972165763378 + ], + [ + -0.2748061120510102, + -0.5213824700265273, + 0.8078625718508371, + 0.23535913228988647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9607681035995483, + -0.1573890502801785, + 0.22837116830002663, + -0.1476018875837326 + ], + [ + 0.00702580064535141, + 0.8369419497407841, + 0.5472465738614782, + 0.0039400625973939896 + ], + [ + -0.2772640287876129, + -0.5241725364213957, + 0.8052129121563034, + 0.24070000648498535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.960780680179596, + -0.16049502397489138, + 0.22614566123013163, + -0.14461790025234222 + ], + [ + 0.010498136281967163, + 0.8359656174600937, + 0.5486813817568983, + 0.007100864313542843 + ], + [ + -0.27711063623428345, + -0.5247883854091293, + 0.8048645107173282, + 0.24779550731182098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9601036310195923, + -0.16560697911672578, + 0.22533394080746103, + -0.14307746291160583 + ], + [ + 0.014718569815158844, + 0.8345962412194692, + 0.5506655112542129, + 0.008574182167649269 + ], + [ + -0.2792568802833557, + -0.5253793378776528, + 0.8037363624393018, + 0.252842515707016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9587393999099731, + -0.17283508448234064, + 0.2257139745604942, + -0.13951225578784943 + ], + [ + 0.019249025732278824, + 0.8316112145403988, + 0.5550245450347718, + 0.009845812804996967 + ], + [ + -0.2836340069770813, + -0.5277791188826776, + 0.8006253689089788, + 0.26099324226379395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9253022074699404, + -0.3425424051882501, + 0.16272852888536768, + -0.20780034363269806 + ], + [ + 0.16144189238548282, + 0.7440782451352952, + 0.6482932598048573, + -0.0396932028234005 + ], + [ + -0.3431506752967835, + -0.5735959333425847, + 0.7437978995705913, + -0.0494135245680809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9247046113014221, + -0.34207666919262764, + 0.16704776929181517, + -0.20489786565303802 + ], + [ + 0.15690463781356812, + 0.7422779149333287, + 0.6514633649086605, + -0.036299873143434525 + ], + [ + -0.3468462824821472, + -0.5762005849986863, + 0.7400612119869595, + -0.04367077350616455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9240046143531799, + -0.34252746605345386, + 0.1699719669427322, + -0.2018347978591919 + ], + [ + 0.15329335629940033, + 0.73904361763878, + 0.6559845373538169, + -0.034528158605098724 + ], + [ + -0.3503094017505646, + -0.5800771447652441, + 0.735386861807419, + -0.03700418770313263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9244196414947512, + -0.34002771672168847, + 0.17271230808931273, + -0.19927175343036652 + ], + [ + 0.1480439603328705, + 0.7372900605593533, + 0.6591557722807659, + -0.032909005880355835 + ], + [ + -0.3514702916145325, + -0.583767518783428, + 0.731904460080031, + -0.03142426535487175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.92434161901474, + -0.33976260554943444, + 0.17364885251731227, + -0.19632576406002045 + ], + [ + 0.1455904245376587, + 0.7347167269632088, + 0.6625668152097118, + -0.030300913378596306 + ], + [ + -0.35269811749458313, + -0.5871564710677339, + 0.7285954632791425, + -0.025173282250761986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9245398044586182, + -0.3392250738703601, + 0.1736446729216434, + -0.1934947520494461 + ], + [ + 0.1437830924987793, + 0.7324918491906094, + 0.665418739540782, + -0.027588697150349617 + ], + [ + -0.3529200255870819, + -0.5902389759947922, + 0.7259926878122737, + -0.019718004390597343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.925059497356415, + -0.3377568973607559, + 0.17373901372917966, + -0.1894637942314148 + ], + [ + 0.140791192650795, + 0.7297578737098296, + 0.6690525187668437, + -0.02417607046663761 + ], + [ + -0.35276451706886297, + -0.5944524860709252, + 0.7226226427791114, + -0.012103630229830742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9241390228271484, + -0.3401937010274746, + 0.17388310542533278, + -0.18798509240150452 + ], + [ + 0.1411786675453186, + 0.726984079955389, + 0.6719841441213658, + -0.023659301921725273 + ], + [ + -0.35501500964164734, + -0.5964582011022789, + 0.7198624686766678, + -0.009211676195263863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9243143796920776, + -0.34090168868917725, + 0.17154860671398908, + -0.18550647795200348 + ], + [ + 0.1417478322982788, + 0.7240296814643675, + 0.6750470766875776, + -0.020894797518849373 + ], + [ + -0.35433098673820496, + -0.5996391095795164, + 0.7175531300955916, + -0.004245329648256302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9245679974555969, + -0.34222049890028017, + 0.16750852485620635, + -0.18262650072574615 + ], + [ + 0.1432645320892334, + 0.7196182004681024, + 0.6794298585378493, + -0.0187507513910532 + ], + [ + -0.35305699706077576, + -0.604181107355692, + 0.7143639920515006, + 0.00047259964048862457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.923893392086029, + -0.3461062812604915, + 0.16319137562203728, + -0.18020832538604736 + ], + [ + 0.14649930596351624, + 0.7139193555782721, + 0.6847313982469784, + -0.017662478610873222 + ], + [ + -0.353495329618454, + -0.6087114059705295, + 0.710289756898764, + 0.005053926259279251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9226478934288025, + -0.3509644752202693, + 0.1598275160163226, + -0.17849251627922058 + ], + [ + 0.14982634782791138, + 0.7081104167643405, + 0.6900230080075905, + -0.016947824507951736 + ], + [ + -0.3553490936756134, + -0.6127018728410243, + 0.7059202903339152, + 0.009312888607382774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9223259091377258, + -0.35253074978419785, + 0.15823093158316018, + -0.17785848677158356 + ], + [ + 0.15062163770198822, + 0.7050906762038912, + 0.6929360074241785, + -0.014853445813059807 + ], + [ + -0.35584840178489685, + -0.6152798204052133, + 0.703422113020672, + 0.012486972846090794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9217403531074526, + -0.3550827248818959, + 0.15591979288081634, + -0.1771266758441925 + ], + [ + 0.1524198949337006, + 0.7014008177362759, + 0.696279488449907, + -0.013505879789590836 + ], + [ + -0.3565990626811982, + -0.6180236498425193, + 0.7006311235572856, + 0.016140056774020195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9219379425048828, + -0.3565859483673607, + 0.1512512857943004, + -0.17528319358825684 + ], + [ + 0.1545400470495224, + 0.6966946170705863, + 0.7005240914649639, + -0.012910153716802597 + ], + [ + -0.3551729917526245, + -0.6224653144161876, + 0.6974159684425958, + 0.0218635406345129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.923180401325226, + -0.3551613734958031, + 0.14696364027102504, + -0.17260590195655823 + ], + [ + 0.15647608041763308, + 0.6965051575241967, + 0.7002826913832775, + -0.00789390504360199 + ], + [ + -0.35107427835464483, + -0.6234909885710354, + 0.6985741437897585, + 0.02686656266450882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9228270649909973, + -0.35700853927609655, + 0.14468959977962542, + -0.1718049943447113 + ], + [ + 0.1572735756635666, + 0.6920571634810729, + 0.7045011832309546, + -0.007367852609604597 + ], + [ + -0.35164642333984375, + -0.6273769444980405, + 0.6947971265185295, + 0.031225591897964478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9228472709655762, + -0.35762477587070557, + 0.14302961622627458, + -0.1710485816001892 + ], + [ + 0.1575971394777298, + 0.6894356403664726, + 0.7069948066037643, + -0.004571874625980854 + ], + [ + -0.35144859552383423, + -0.6299071333389296, + 0.6926044002756045, + 0.03416796773672104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9226131439208984, + -0.358586897785965, + 0.14212838295766128, + -0.16977544128894806 + ], + [ + 0.15711605548858643, + 0.6858784666370212, + 0.7105528109085576, + -0.001965788658708334 + ], + [ + -0.3522776961326599, + -0.6332347139592512, + 0.6891402448104916, + 0.0390213280916214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.92180335521698, + -0.36017224059970826, + 0.14336844170675567, + -0.1695888340473175 + ], + [ + 0.15613922476768494, + 0.6834630507080925, + 0.7130910702836638, + -0.0009217364713549614 + ], + [ + -0.35482263565063477, + -0.6349443106297755, + 0.6862555395459607, + 0.04237612709403038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9215361475944521, + -0.36035894561077153, + 0.1446118376821611, + -0.16702957451343536 + ], + [ + 0.15488901734352115, + 0.6826702860507131, + 0.714122340849901, + 0.0026881848461925983 + ], + [ + -0.3560625612735749, + -0.6356907765265117, + 0.6849210030263697, + 0.04858815297484398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9193998575210571, + -0.36416384129814416, + 0.14862241832240333, + -0.1663181632757187 + ], + [ + 0.1546926498413086, + 0.6821990335809978, + 0.7146150541275467, + 0.004791333340108395 + ], + [ + -0.3616270422935486, + -0.6340261836243211, + 0.6835471419052396, + 0.05292264744639397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9181817770004272, + -0.3651442647695911, + 0.1536616163532963, + -0.165129154920578 + ], + [ + 0.15239518880844116, + 0.6835860249201334, + 0.7137827826640577, + 0.008145377039909363 + ], + [ + -0.3656746447086334, + -0.6319650591959999, + 0.6833024311364299, + 0.057926859706640244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9158769845962527, + -0.3686528518994281, + 0.15894775981775486, + -0.16465462744235992 + ], + [ + 0.15131387114524844, + 0.6837197993843678, + 0.7138847025887508, + 0.009570238180458546 + ], + [ + -0.37185135483741766, + -0.6297795803963486, + 0.6819855414042417, + 0.06260338425636292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9142020940780642, + -0.37093725145905987, + 0.1632179002474628, + -0.16305923461914062 + ], + [ + 0.1509862691164017, + 0.6855105977239532, + 0.7122348023420239, + 0.014861677773296833 + ], + [ + -0.37608203291893016, + -0.6264829162032727, + 0.682701649729499, + 0.06938376277685165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9127700328826907, + -0.37323749756434554, + 0.1659658596110984, + -0.16153989732265472 + ], + [ + 0.15087069571018222, + 0.6856282481053184, + 0.7121460339944502, + 0.018561474978923798 + ], + [ + -0.3795905113220216, + -0.624986186798878, + 0.6821315011536444, + 0.0755651444196701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9109768867492676, + -0.37543613154830197, + 0.17078898753038604, + -0.16302557289600372 + ], + [ + 0.1490490734577179, + 0.6857446029068367, + 0.7124175100445193, + 0.017738303169608116 + ], + [ + -0.384584903717041, + -0.6235399272538155, + 0.6806558912386743, + 0.07764571905136108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9087514281272888, + -0.3805089106601513, + 0.17141707709162005, + -0.16278736293315887 + ], + [ + 0.15113285183906555, + 0.6829104746134458, + 0.7146972752875077, + 0.018668465316295624 + ], + [ + -0.3890112042427063, + -0.6235754534498983, + 0.6781032611212687, + 0.08409351855516434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9089552164077759, + -0.38100484959481484, + 0.16922084435523138, + -0.16141074895858765 + ], + [ + 0.1543082594871521, + 0.6845559321595577, + 0.7124409683158051, + 0.024412980303168297 + ], + [ + -0.3872845768928528, + -0.6214647609256169, + 0.6810228800511395, + 0.08993317186832428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9069146513938904, + -0.38556288960322727, + 0.16984431282784468, + -0.16250231862068176 + ], + [ + 0.15644320845603943, + 0.6824884624432082, + 0.7139573655699002, + 0.02454587072134018 + ], + [ + -0.3911921977996826, + -0.6209273870161359, + 0.6792774501959314, + 0.09343885630369186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9061185121536257, + -0.387745737909861, + 0.16912272276302545, + -0.16168658435344696 + ], + [ + 0.1587547063827515, + 0.6822676986311872, + 0.7136580268398404, + 0.027955496683716774 + ], + [ + -0.3921048343181611, + -0.6198097217445255, + 0.6797718361701836, + 0.09901001304388046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9040566086769106, + -0.3923263385172767, + 0.16959278839524755, + -0.16230593621730804 + ], + [ + 0.16141206026077273, + 0.680795799650389, + 0.7144671045505394, + 0.028453204780817032 + ], + [ + -0.39576232433319103, + -0.6185444051509886, + 0.6788041390540525, + 0.10323812067508698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9023385643959045, + -0.3956621664441766, + 0.1709869992776073, + -0.16263194382190704 + ], + [ + 0.1647651493549347, + 0.6831959047739506, + 0.7114041735213166, + 0.031569600105285645 + ], + [ + -0.39829328656196594, + -0.6137547132080177, + 0.6816653040828181, + 0.1070217415690422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.900583863258362, + -0.3998890340743383, + 0.17040391768434876, + -0.16221404075622559 + ], + [ + 0.17001937329769137, + 0.6848429921852128, + 0.7085784831983303, + 0.03410928696393967 + ], + [ + -0.4000527262687684, + -0.6091623839370052, + 0.6847474328815742, + 0.1110692024230957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.898143529891968, + -0.4043374814324976, + 0.17276971419845255, + -0.16315416991710663 + ], + [ + 0.1734839975833893, + 0.6869086350737602, + 0.7057335424628084, + 0.036739032715559006 + ], + [ + -0.40403151512146007, + -0.6038772360140717, + 0.6870886796157563, + 0.11395159363746643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.8956528306007385, + -0.4090135487267066, + 0.1746825068061468, + -0.16391685605049133 + ], + [ + 0.17443297803401947, + 0.6843412499394569, + 0.7079902619991807, + 0.035505812615156174 + ], + [ + -0.4091200530529022, + -0.6036430916789547, + 0.6842776019046838, + 0.11713829636573792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.8935430049896242, + -0.41321119241372356, + 0.17560574090964406, + -0.16348417103290558 + ], + [ + 0.17652569711208346, + 0.6829544152965831, + 0.7088102355240784, + 0.03865835815668106 + ], + [ + -0.4128190279006959, + -0.6023535215500562, + 0.6831915553277039, + 0.12145271897315979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.8919060826301575, + -0.4167990144915024, + 0.1754483783444016, + -0.1639203429222107 + ], + [ + 0.17720937728881836, + 0.6790722314289441, + 0.712360666817316, + 0.038649141788482666 + ], + [ + -0.4160533547401428, + -0.6042676772714636, + 0.6795293358723515, + 0.12381459772586823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.8894999623298647, + -0.4223119463734682, + 0.17447764068927274, + -0.16450652480125427 + ], + [ + 0.180598258972168, + 0.6756783034092213, + 0.7147329015966677, + 0.03946288302540779 + ], + [ + -0.4197309911251069, + -0.604244510576151, + 0.6772846363196927, + 0.12629616260528564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.8879737854003906, + -0.4265982570033888, + 0.17180358323870934, + -0.16454686224460602 + ], + [ + 0.18396684527397156, + 0.6718719144119529, + 0.7174568370912223, + 0.04046815633773804 + ], + [ + -0.42149585485458374, + -0.6054767183820756, + 0.6750845780374033, + 0.12938280403614044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.8880909085273743, + -0.42696548270157864, + 0.17027923003898604, + -0.16514764726161957 + ], + [ + 0.18462610244750977, + 0.6705716162731219, + 0.7185032132156649, + 0.04287083446979523 + ], + [ + -0.4209604859352112, + -0.6066582015404377, + 0.6743575491131745, + 0.13114742934703827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.887620270252228, + -0.4291036630018244, + 0.16733313732378607, + -0.16457688808441162 + ], + [ + 0.18710716068744662, + 0.667933802757042, + 0.7203161642812261, + 0.045475877821445465 + ], + [ + -0.4208577275276185, + -0.6080579931927265, + 0.6731599217492664, + 0.13399997353553772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.8872832655906677, + -0.43005466172966933, + 0.16667757328111, + -0.16453039646148682 + ], + [ + 0.18707197904586792, + 0.6658793011037207, + 0.7222248756543437, + 0.04631616920232773 + ], + [ + -0.4215833246707916, + -0.6096373652993049, + 0.6712747651416435, + 0.1364772617816925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.8874948620796204, + -0.4298856570594288, + 0.1659855676651974, + -0.16450951993465424 + ], + [ + 0.1863841712474823, + 0.6642853526148238, + 0.7238687194507956, + 0.0463142991065979 + ], + [ + -0.42144256830215454, + -0.6114926961168962, + 0.6696737034645058, + 0.13847044110298157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.8875479102134707, + -0.4300009903735352, + 0.1654022480594673, + -0.16433730721473694 + ], + [ + 0.18607163429260257, + 0.662990299512339, + 0.7251352487848011, + 0.04722736030817032 + ], + [ + -0.42146900296211254, + -0.6128156114545263, + 0.6684466550593895, + 0.14091670513153076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.887708306312561, + -0.4304523112298445, + 0.16335476204527022, + -0.16412150859832764 + ], + [ + 0.186318039894104, + 0.6603219723665869, + 0.7275029323197587, + 0.048126012086868286 + ], + [ + -0.4210219979286194, + -0.6153744637630293, + 0.6663743323165283, + 0.14305320382118225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.8879390954971316, + -0.4310260337908825, + 0.16056368543577448, + -0.16407296061515808 + ], + [ + 0.1868122220039368, + 0.6569408841214466, + 0.7304312579317841, + 0.04841925576329231 + ], + [ + -0.4203157424926759, + -0.6185832354817044, + 0.6638444220740506, + 0.1446811854839325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.8886164426803589, + -0.4303469806632887, + 0.15862647775088368, + -0.16384033858776093 + ], + [ + 0.18675597012043, + 0.6553867437094221, + 0.7318404734670841, + 0.049254246056079865 + ], + [ + -0.4189070165157318, + -0.620701043281523, + 0.6627572844238155, + 0.14639875292778015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/tilt_up/transforms.json b/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..9713a64e832615312c2dbd860d6ed23ef1f8bd5e --- /dev/null +++ b/dynpose_eval/camera_controls/7d6d18ee-1d53-4c1f-938e-e34cbae2605b/tilt_up/transforms.json @@ -0,0 +1,5893 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 168, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -6.386433960869908e-05, + 4.9870759539771825e-05, + -7.26116995792836e-05 + ], + [ + 6.386695895344019e-05, + 1.0, + -5.262265040073544e-05, + 2.3591896024299785e-05 + ], + [ + -4.986739804735407e-05, + 5.262583727017045e-05, + 1.0, + 0.000261035340372473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999998211860657, + -0.00045070859759446986, + 0.0004390568846538552, + -0.001211999449878931 + ], + [ + 0.0004514788743108511, + 0.9999983568559301, + -0.001755937120217101, + 7.793916302034631e-05 + ], + [ + -0.00043826474575325847, + 0.001756134996917229, + 0.9999983565457262, + 0.00046597467735409737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999999463558197, + -0.0005128217966145642, + 0.0008821592954267766, + -0.0018669370329007506 + ], + [ + 0.0005157400737516582, + 0.9999944145281826, + -0.0033111017231955676, + -0.0009533373522572219 + ], + [ + -0.0008804562967270613, + 0.003311554835425577, + 0.9999941150828364, + 0.0009597442694939673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999998211860657, + -0.0002269372386085422, + 0.0005732907807678179, + -0.0016640910180285573 + ], + [ + 0.00023016591148916632, + 0.9999840664761588, + -0.00563804129670328, + -0.0007795335259288549 + ], + [ + -0.000572002143599093, + 0.005638172283924943, + 0.9999839466495157, + -0.0006206257967278361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999997019767763, + -0.0004632695299987531, + 0.0006481644866374885, + -0.0020029377192258835 + ], + [ + 0.00046829163329675804, + 0.9999696879183385, + -0.007769621604800473, + -0.00048636874998919666 + ], + [ + -0.0006445454782806338, + 0.0077699229736250845, + 0.9999696264227205, + -0.0008208755753003061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999997019767761, + -0.00018791987857964267, + 0.0007252393394185641, + -0.0021168538369238377 + ], + [ + 0.00019498301844578236, + 0.9999524374120722, + -0.009751281791396284, + -0.00015664953389205039 + ], + [ + -0.0007233723881654441, + 0.009751420548006587, + 0.9999521978985298, + -0.0002705836668610573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999996423721313, + 0.0001779921136447677, + 0.0007952612049216984, + -0.002150625456124544 + ], + [ + -0.00016883565695025027, + 0.999933869590562, + -0.011499029349486255, + -0.000462960364529863 + ], + [ + -0.0007972553721629083, + 0.011498891510531626, + 0.9999335728507011, + -0.0004498068883549422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999989867210388, + -0.0005434091533809156, + 0.0013209245382921268, + -0.0023346515372395515 + ], + [ + 0.000559780455660075, + 0.9999226657382494, + -0.012425234576781713, + -0.0027123428881168365 + ], + [ + -0.0013140703085809946, + 0.012425961264441435, + 0.9999219424647248, + -0.0003182998625561595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999992847442627, + 0.0002697351713631105, + 0.001180392792789248, + -0.001984595088288188 + ], + [ + -0.0002528218610677868, + 0.9998976210579844, + -0.01430532413421493, + -0.0025872003752738237 + ], + [ + -0.0011841306695714593, + 0.01430501535099855, + 0.9998969692280691, + -0.0007235237280838192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999985694885256, + 0.0011999617085690167, + 0.0011865053013831617, + -0.0017846210394054651 + ], + [ + -0.0011811085278168323, + 0.9998750150613449, + -0.01576469554718913, + -0.0026058161165565252 + ], + [ + -0.0012052740203216674, + 0.015763272162316815, + 0.9998750351451422, + -0.0008282253984361887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.999997138977051, + 0.001215432293556876, + 0.00205060277430074, + -0.0017988071776926517 + ], + [ + -0.0011785342358052733, + 0.9998390968711652, + -0.017900001280799344, + -0.001803104067221284 + ], + [ + -0.002072028815746308, + 0.017897533969181374, + 0.9998377048661451, + -0.0012904158793389797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999939203262331, + 0.0024268832699606852, + 0.002514822672982473, + -0.001638134941458702 + ], + [ + -0.0023783214855939154, + 0.9998140219088737, + -0.01913658102306267, + -0.0022985306568443775 + ], + [ + -0.0025607971474528317, + 0.019130483418898614, + 0.9998137097734803, + -0.0009789045434445143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999905228614809, + 0.0033971022337737316, + 0.002717023147860775, + -0.0016384426271542907 + ], + [ + -0.003339723218232394, + 0.9997769816074751, + -0.020851247089988693, + -0.0021909845527261496 + ], + [ + -0.002787251258268953, + 0.020841975942117653, + 0.9997788848768536, + -0.0012655786704272032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999861717224121, + 0.004650290097084462, + 0.0024524622232669196, + -0.0008746887906454504 + ], + [ + -0.0045942021533846855, + 0.9997385513559313, + -0.022400157341560284, + -0.003163571935147047 + ], + [ + -0.0025559882633388042, + 0.02238857981719365, + 0.9997460606108443, + -0.0014049310702830553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999824166297913, + 0.004994909020391501, + 0.0031934199271192185, + -0.0017157309921458364 + ], + [ + -0.004911785013973713, + 0.9996620459130927, + -0.02552809323614702, + -0.002152892528101802 + ], + [ + -0.003319851355627179, + 0.02551195957322908, + 0.9996690177688773, + -0.0005780362407676876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999813437461855, + 0.005524870058129243, + 0.0025946045364362174, + -0.0008618315914645791 + ], + [ + -0.005448244512081147, + 0.9995742156571893, + -0.02866513569011146, + -0.0009190896525979042 + ], + [ + -0.0027518710121512417, + 0.02865046627382874, + 0.9995857098217609, + -0.0007158566731959581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999813437461853, + 0.005707129179567974, + 0.0021772211035142558, + -0.0008147829794324934 + ], + [ + -0.005635865498334169, + 0.9994897041053732, + -0.03144210445839962, + -0.0005940508563071489 + ], + [ + -0.0023555541411042213, + 0.03142924679251169, + 0.999503203447672, + -0.0013487293617799878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999671578407288, + 0.006647151349149938, + 0.004630297493575037, + -0.005488220602273941 + ], + [ + -0.006483227480202913, + 0.999381543400471, + -0.03456067111023571, + 0.0005884144338779151 + ], + [ + -0.004857164341956377, + 0.03452951756874802, + 0.9993918543513648, + -0.0017346846871078014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999735355377197, + 0.00676817052582151, + 0.002673260765576436, + -0.0026932565961033106 + ], + [ + -0.006668388843536377, + 0.9993396013604848, + -0.035719968579192934, + -0.0015912825474515557 + ], + [ + -0.00291325431317091, + 0.0357011960784227, + 0.9993582582499938, + -0.0017410761211067438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.99996018409729, + 0.00706907677382963, + 0.005445778228240683, + -0.00827453751116991 + ], + [ + -0.006850677076727152, + 0.9992106428115756, + -0.03912977825379424, + -0.0007271529757417738 + ], + [ + -0.005718090571463108, + 0.03909091302672072, + 0.9992193142944693, + -0.0017826530383899808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999510645866394, + 0.007356291098148379, + 0.006615034713367728, + -0.010811918415129185 + ], + [ + -0.007081286050379276, + 0.9991472458417009, + -0.0406768868184019, + -0.003020687261596322 + ], + [ + -0.0069086248986423016, + 0.04062805383739863, + 0.9991504471654824, + -0.001263114856556058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999123215675356, + 0.007596877085000041, + 0.010848544323990822, + -0.01812024787068367 + ], + [ + -0.007122356444597246, + 0.9990441417282183, + -0.04312870039176613, + -0.003202486550435424 + ], + [ + -0.011165818199515344, + 0.04304765093411759, + 0.9990106112782133, + -0.0002287577372044325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.999873161315918, + 0.00750031198343001, + 0.01404894763128388, + -0.02315368689596653 + ], + [ + -0.006869880482554436, + 0.9989903522395004, + -0.04439691364423789, + -0.005604182835668325 + ], + [ + -0.014367754571139812, + 0.04429476871842137, + 0.9989152111600735, + 0.00041487489943392575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9997297525405884, + 0.008066460760628676, + 0.02180379881581185, + -0.03582578897476196 + ], + [ + -0.007036380935460329, + 0.9988741308853302, + -0.04691384081126399, + -0.005909560713917017 + ], + [ + -0.022157680243253708, + 0.04674774119741935, + 0.9986609328706256, + 0.0023387440014630556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9995831251144409, + 0.008113794233711164, + 0.02770893386102894, + -0.044847387820482254 + ], + [ + -0.006797217298299074, + 0.9988584386781969, + -0.04728251597362642, + -0.009976224973797798 + ], + [ + -0.028060942888259888, + 0.04707446122983484, + 0.9984971754492292, + 0.004270634148269892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9995039701461792, + 0.007895514329810038, + 0.03048650726662323, + -0.048176705837249756 + ], + [ + -0.006402663886547089, + 0.9987900740949741, + -0.04875840643716382, + -0.011551190167665482 + ], + [ + -0.030834592878818512, + 0.048539027330170015, + 0.9983452135826133, + 0.005042051896452904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9992969036102295, + 0.008386495750845907, + 0.03654225527186551, + -0.0567675344645977 + ], + [ + -0.00653367955237627, + 0.9987011093389926, + -0.050531002569227275, + -0.012173917144536972 + ], + [ + -0.03691856935620308, + 0.05025672122074963, + 0.9980537724150533, + 0.0058823577128350735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9990857243537903, + 0.008536480237298324, + 0.041891015423634756, + -0.06370555609464645 + ], + [ + -0.006343595217913389, + 0.9986163015169218, + -0.052203859365265656, + -0.012989058159291744 + ], + [ + -0.04227868840098381, + 0.051890391449585814, + 0.9977574361216369, + 0.0061849323101341724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9988430738449099, + 0.008610072546071266, + 0.04731100857020003, + -0.07004603743553162 + ], + [ + -0.006071756128221752, + 0.9985474877572399, + -0.053535833662294405, + -0.014000660739839077 + ], + [ + -0.047703236341476454, + 0.05318663529094778, + 0.9974445188748492, + 0.0071510011330246925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.998616099357605, + 0.008894991609041144, + 0.051834391279413077, + -0.0744611918926239 + ], + [ + -0.006033869460225105, + 0.9984629267185905, + -0.05509469687458883, + -0.013984144665300846 + ], + [ + -0.05224478244781494, + 0.05470568744860747, + 0.9971347912072737, + 0.008939438499510288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9984476566314697, + 0.009536165869008557, + 0.054875432716179964, + -0.07637227326631546 + ], + [ + -0.006409437395632267, + 0.9983607255035872, + -0.05687510046437733, + -0.013605877757072449 + ], + [ + -0.05532784387469292, + 0.056435090724779924, + 0.9968720659609588, + 0.00960217323154211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9983399510383606, + 0.009510444245702663, + 0.05680529462097292, + -0.0767623782157898 + ], + [ + -0.006165247410535812, + 0.9982521349075978, + -0.05877635628164718, + -0.013097123242914677 + ], + [ + -0.05726499855518341, + 0.05832856863234428, + 0.9966536748058891, + 0.009736166335642338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9983023405075073, + 0.009214983952213379, + 0.05751109582749358, + -0.07537476718425751 + ], + [ + -0.0057501341216266155, + 0.9981743348365483, + -0.060123847275410855, + -0.013665564358234406 + ], + [ + -0.057960145175457, + 0.059691081784182316, + 0.9965327889520761, + 0.009703987278044224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9983341097831726, + 0.009640771190430516, + 0.056886242069600676, + -0.07299140840768814 + ], + [ + -0.006100588012486696, + 0.9980524333938344, + -0.06208126588006188, + -0.012979617342352867 + ], + [ + -0.05737396329641342, + 0.061630807115930566, + 0.9964486390480255, + 0.008936828933656216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9985660910606384, + 0.009501706585690694, + 0.05268275313513268, + -0.06528457254171371 + ], + [ + -0.0061379666440188885, + 0.9979535841198359, + -0.06364695500369455, + -0.012992301024496555 + ], + [ + -0.053179699927568436, + 0.06323232587216723, + 0.996580942517039, + 0.006893092766404152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9986178874969482, + 0.00967913679073101, + 0.051659025859762744, + -0.06314563751220703 + ], + [ + -0.0062375618144869804, + 0.9977755124475288, + -0.06637107510442321, + -0.011254951357841492 + ], + [ + -0.052186526358127594, + 0.06595711744005449, + 0.9964568537440657, + 0.005677171051502228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9988216757774353, + 0.009478667166920212, + 0.04759692729814803, + -0.05622617527842522 + ], + [ + -0.006217414513230324, + 0.9976519806837908, + -0.0682044562821254, + -0.011283908039331436 + ], + [ + -0.048131655901670456, + 0.06782815956312024, + 0.9965353637479613, + 0.00439261831343174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9990420937538147, + 0.00991924662734889, + 0.042620328905976564, + -0.04818538576364517 + ], + [ + -0.006932663731276989, + 0.9975467798370848, + -0.06965900438014656, + -0.011671599932014942 + ], + [ + -0.04320673272013664, + 0.06929680504997175, + 0.9966599969197509, + 0.003382650902494788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9991994500160217, + 0.009844643300005838, + 0.03877545790178696, + -0.04254965856671333 + ], + [ + -0.006993715651333332, + 0.9973084935963231, + -0.07298507606702674, + -0.009043625555932522 + ], + [ + -0.039389606565237045, + 0.07265546439002211, + 0.9965789637780871, + 0.001960593508556485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9994207620620728, + 0.00982716922416356, + 0.03258237699339934, + -0.033128730952739716 + ], + [ + -0.007364784367382526, + 0.9971675357842479, + -0.07485078559008775, + -0.009038339368999004 + ], + [ + -0.033225659281015396, + 0.07456746524475213, + 0.9966623026343842, + 0.00023344926012214273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9994701743125916, + 0.009880363377026396, + 0.031012584286195997, + -0.03179227188229561 + ], + [ + -0.0074490830302238464, + 0.9969602169575617, + -0.07755539851163318, + -0.007596017327159643 + ], + [ + -0.03168458864092827, + 0.07728328970545949, + 0.9965055580743482, + 0.00028034840943291783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9995211362838745, + 0.00995395620416452, + 0.029299387127434302, + -0.03035317361354828 + ], + [ + -0.007571677211672068, + 0.9967400079504556, + -0.08032438457363918, + -0.005690977908670902 + ], + [ + -0.030003417283296585, + 0.08006407491196461, + 0.9963380690915351, + 0.0004470818385016173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9995500445365906, + 0.00958036330662949, + 0.028424650151141533, + -0.029772374778985977 + ], + [ + -0.007216855883598328, + 0.9965965462175111, + -0.08211706514652276, + -0.00533519871532917 + ], + [ + -0.0291146207600832, + 0.08187497799164194, + 0.9962172483565483, + 0.0006035533151589334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9995750784873965, + 0.009617208648250998, + 0.027517465388904986, + -0.02918391115963459 + ], + [ + -0.007271723356097938, + 0.9964307069045185, + -0.08410107146145579, + -0.0037785538006573915 + ], + [ + -0.028228064998984344, + 0.08386523164063775, + 0.9960771946891989, + 0.00021250596910249442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995899200439455, + 0.009480005955364081, + 0.027020579174556254, + -0.029181968420743942 + ], + [ + -0.00714818947017193, + 0.9963447484710259, + -0.08512386015946752, + -0.0037434196565300226 + ], + [ + -0.027728784829378135, + 0.08489580523537013, + 0.9960039355989301, + 0.00017623230814933777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9996038079261782, + 0.00967974457739256, + 0.0264286229787273, + -0.029095014557242393 + ], + [ + -0.007370295468717815, + 0.9962571774643859, + -0.08612400933495239, + -0.004507436882704496 + ], + [ + -0.027163362130522735, + 0.0858951030612332, + 0.9959338343824776, + 0.00047102116513997316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9996150732040407, + 0.009529150328818662, + 0.026056862580858174, + -0.02950187213718891 + ], + [ + -0.007221064064651729, + 0.9961576336283917, + -0.08728032192304455, + -0.005309632979333401 + ], + [ + -0.026788450777530677, + 0.08705856248126259, + 0.9958429413982215, + 0.0003332628693897277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9996243119239807, + 0.009681061258155606, + 0.02564209186713268, + -0.030000576749444008 + ], + [ + -0.007372290827333927, + 0.9960355699468879, + -0.08864956638333531, + -0.005644442979246378 + ], + [ + -0.026398656889796257, + 0.08842722262623522, + 0.9957327674755166, + -0.0003506825596559793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9996458292007449, + 0.009834922594735816, + 0.02472865186564838, + -0.029394561424851418 + ], + [ + -0.007572000380605461, + 0.9959135687089743, + -0.08999334288026388, + -0.0059736669063568115 + ], + [ + -0.025512678548693664, + 0.08977422667062723, + 0.9956353433320759, + -0.000198683948838152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9996443986892702, + 0.009965628709464804, + 0.024732956830090354, + -0.02996835671365261 + ], + [ + -0.007659760769456627, + 0.9957633207285389, + -0.09163363771141671, + -0.005789811722934246 + ], + [ + -0.025541359558701522, + 0.09141160544981518, + 0.9954855703023145, + -0.0002829466830007732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9996656179428103, + 0.010008850405494062, + 0.023841586565522373, + -0.029005128890275955 + ], + [ + -0.007739390246570112, + 0.9955940533875267, + -0.093448022564024, + -0.005286387633532286 + ], + [ + -0.024671850726008422, + 0.09323226154676542, + 0.9953386647851813, + -0.0006518472218886018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9996684789657595, + 0.010144486126082848, + 0.023664269637471168, + -0.029342563822865486 + ], + [ + -0.00785727705806494, + 0.9954636557318928, + -0.09481785810949127, + -0.005555386655032635 + ], + [ + -0.024518797174096114, + 0.09460048349475786, + 0.9952133071761089, + -9.358575334772468e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9996724724769595, + 0.010022858117307194, + 0.023547597704213726, + -0.029585277661681175 + ], + [ + -0.007714061532169582, + 0.9953350727101787, + -0.09616976575920602, + -0.005811844952404499 + ], + [ + -0.024401646107435233, + 0.0959566181980999, + 0.9950863623323588, + 3.242750608478673e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9996761679649353, + 0.009772244785118699, + 0.02349533857247036, + -0.02965357154607773 + ], + [ + -0.007430603262037039, + 0.9951820488287197, + -0.09776258479423616, + -0.005747731775045395 + ], + [ + -0.02433750033378601, + 0.09755634381869312, + 0.9949324073662469, + 0.00027809885796159506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9996917247772219, + 0.009360391044644258, + 0.02299755865875608, + -0.02910001017153263 + ], + [ + -0.007038479670882227, + 0.9950579540829498, + -0.0990462508168098, + -0.0055671934969723225 + ], + [ + -0.02381101436913014, + 0.09885384698164097, + 0.9948170597201856, + 0.0007152719772420824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9997141361236572, + 0.00967994876365256, + 0.02186088423197723, + -0.02774990163743496 + ], + [ + -0.007453246973454952, + 0.9949861296466885, + -0.09973514755774068, + -0.00605363491922617 + ], + [ + -0.022716708481311798, + 0.09954370211060765, + 0.9947738395151665, + 0.0005556040559895337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9998139142990112, + 0.009618691306023273, + 0.016720296578696694, + -0.018968641757965088 + ], + [ + -0.007872235961258411, + 0.9947995847334687, + -0.10154716904449793, + -0.005311744287610054 + ], + [ + -0.0176100954413414, + 0.10139665132018602, + 0.9946902305318727, + -6.462960300268605e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9997667670249939, + 0.010089777584599197, + 0.019096254898033183, + -0.02262180671095848 + ], + [ + -0.008046344853937626, + 0.9945226592879454, + -0.10421126975308682, + -0.0033125418704003096 + ], + [ + -0.020043127238750458, + 0.10403330193843593, + 0.9943718208082052, + 0.00018154049757868052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9997076392173767, + 0.009579445624626613, + 0.022199598652824237, + -0.027146458625793457 + ], + [ + -0.007193137425929308, + 0.9944268584430459, + -0.10518314200331981, + -0.004122988320887089 + ], + [ + -0.02308347448706627, + 0.1049927074973888, + 0.9942050533397698, + 0.0007802327745594084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9996886253356936, + 0.009767988656873602, + 0.022962001885372226, + -0.02802291326224804 + ], + [ + -0.007280364632606508, + 0.9943367211011013, + -0.10602610249313203, + -0.003959124442189932 + ], + [ + -0.02386762388050557, + 0.10582591263172536, + 0.9940981891578438, + 0.00038461360963992774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9996670484542847, + 0.009403658668494826, + 0.024028617151079575, + -0.02886669524013996 + ], + [ + -0.006769724655896425, + 0.9941889287696902, + -0.10743619620542391, + -0.002949492307379842 + ], + [ + -0.024899279698729515, + 0.10723775949863856, + 0.9939215934407251, + 0.0012448172783479095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9998008608818054, + 0.008902991792597, + 0.017860339664981725, + -0.018273599445819855 + ], + [ + -0.006944304332137108, + 0.9942479702690753, + -0.1068770286919248, + -0.004850669298321009 + ], + [ + -0.018709132447838783, + 0.10673171627541547, + 0.9941117939291433, + 0.0014699687017127872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9996729493141174, + 0.008691712668183601, + 0.02405110500116812, + -0.028060244396328926 + ], + [ + -0.006058220751583576, + 0.9941890281198986, + -0.10747804997181115, + -0.0043494813144207 + ], + [ + -0.024845510721206665, + 0.10729719030820851, + 0.9939165083881797, + 0.001795964315533638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9996913075447083, + 0.008491849989829705, + 0.0233483260784694, + -0.02613665908575058 + ], + [ + -0.005922340787947178, + 0.994133690730489, + -0.10799581900599108, + -0.003183248220011592 + ], + [ + -0.024128442630171776, + 0.10782420882621419, + 0.9938771472998396, + 0.00340654025785625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9997377991676331, + 0.008255178089784265, + 0.021357168267629695, + -0.022783486172556877 + ], + [ + -0.005911553744226694, + 0.9941812285693, + -0.10755821847902286, + -0.002675437368452549 + ], + [ + -0.022120807319879532, + 0.10740376464397744, + 0.9939693743667946, + 0.0019869571551680565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9997482299804688, + 0.00706719566765089, + 0.021296072329090015, + -0.023544711992144585 + ], + [ + -0.004783915355801582, + 0.9944163198369793, + -0.10541962904961413, + -0.0035063177347183228 + ], + [ + -0.02192218229174614, + 0.10529121204610524, + 0.994199794893841, + 0.003661742666736245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9998794794082642, + 0.007204173850048763, + 0.013752768112741358, + -0.01355290412902832 + ], + [ + -0.005745763890445232, + 0.9946352141346791, + -0.10328489789416935, + -0.0020632133819162846 + ], + [ + -0.014423069544136524, + 0.10319343062427758, + 0.9945567417040436, + 0.004026627168059349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9998847246170046, + 0.006149724427404341, + 0.01388258635896, + -0.015472916886210442 + ], + [ + -0.004736160393804313, + 0.9950110770942843, + -0.09965216669784906, + -0.0015215595485642552 + ], + [ + -0.014426159672439102, + 0.09957492684589775, + 0.9949254815663346, + 0.005271515343338251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9998562335968018, + 0.006134461729795822, + 0.015807368278658876, + -0.019902406260371208 + ], + [ + -0.004619461949914694, + 0.9955468211213396, + -0.094155210376817, + -0.003093115985393524 + ], + [ + -0.016314567998051643, + 0.09406865436948617, + 0.9954320571401825, + 0.0072568380273878574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996848106384277, + 0.007114321959149488, + 0.02407679375050738, + -0.03490980342030525 + ], + [ + -0.004984932020306587, + 0.9961631663897441, + -0.08737314709142295, + -0.003715754020959139 + ], + [ + -0.024606017395853996, + 0.08722558325351401, + 0.9958846315335365, + 0.011825197376310825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9995398521423342, + 0.005753201988351522, + 0.029782466843389574, + -0.045772116631269455 + ], + [ + -0.003408490680158139, + 0.9969328203819731, + -0.07818807253692615, + -0.006112677976489067 + ], + [ + -0.030140951275825507, + 0.07805057915478952, + 0.9964936718689346, + 0.016195660457015038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9993760585784912, + 0.006263556295798575, + 0.03476090990393626, + -0.05669805780053139 + ], + [ + -0.003805282525718212, + 0.9975158338105409, + -0.07034015990551601, + -0.006328594870865345 + ], + [ + -0.035115133970975876, + 0.07016399589040839, + 0.9969172327369477, + 0.02032393217086792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9991748929023743, + 0.005799125709331365, + 0.04019840174312002, + -0.06809891760349274 + ], + [ + -0.0032525593414902687, + 0.9980001185696256, + -0.06312819263031791, + -0.007314631715416908 + ], + [ + -0.040484100580215454, + 0.06294536299253768, + 0.9971955506922988, + 0.025745287537574768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.999023973941803, + 0.004872444005053134, + 0.043901182012218716, + -0.07613344490528107 + ], + [ + -0.0025449800305068493, + 0.9985956651593827, + -0.0529166935582966, + -0.01297655701637268 + ], + [ + -0.04409736767411232, + 0.05275331806448184, + 0.9976334314014562, + 0.0324493907392025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9988054633140564, + 0.0035345664107985786, + 0.04873496973470352, + -0.08583912253379822 + ], + [ + -0.0015392417553812265, + 0.9991612984951599, + -0.04091924693353584, + -0.020480604842305183 + ], + [ + -0.04883872717618942, + 0.040795346898417524, + 0.99797317678388, + 0.03847242519259453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9982821345329285, + 0.0032830079768834293, + 0.05849748849409621, + -0.1010160893201828 + ], + [ + -0.001673331717029214, + 0.9996191636248369, + -0.0275447772426864, + -0.02855575643479824 + ], + [ + -0.058565638959407806, + 0.02739958072124428, + 0.9979074665067205, + 0.04508287459611893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9977228641510012, + 0.003989590810770466, + 0.06732851796521616, + -0.11223950237035751 + ], + [ + -0.002816621214151383, + 0.9998427688609172, + -0.017507531202764468, + -0.028397008776664734 + ], + [ + -0.06738777458667757, + 0.017278021106135338, + 0.9975772697204462, + 0.05083772912621498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9964608550071719, + 0.006166967805176495, + 0.08383139744173315, + -0.13554474711418152 + ], + [ + -0.005858753342181445, + 0.999975165087345, + -0.003922106079822719, + -0.03237609565258026 + ], + [ + -0.08385350555181505, + 0.003417077026602423, + 0.9964722388472174, + 0.06165977567434311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9950811862945557, + 0.008301392255179296, + 0.098714222545771, + -0.1559290885925293 + ], + [ + -0.009370786137878895, + 0.9999022745464942, + 0.01037451426298711, + -0.0386640839278698 + ], + [ + -0.09861844778060913, + -0.01124852810883837, + 0.9950617328631932, + 0.07051866501569748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9948915243148804, + 0.010152411874453612, + 0.10043782835144136, + -0.15338516235351562 + ], + [ + -0.01225791871547699, + 0.9997173945999351, + 0.020368398495903915, + -0.03734820336103439 + ], + [ + -0.10020264983177185, + -0.021495493955304833, + 0.9947348414047988, + 0.07352359592914581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9946932792663576, + 0.011089039214973603, + 0.1022851934147846, + -0.15090341866016388 + ], + [ + -0.01432194467633963, + 0.999419017970087, + 0.03092672798677932, + -0.036023348569869995 + ], + [ + -0.10188282281160357, + -0.03222754390845872, + 0.9942742395407277, + 0.07694754749536514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9945182204246521, + 0.00902591155346498, + 0.10417299636954498, + -0.14926652610301971 + ], + [ + -0.013343009166419506, + 0.9990774703908786, + 0.040819424027625846, + -0.034768927842378616 + ], + [ + -0.10370846092700958, + -0.04198563835277411, + 0.9937211763279261, + 0.080781489610672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.994388997554779, + 0.006723330922259612, + 0.10557132777446213, + -0.14794941246509552 + ], + [ + -0.012134269811213017, + 0.9986404161436871, + 0.05069553341828519, + -0.03369048610329628 + ], + [ + -0.10508695989847183, + -0.051692116278412976, + 0.9931186435849262, + 0.08371489495038986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9943193793296814, + 0.006006268516365703, + 0.10626791021113285, + -0.14684635400772095 + ], + [ + -0.012615418061614037, + 0.9980192744238509, + 0.061630888748507404, + -0.03261896222829819 + ], + [ + -0.10568725317716599, + -0.06262141567845196, + 0.9924256718445339, + 0.08769423514604568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9940391182899477, + 0.005451620907728866, + 0.1088877170302554, + -0.145459845662117 + ], + [ + -0.013330681249499324, + 0.9973325818213498, + 0.071763289696488, + -0.03147910535335541 + ], + [ + -0.10820604115724566, + -0.07278704706209999, + 0.9914602887315775, + 0.09246504306793213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9934791922569275, + 0.007467800825791013, + 0.11376879001671174, + -0.1445033699274063 + ], + [ + -0.016878655180335045, + 0.9964908847186484, + 0.08198205596422563, + -0.02948995679616928 + ], + [ + -0.11275733262300491, + -0.08336774026504697, + 0.9901189681406022, + 0.09888318926095963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9927285313606262, + 0.006993461478857422, + 0.12017134835966921, + -0.14273090660572052 + ], + [ + -0.018174398690462112, + 0.9955746684686863, + 0.0921994778214737, + -0.027359360828995705 + ], + [ + -0.11899476498365402, + -0.0937130882987641, + 0.9884624921716897, + 0.10624576359987259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9918584823608401, + 0.0063512835684744326, + 0.12718643999791604, + -0.1416696012020111 + ], + [ + -0.01947160623967648, + 0.9945750676403796, + 0.10218269826324598, + -0.025508396327495575 + ], + [ + -0.12584745883941653, + -0.1038273050061653, + 0.986601410834575, + 0.11239606887102127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9910079836845398, + 0.004665908053200876, + 0.13372129782931422, + -0.1418950855731964 + ], + [ + -0.01992298662662506, + 0.993396745341802, + 0.11298678916785632, + -0.02483513206243515 + ], + [ + -0.1323111206293106, + -0.11463493082395665, + 0.9845570501297176, + 0.11618415266275406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9902012944221497, + 0.0016592656332976576, + 0.13963765414845844, + -0.14092205464839935 + ], + [ + -0.01898604817688465, + 0.9922443913550467, + 0.12284373485263439, + -0.022528596222400665 + ], + [ + -0.13835085928440094, + -0.12429120680869238, + 0.9825531693614616, + 0.12203337252140045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9892460107803347, + -0.002022765107593532, + 0.14624735262797364, + -0.14253215491771698 + ], + [ + -0.017672915011644367, + 0.9909250214495465, + 0.13324871439730834, + -0.02323407493531704 + ], + [ + -0.14518970251083377, + -0.1344003576298656, + 0.9802328738923429, + 0.12259344756603241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9880506396293642, + 0.0008310987467477298, + 0.15412735503364688, + -0.14406028389930725 + ], + [ + -0.022903611883521083, + 0.9896747668078645, + 0.14148957908119014, + -0.02300345152616501 + ], + [ + -0.15241836011409762, + -0.14332894109558972, + 0.9778678115079964, + 0.12403875589370728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9861018657684326, + -0.012636980631031452, + 0.1656606013922684, + -0.1521930992603302 + ], + [ + -0.012290949001908302, + 0.9888221815696772, + 0.14859215140005694, + -0.02888905070722103 + ], + [ + -0.16568663716316223, + -0.14856310324359295, + 0.9749240518505717, + 0.11185629665851593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9857988357543948, + -0.009020731510783387, + 0.16768790705940523, + -0.1433081030845642 + ], + [ + -0.017182417213916782, + 0.9878972112396842, + 0.15415522011182511, + -0.02033184841275215 + ], + [ + -0.16704900562763217, + -0.1548473428614584, + 0.973712993497768, + 0.13761666417121887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9852051734924316, + -0.013140808424448399, + 0.17087459466487492, + -0.14453591406345367 + ], + [ + -0.014780589379370213, + 0.9868257584743353, + 0.16110998253297998, + -0.02016587182879448 + ], + [ + -0.17074057459831238, + -0.16125201978211956, + 0.9720316403019797, + 0.14238236844539642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9848159551620486, + -0.01929098225680104, + 0.17252656821083304, + -0.14414918422698975 + ], + [ + -0.010549224913120272, + 0.985320217634522, + 0.17039021903086665, + -0.01957554742693901 + ], + [ + -0.17328089475631717, + -0.16962304648664986, + 0.9701555426565346, + 0.15007825195789337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9840211272239687, + -0.025136853533568905, + 0.17626828612559328, + -0.14424148201942444 + ], + [ + -0.007079873234033586, + 0.9836774486881696, + 0.1798014815809456, + -0.018114618957042694 + ], + [ + -0.1779107749462128, + -0.17817643782236028, + 0.9677814248989941, + 0.15757490694522858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9827715754508972, + -0.029965053381517098, + 0.1823792115713951, + -0.1441444754600525 + ], + [ + -0.004911985248327255, + 0.9821868241883577, + 0.18784286287217697, + -0.016761966049671173 + ], + [ + -0.18475918471813202, + -0.18550248810240835, + 0.9651180658052376, + 0.16462460160255432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9809181094169619, + -0.03337296016510299, + 0.19153552236979296, + -0.1452714502811432 + ], + [ + -0.004366079345345498, + 0.9811278429314376, + 0.19331094422619213, + -0.01616719365119934 + ], + [ + -0.1943721920251847, + -0.19045845155394184, + 0.9622603706005254, + 0.1698385775089264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9790257811546326, + -0.03516348137663384, + 0.20067905771954947, + -0.1461346298456192 + ], + [ + -0.005055898800492287, + 0.9804967100770285, + 0.19647057184854694, + -0.014909687452018261 + ], + [ + -0.20367375016212463, + -0.19336436972868196, + 0.9597537418071197, + 0.17427553236484528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9771909117698669, + -0.03940088423106654, + 0.20867559629526705, + -0.14524394273757935 + ], + [ + -0.0033394284546375275, + 0.9796649714394002, + 0.2006124711246463, + -0.015359730459749699 + ], + [ + -0.2123364955186844, + -0.19673354336706508, + 0.9571881517959503, + 0.18192622065544128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.975588321685791, + -0.03931603483969731, + 0.21605956652017197, + -0.14698369801044464 + ], + [ + -0.004241034388542175, + 0.980287395414532, + 0.19753127996744702, + -0.013776159845292568 + ], + [ + -0.21956661343574524, + -0.19362550820241864, + 0.9561901892993053, + 0.18520939350128174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9746468067169192, + -0.03981896492525748, + 0.22017740850383832, + -0.1479477435350418 + ], + [ + -0.004111904650926591, + 0.9806834967989267, + 0.19555803372916175, + -0.0129650067538023 + ], + [ + -0.22371126711368566, + -0.19150535265107238, + 0.9556563197024156, + 0.18861301243305206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.973723292350769, + -0.04009058673925932, + 0.22417787681748685, + -0.1502944976091385 + ], + [ + -0.0033274777233600616, + 0.9817731727895653, + 0.190027235247252, + -0.011203250847756863 + ], + [ + -0.22771012783050537, + -0.18577991942126293, + 0.9558419842030055, + 0.1883685439825058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9726664423942568, + -0.04091185321549724, + 0.22857429432583443, + -0.15134917199611664 + ], + [ + -0.002698559314012528, + 0.9822986219623097, + 0.18730218425909315, + -0.01017705723643303 + ], + [ + -0.23219108581542974, + -0.182799348013856, + 0.9553385282304969, + 0.19101497530937195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9708721041679385, + -0.04509299116872943, + 0.235316856330827, + -0.15185195207595825 + ], + [ + -6.620958447456361e-05, + 0.9820797108296072, + 0.1884658819661138, + -0.01000269129872322 + ], + [ + -0.23959840834140783, + -0.18299183820025705, + 0.953470810388149, + 0.19569474458694458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9695166349411013, + -0.04802652727951461, + 0.24027260209451037, + -0.15228550136089325 + ], + [ + 0.0016973987221717839, + 0.9818955209806789, + 0.1894156524416647, + -0.009234070777893066 + ], + [ + -0.24501958489418035, + -0.18323379465925396, + 0.952045595765171, + 0.1990189403295517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9685829281806948, + -0.0494786614951723, + 0.243719032734758, + -0.15211503207683563 + ], + [ + 0.0022243931889534, + 0.9816927634329407, + 0.1904584437369057, + -0.008301881141960621 + ], + [ + -0.2486808449029923, + -0.18393269952635857, + 0.9509608857852867, + 0.20321793854236603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9674249887466433, + -0.05118755040598178, + 0.24792884119168707, + -0.15250128507614136 + ], + [ + 0.0027988739311695103, + 0.9814478287666767, + 0.1917090924468788, + -0.0076148416846990585 + ], + [ + -0.25314232707023626, + -0.1847702307647448, + 0.9496203911695166, + 0.20693689584732056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9662276506423952, + -0.054151450154868004, + 0.25193604010212345, + -0.15277662873268127 + ], + [ + 0.0046738237142562875, + 0.9811928106697642, + 0.19297378356896433, + -0.006484183482825756 + ], + [ + -0.2576476335525513, + -0.1852790757763691, + 0.9483086969493151, + 0.20986363291740417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9650055170059206, + -0.05513430364065158, + 0.25636807282310653, + -0.1537189483642578 + ], + [ + 0.004159752279520036, + 0.9807427419761239, + 0.19525985460338988, + -0.005129515193402767 + ], + [ + -0.26219663023948675, + -0.18736039572249988, + 0.9466514579377439, + 0.2125893086194992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9642744660377505, + -0.05705774524879265, + 0.25868731647958026, + -0.15161968767642975 + ], + [ + 0.004100888967514039, + 0.9796264614230797, + 0.2007864515361462, + -0.0028852568939328194 + ], + [ + -0.26487335562706, + -0.1925524110034832, + 0.9448628124957136, + 0.21839173138141632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.963081955909729, + -0.05874085231649823, + 0.2627215438605807, + -0.15169617533683777 + ], + [ + 0.0035968199372291565, + 0.9786249713339971, + 0.2056216384487165, + -0.0020716022700071335 + ], + [ + -0.26918426156044006, + -0.19708555633665548, + 0.9427073718264208, + 0.22197005152702332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9621568322181702, + -0.06155144598216587, + 0.2654538004305874, + -0.1502227634191513 + ], + [ + 0.004570223391056061, + 0.9776631964120703, + 0.21012819476890418, + -0.0007281284779310226 + ], + [ + -0.2724580764770508, + -0.20096309030462983, + 0.9409465818287858, + 0.22757050395011902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9612036943435669, + -0.06242267710707288, + 0.26868352920295896, + -0.15035168826580048 + ], + [ + 0.004362072795629501, + 0.9773755224578377, + 0.21146641734936972, + 0.0007517728954553604 + ], + [ + -0.2758050262928009, + -0.2020903091992703, + 0.9397292623123659, + 0.23060019314289093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9614848494529726, + -0.06340197115037813, + 0.2674455042174361, + -0.1478116810321808 + ], + [ + 0.005339559167623521, + 0.9771565821665974, + 0.21245353358502098, + 0.003040972165763378 + ], + [ + -0.2748061120510102, + -0.202842831168446, + 0.9398597772497667, + 0.23535913228988647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9607681035995483, + -0.06585494078816097, + 0.26942128800932463, + -0.1476018875837326 + ], + [ + 0.00702580064535141, + 0.9768690638584131, + 0.21372288580172946, + 0.0039400625973939896 + ], + [ + -0.2772640287876129, + -0.20344520754194959, + 0.9390073106051343, + 0.24070000648498535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.960780680179596, + -0.0687074248991899, + 0.26866299071073524, + -0.14461790025234222 + ], + [ + 0.010498136281967163, + 0.9771375855572552, + 0.21234856051650702, + 0.007100864313542843 + ], + [ + -0.27711063623428345, + -0.20119995533870466, + 0.9395362196553512, + 0.24779550731182098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9601036310195923, + -0.07292432472302293, + 0.26996870054819155, + -0.14307746291160583 + ], + [ + 0.014718569815158844, + 0.9772392727171635, + 0.21162890870993803, + 0.008574182167649269 + ], + [ + -0.2792568802833557, + -0.19921211280608817, + 0.9393242906937177, + 0.252842515707016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9587393999099731, + -0.07866982032190155, + 0.27318459713247556, + -0.13951225578784943 + ], + [ + 0.019249025732278824, + 0.9767072326814569, + 0.21371111194353698, + 0.009845812804996967 + ], + [ + -0.2836340069770813, + -0.19963471089315987, + 0.9379220446688619, + 0.26099324226379395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9253022074699404, + -0.2587921703999063, + 0.2772047726953003, + -0.20780034363269806 + ], + [ + 0.16144189238548282, + 0.9302314034229995, + 0.32955442900635606, + -0.0396932028234005 + ], + [ + -0.3431506752967835, + -0.26018494532416, + 0.9025250159299952, + -0.0494135245680809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9247046113014221, + -0.25588956973967897, + 0.28185445345024424, + -0.20489786565303802 + ], + [ + 0.15690463781356812, + 0.9307617816825318, + 0.3302476715664226, + -0.036299873143434525 + ], + [ + -0.3468462824821472, + -0.2611572580188751, + 0.9008299496711344, + -0.04367077350616455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9240046143531799, + -0.2543313716409872, + 0.2855364914447807, + -0.2018347978591919 + ], + [ + 0.15329335629940033, + 0.9304796059492224, + 0.3327294470474417, + -0.034528158605098724 + ], + [ + -0.3503094017505646, + -0.2636726908609952, + 0.8987547176466357, + -0.03700418770313263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9244196414947512, + -0.2500879189923964, + 0.2879312804794836, + -0.19927175343036652 + ], + [ + 0.1480439603328705, + 0.9310863562477685, + 0.33340840232351904, + -0.032909005880355835 + ], + [ + -0.3514702916145325, + -0.26558278077205605, + 0.8977385149524241, + -0.03142426535487175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.92434161901474, + -0.24858360123350537, + 0.28948012938386886, + -0.19632576406002045 + ], + [ + 0.1455904245376587, + 0.9310388182280577, + 0.3346194442186114, + -0.030300913378596306 + ], + [ + -0.35269811749458313, + -0.26715713027593724, + 0.896789350054063, + -0.025173282250761986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9245398044586182, + -0.24717958831535816, + 0.29004891707549235, + -0.1934947520494461 + ], + [ + 0.1437830924987793, + 0.9311165128680015, + 0.3351841993997544, + -0.027588697150349617 + ], + [ + -0.3529200255870819, + -0.2681870392523167, + 0.8963945244797888, + -0.019718004390597343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.925059497356415, + -0.24487757731557233, + 0.2903445173141869, + -0.1894637942314148 + ], + [ + 0.140791192650795, + 0.9310379258510886, + 0.33666928540728547, + -0.02417607046663761 + ], + [ + -0.35276451706886297, + -0.2705611917580196, + 0.8957420854059782, + -0.012103630229830742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9241390228271484, + -0.24615634313778498, + 0.2921885406790643, + -0.18798509240150452 + ], + [ + 0.1411786675453186, + 0.9306688543724415, + 0.33752633372848906, + -0.023659301921725273 + ], + [ + -0.35501500964164734, + -0.2706704750915971, + 0.8948194529541265, + -0.009211676195263863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9243143796920776, + -0.24680270130103932, + 0.2910864346670136, + -0.18550647795200348 + ], + [ + 0.1417478322982788, + 0.9301993616838776, + 0.33858039356812164, + -0.020894797518849373 + ], + [ + -0.35433098673820496, + -0.2716938820558084, + 0.894780414795016, + -0.004245329648256302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9245679974555969, + -0.24869109368109232, + 0.28866367227408635, + -0.18262650072574615 + ], + [ + 0.1432645320892334, + 0.9289255084924415, + 0.34142742536265447, + -0.0187507513910532 + ], + [ + -0.35305699706077576, + -0.274317646610148, + 0.8944833997249901, + 0.00047259964048862457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.923893392086029, + -0.2530635871358763, + 0.28701882145828356, + -0.18020832538604736 + ], + [ + 0.14649930596351624, + 0.9268609696951051, + 0.3456395186757537, + -0.017662478610873222 + ], + [ + -0.353495329618454, + -0.27728600248309965, + 0.893394418686879, + 0.005053926259279251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9226478934288025, + -0.25795969867294555, + 0.286666516362044, + -0.17849251627922058 + ], + [ + 0.14982634782791138, + 0.9247271034393764, + 0.3499026980099358, + -0.016947824507951736 + ], + [ + -0.3553490936756134, + -0.27988677133477097, + 0.8918466440592887, + 0.009312888607382774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9223259091377258, + -0.2591357456300356, + 0.2866419763221167, + -0.17785848677158356 + ], + [ + 0.15062163770198822, + 0.9242262761293515, + 0.3508831180987388, + -0.014853445813059807 + ], + [ + -0.35584840178489685, + -0.2804541153382563, + 0.8914692455010295, + 0.012486972846090794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9217403531074526, + -0.2615051036152755, + 0.28637353946325567, + -0.1771266758441925 + ], + [ + 0.1524198949337006, + 0.9233023603243978, + 0.352535082759967, + -0.013505879789590836 + ], + [ + -0.3565990626811982, + -0.28129680543938884, + 0.8909036481637103, + 0.016140056774020195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9219379425048828, + -0.26388264174089937, + 0.2835426624254687, + -0.17528319358825684 + ], + [ + 0.1545400470495224, + 0.9218375044305192, + 0.3554335487869095, + -0.012910153716802597 + ], + [ + -0.3551729917526245, + -0.2838689551877655, + 0.8906573510450433, + 0.0218635406345129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.923180401325226, + -0.2634546096149597, + 0.27987422435402265, + -0.17260590195655823 + ], + [ + 0.15647608041763308, + 0.9226754769877927, + 0.3523992713871041, + -0.00789390504360199 + ], + [ + -0.35107427835464483, + -0.2815345146344178, + 0.8930202485220835, + 0.02686656266450882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9228270649909973, + -0.26519813059859687, + 0.2793924281856076, + -0.1718049943447113 + ], + [ + 0.1572735756635666, + 0.9214708742151286, + 0.3551851104318568, + -0.007367852609604597 + ], + [ + -0.35164642333984375, + -0.2838334046835701, + 0.8920669682775142, + 0.031225591897964478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9228472709655762, + -0.2655724028083129, + 0.27896998100338133, + -0.1710485816001892 + ], + [ + 0.1575971394777298, + 0.9212350588214385, + 0.3556530966693289, + -0.004571874625980854 + ], + [ + -0.35144859552383423, + -0.28424860272357305, + 0.8920126589696439, + 0.03416796773672104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9226131439208984, + -0.26594778563949684, + 0.2793864989926499, + -0.16977544128894806 + ], + [ + 0.15711605548858643, + 0.9206081165482038, + 0.35748463439981937, + -0.001965788658708334 + ], + [ + -0.3522776961326599, + -0.2859239207243757, + 0.8911498143062815, + 0.0390213280916214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.92180335521698, + -0.2659841876031985, + 0.28201234888051274, + -0.1695888340473175 + ], + [ + 0.15613922476768494, + 0.9206062883809971, + 0.35791713844810275, + -0.0009217364713549614 + ], + [ + -0.35482263565063477, + -0.2858960392155292, + 0.8901485257638251, + 0.04237612709403038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9215361475944521, + -0.2647392632754446, + 0.2840497769051993, + -0.16702957451343536 + ], + [ + 0.15488901734352115, + 0.9214446104822057, + 0.35629940635763174, + 0.0026881848461925983 + ], + [ + -0.3560625612735749, + -0.2843465953280272, + 0.8901497387927984, + 0.04858815297484398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9193998575210571, + -0.2655706728509345, + 0.2901312535017923, + -0.1663181632757187 + ], + [ + 0.1546926498413086, + 0.9223420380531655, + 0.3540555914605738, + 0.004791333340108395 + ], + [ + -0.3616270422935486, + -0.280637497686415, + 0.8890829497973461, + 0.05292264744639397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9181817770004272, + -0.2633744200790232, + 0.2959326634261097, + -0.165129154920578 + ], + [ + 0.15239518880844116, + 0.924340945594161, + 0.34981356547716513, + 0.008145377039909363 + ], + [ + -0.3656746447086334, + -0.27609374542069925, + 0.8888499829448888, + 0.057926859706640244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9158769845962527, + -0.2633156539427888, + 0.3030415515293997, + -0.16465462744235992 + ], + [ + 0.15131387114524844, + 0.9255979116005484, + 0.3469476022415096, + 0.009570238180458546 + ], + [ + -0.37185135483741766, + -0.2719069347118179, + 0.8875771613917636, + 0.06260338425636292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9142020940780642, + -0.26255665320722266, + 0.3087046020677612, + -0.16305923461914062 + ], + [ + 0.1509862691164017, + 0.9275726552877906, + 0.34177794314641025, + 0.014861677773296833 + ], + [ + -0.37608203291893016, + -0.2658439849899542, + 0.8876313212604642, + 0.06938376277685165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9127700328826907, + -0.2624473889852803, + 0.31300521426863587, + -0.16153989732265472 + ], + [ + 0.15087069571018222, + 0.9287063984398376, + 0.33873661424608115, + 0.018561474978923798 + ], + [ + -0.3795905113220216, + -0.26196533549137296, + 0.8872909790798161, + 0.0755651444196701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9109768867492676, + -0.2613054848976542, + 0.319124757259618, + -0.16302557289600372 + ], + [ + 0.1490490734577179, + 0.9299882313251321, + 0.33601526547262744, + 0.017738303169608116 + ], + [ + -0.384584903717041, + -0.2585368750177597, + 0.886145116453089, + 0.07764571905136108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9087514281272888, + -0.26456776704489543, + 0.32276112227355913, + -0.16278736293315887 + ], + [ + 0.15113285183906555, + 0.9295126905855473, + 0.3364001630210159, + 0.018668465316295624 + ], + [ + -0.3890112042427063, + -0.2569243536808613, + 0.88468087770349, + 0.08409351855516434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9089552164077759, + -0.26498093683904855, + 0.32184700199157534, + -0.16141074895858765 + ], + [ + 0.1543082594871521, + 0.9310244871690158, + 0.330730043814096, + 0.024412980303168297 + ], + [ + -0.3872845768928528, + -0.2509551484363822, + 0.8871483109935769, + 0.08993317186832428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9069146513938904, + -0.26775940385701735, + 0.3252856192414412, + -0.16250231862068176 + ], + [ + 0.15644320845603943, + 0.9308938323518645, + 0.3300943715195173, + 0.02454587072134018 + ], + [ + -0.3911921977996826, + -0.24847869302512723, + 0.8861303591480753, + 0.09343885630369186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9061185121536257, + -0.2690110677843396, + 0.32646944425408525, + -0.16168658435344696 + ], + [ + 0.1587547063827515, + 0.9315917651602011, + 0.32700730107159887, + 0.027955496683716774 + ], + [ + -0.3921048343181611, + -0.2444788162782711, + 0.8868393026982873, + 0.09901001304388046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9040566086769106, + -0.27184860753002726, + 0.3298181383035706, + -0.16230593621730804 + ], + [ + 0.16141206026077273, + 0.9316713507967538, + 0.32547604890528603, + 0.028453204780817032 + ], + [ + -0.39576232433319103, + -0.24101216710657788, + 0.8861632894941511, + 0.10323812067508698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9023385643959045, + -0.2731377465173569, + 0.3334379632025722, + -0.16263194382190704 + ], + [ + 0.1647651493549347, + 0.9334148453370839, + 0.31873071535042286, + 0.031569600105285645 + ], + [ + -0.39829328656196594, + -0.23266407243349668, + 0.8872597501149466, + 0.1070217415690422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.900583863258362, + -0.2761098595141729, + 0.3357261982838773, + -0.16221404075622559 + ], + [ + 0.17001937329769137, + 0.9345666586467307, + 0.3125356801114509, + 0.03410928696393967 + ], + [ + -0.4000527262687684, + -0.22438463433511974, + 0.8885996807989613, + 0.1110692024230957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.898143529891968, + -0.27789736573637314, + 0.3407509752769239, + -0.16315416991710663 + ], + [ + 0.1734839975833893, + 0.9360505676645127, + 0.3061252042399393, + 0.036739032715559006 + ], + [ + -0.40403151512146007, + -0.2158295081015526, + 0.8889185526609061, + 0.11395159363746643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.8956528306007385, + -0.28006890063316114, + 0.3454959798958969, + -0.16391685605049133 + ], + [ + 0.17443297803401947, + 0.9357896804441713, + 0.3063834712065299, + 0.035505812615156174 + ], + [ + -0.4091200530529022, + -0.21414734263186647, + 0.8869959042993726, + 0.11713829636573792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.8935430049896242, + -0.28225598703059523, + 0.3491595961187101, + -0.16348417103290558 + ], + [ + 0.17652569711208346, + 0.9359067170497336, + 0.3048233920452743, + 0.03865835815668106 + ], + [ + -0.4128190279006959, + -0.21073717600588654, + 0.8860983629619825, + 0.12145271897315979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.8919060826301575, + -0.2843960978949924, + 0.35159978874690734, + -0.1639203429222107 + ], + [ + 0.17720937728881836, + 0.9351145231102989, + 0.3068511753187449, + 0.038649141788482666 + ], + [ + -0.4160533547401428, + -0.2113756233690715, + 0.8844319589157242, + 0.12381459772586823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.8894999623298647, + -0.2886039894902028, + 0.35425635407227485, + -0.16450652480125427 + ], + [ + 0.180598258972168, + 0.9342137479964252, + 0.3076182104122369, + 0.03946288302540779 + ], + [ + -0.4197309911251069, + -0.20964828380727574, + 0.8831044696143117, + 0.12629616260528564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.8879737854003906, + -0.2925350295054222, + 0.35486025503605123, + -0.16454686224460602 + ], + [ + 0.18396684527397156, + 0.933132887916033, + 0.3088999772644983, + 0.04046815633773804 + ], + [ + -0.42149585485458374, + -0.20901257861221476, + 0.8824142938487222, + 0.12938280403614044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.8880909085273743, + -0.2924759941553452, + 0.354615753237366, + -0.16514764726161957 + ], + [ + 0.18462610244750977, + 0.9334598882182328, + 0.3075155232504316, + 0.04287083446979523 + ], + [ + -0.4209604859352112, + -0.2076304244677767, + 0.8829959707595141, + 0.13114742934703827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.887620270252228, + -0.2946590170804692, + 0.35398643491153164, + -0.16457688808441162 + ], + [ + 0.18710716068744662, + 0.9329874207174754, + 0.30744985635588445, + 0.045475877821445465 + ], + [ + -0.4208577275276185, + -0.20666533562561676, + 0.8832713299919768, + 0.13399997353553772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.8872832655906677, + -0.29469749287312996, + 0.3547982711409282, + -0.16453039646148682 + ], + [ + 0.18707197904586792, + 0.9330799787093316, + 0.3071901170026555, + 0.04631616920232773 + ], + [ + -0.4215833246707916, + -0.2061918417307235, + 0.8830359289908531, + 0.1364772617816925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.8874948620796204, + -0.29377468869694956, + 0.3550342506006499, + -0.16450951993465424 + ], + [ + 0.1863841712474823, + 0.9334522485391181, + 0.30647651197962955, + 0.0463142991065979 + ], + [ + -0.42144256830215454, + -0.20582358099379797, + 0.8831890171549163, + 0.13847044110298157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.8875479102134707, + -0.2930474148106343, + 0.35550241638862407, + -0.16433730721473694 + ], + [ + 0.18607163429260257, + 0.9339038915984249, + 0.305288040275039, + 0.04722736030817032 + ], + [ + -0.42146900296211254, + -0.2048088429979433, + 0.8834122718936586, + 0.14091670513153076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.887708306312561, + -0.29333622839713, + 0.3548631111227659, + -0.16412150859832764 + ], + [ + 0.186318039894104, + 0.9337082772063653, + 0.3057359592855706, + 0.048126012086868286 + ], + [ + -0.4210219979286194, + -0.20528695649406192, + 0.8835144293758533, + 0.14305320382118225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.8879390954971316, + -0.2941078865221118, + 0.3536448641953025, + -0.16407296061515808 + ], + [ + 0.1868122220039368, + 0.9331850771516792, + 0.30702892302760515, + 0.04841925576329231 + ], + [ + -0.4203157424926759, + -0.2065578237390448, + 0.8835544699621148, + 0.1446811854839325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.8886164426803589, + -0.2933781788208968, + 0.35254804977675663, + -0.16384033858776093 + ], + [ + 0.18675597012043, + 0.9335018060894626, + 0.30609906968541534, + 0.049254246056079865 + ], + [ + -0.4189070165157318, + -0.2061642294253955, + 0.8843151664949743, + 0.14639875292778015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1866.59423828125, + "fy": 1867.849609375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/a2556aad-e6da-4818-871f-46de6e0df909/boom_down/transforms.json b/dynpose_eval/camera_controls/a2556aad-e6da-4818-871f-46de6e0df909/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..e178fed56f11b2eaf8c7977a22ea6e9f268559ff --- /dev/null +++ b/dynpose_eval/camera_controls/a2556aad-e6da-4818-871f-46de6e0df909/boom_down/transforms.json @@ -0,0 +1,7188 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 205, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 6.97937430231832e-05, + 5.229944144957699e-05, + -0.0001302181917708367 + ], + [ + -6.979006138863042e-05, + 1.0, + -7.033456495264545e-05, + 0.00015771843027323484 + ], + [ + -5.230435272096656e-05, + 7.033091242192313e-05, + 1.0, + -8.678555605001748e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999999403953552, + 0.0002837729116436094, + -0.0002859134692698717, + -0.00017057529214927104 + ], + [ + -0.0002837154606822878, + 0.9999999403953552, + 0.00020099488028790802, + 0.0007037072209641337 + ], + [ + 0.0002859705127775669, + -0.00020091373880859464, + 0.9999999403953552, + 0.00010262462479552008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999998211860657, + 0.00025605392875149846, + -0.0005882792174816132, + 5.994797719918721e-05 + ], + [ + -0.00025583646493032575, + 0.9999998807907104, + 0.0003696829080581665, + 0.0011666387724735792 + ], + [ + 0.0005883738631382585, + -0.00036953232483938336, + 0.9999997615814209, + 0.0004276187952913746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999998211860657, + 4.4314456317806616e-05, + -0.0005895099020563066, + 9.466572857811971e-05 + ], + [ + -4.40534895460587e-05, + 0.9999998807907104, + 0.00044269373756833375, + 0.0015643041039070608 + ], + [ + 0.0005895294598303735, + -0.0004426677187439054, + 0.9999997019767761, + 0.0005319423051225706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999998211860657, + -0.00011699614697135985, + -0.0006327012670226395, + 0.0001852925410311596 + ], + [ + 0.00011730048572644591, + 0.9999998807907104, + 0.000481003982713446, + 0.0020322976265543177 + ], + [ + 0.0006326449220068753, + -0.00048107808106578887, + 0.9999997019767761, + 0.0006219987056158739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999997019767761, + -0.0005319613846950233, + -0.0005915404763072729, + 0.0003133389356091856 + ], + [ + 0.0005322561482898891, + 0.9999997615814209, + 0.0004982849350199103, + 0.0025460276430000223 + ], + [ + 0.0005912752822041512, + -0.0004985996056348085, + 0.9999997019767761, + 0.0007437489813823692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999999463558197, + -0.0008804386598058045, + -0.0005736188613809645, + 0.0005647392996573163 + ], + [ + 0.0008807412232272327, + 0.999999463558197, + 0.000527509895619005, + 0.0030766103973078047 + ], + [ + 0.0005731541314162314, + -0.0005280147888697684, + 0.9999997019767761, + 0.0008100619846064707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999989867210388, + -0.001365739619359374, + -0.00046193701564334333, + 0.0007050892992136891 + ], + [ + 0.0013660104013979435, + 0.9999988675117493, + 0.0005863537080585957, + 0.00376888237968909 + ], + [ + 0.0004611356707755476, + -0.0005869840970262885, + 0.9999997019767761, + 0.0009515748228581038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999986886978149, + -0.0015857677208259702, + -0.00029334271675907075, + 0.0010299737099558116 + ], + [ + 0.0015859693521633744, + 0.9999985098838806, + 0.0006882752641104162, + 0.00414785659077632 + ], + [ + 0.00029225085745565593, + -0.0006887396448291838, + 0.9999997019767761, + 0.001044153364366103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999994039535522, + -0.001075500389561057, + -5.2751620387425646e-05, + 0.0011302679787417325 + ], + [ + 0.0010755332186818123, + 0.9999992251396179, + 0.0006269499426707625, + 0.005004538443651708 + ], + [ + 5.207729191170074e-05, + -0.0006270062876865268, + 0.9999998211860657, + 0.0012064697787590216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999999403953552, + -0.00038851378485560417, + 0.00015193287981674075, + 0.00125870162703316 + ], + [ + 0.00038839998887851834, + 0.9999996423721313, + 0.0007484423695132136, + 0.0056325975399208715 + ], + [ + -0.00015222359797917306, + -0.0007483833469450474, + 0.9999997019767761, + 0.0014171600843980617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999998807907104, + -5.467627488542348e-05, + 0.0004938338533975184, + 0.0011604104062166252 + ], + [ + 5.4190932132769376e-05, + 0.9999995231628418, + 0.0009827656904235482, + 0.006324986132619647 + ], + [ + -0.0004938874044455588, + -0.000982738914899528, + 0.9999994039535522, + 0.0015389917219199203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999995231628418, + -0.00021750877203885466, + 0.0009240994695574045, + 0.001495100731656695 + ], + [ + 0.00021641903731506318, + 0.9999992847442627, + 0.0011791718425229192, + 0.006927464025862077 + ], + [ + -0.0009243552340194583, + -0.0011789713753387332, + 0.9999988675117493, + 0.0018622791072737206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999995231628418, + -0.00019485139637254179, + 0.0009827553294599056, + 0.0015133727432197809 + ], + [ + 0.0001936146873049438, + 0.9999991655349731, + 0.0012583447387441993, + 0.007346947338002935 + ], + [ + -0.0009829998016357422, + -0.001258153817616403, + 0.9999987483024597, + 0.0018235169045796033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999988675117493, + -0.000559321022592485, + 0.0014007317367941141, + 0.0016213623723517372 + ], + [ + 0.0005572098307311535, + 0.9999986886978149, + 0.001507116132415831, + 0.007776243869653521 + ], + [ + -0.0014015729539096355, + -0.001506333821453154, + 0.9999978542327881, + 0.0021089209267623065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999983310699463, + -0.0008178612915799022, + 0.001619419432245195, + 0.0017793087557519732 + ], + [ + 0.0008152223890647292, + 0.9999983310699463, + 0.0016295254463329911, + 0.008333550108706251 + ], + [ + -0.0016207493608817458, + -0.0016282025026157498, + 0.9999973773956299, + 0.0021039064321324557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999980330467224, + -0.0010243115248158574, + 0.0017145954770967364, + 0.0019782288054771284 + ], + [ + 0.001021448872052133, + 0.9999980926513672, + 0.0016696375096216798, + 0.008848310042373544 + ], + [ + -0.001716302358545363, + -0.0016678828978911042, + 0.9999971389770508, + 0.0021965724105636277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999969005584717, + -0.0013215726939961314, + 0.0021000702399760485, + 0.001761298177492184 + ], + [ + 0.0013180429814383388, + 0.9999977350234985, + 0.0016812592511996627, + 0.00946988562742869 + ], + [ + -0.0021022872533649206, + -0.0016784860054031014, + 0.9999963641166687, + 0.0020074466350100315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999966025352478, + -0.001526239444501698, + 0.0021004111040383577, + 0.001976176038014648 + ], + [ + 0.0015225884271785617, + 0.9999973177909851, + 0.0017387032276019454, + 0.009986101326477878 + ], + [ + -0.002103059319779277, + -0.0017354992451146245, + 0.9999963045120239, + 0.002313250252935926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999964833259583, + -0.0014453823678195477, + 0.0022327930200845003, + 0.002085101931109367 + ], + [ + 0.0014413725584745407, + 0.9999973773956299, + 0.001796447904780507, + 0.010639511741350825 + ], + [ + -0.0022353834938257933, + -0.001793223200365901, + 0.9999958872795105, + 0.002300170534997996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999959468841553, + -0.0016274151857942343, + 0.0023412660229951143, + 0.0021475485010145636 + ], + [ + 0.0016228831373155117, + 0.9999967813491821, + 0.0019362978637218475, + 0.011139115081260018 + ], + [ + -0.002344409702345729, + -0.0019324903842061758, + 0.9999954104423523, + 0.002375839654739727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999948740005493, + -0.0020642653107643127, + 0.0024569269735366106, + 0.002360654726405354 + ], + [ + 0.0020594503730535507, + 0.9999959468841553, + 0.001960654743015766, + 0.01189102871233926 + ], + [ + -0.0024609642568975687, + -0.0019555846229195595, + 0.9999950528144836, + 0.0023854479508693604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999943971633911, + -0.002301930682733655, + 0.0024415331427007914, + 0.002678344152438655 + ], + [ + 0.0022968535777181387, + 0.9999951720237732, + 0.002080162288621068, + 0.012399428439618766 + ], + [ + -0.002446309896185994, + -0.002074542688205838, + 0.9999948740005493, + 0.0025126959108199703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999945759773254, + -0.001920277951285243, + 0.002673517446964979, + 0.0025222252893453354 + ], + [ + 0.001914765452966094, + 0.9999960660934448, + 0.0020628925412893295, + 0.0130188532388203 + ], + [ + -0.002677468117326498, + -0.00205776235088706, + 0.9999942779541016, + 0.002419227183403849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999947547912598, + -0.0017213894752785563, + 0.0027508982457220554, + 0.0024602242896114204 + ], + [ + 0.0017156883841380477, + 0.9999963641166687, + 0.002073467243462801, + 0.013472031055511358 + ], + [ + -0.002754457760602236, + -0.0020687365904450417, + 0.9999940395355225, + 0.0022619617527679485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999942183494568, + -0.0019017234444618225, + 0.00281855883076787, + 0.0020933334998713402 + ], + [ + 0.001895219786092639, + 0.9999955296516418, + 0.0023083470296114683, + 0.013848860013097817 + ], + [ + -0.0028229360468685627, + -0.0023029919248074293, + 0.9999933838844299, + 0.0021089558477066094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999938011169434, + -0.0022737726103514433, + 0.002695554867386818, + 0.002141801451615916 + ], + [ + 0.002267075004056096, + 0.9999943375587463, + 0.0024851954076439142, + 0.014454307337748069 + ], + [ + -0.002701190300285816, + -0.0024790687020868063, + 0.9999932646751404, + 0.002230600297094925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999939203262329, + -0.001997763989493251, + 0.0028648003935813904, + 0.001973646645338329 + ], + [ + 0.001990021439269185, + 0.9999943375587463, + 0.002703031525015831, + 0.014817743447116194 + ], + [ + -0.0028701843693852425, + -0.0026973141357302666, + 0.9999922513961792, + 0.002380346823209787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.999994695186615, + -0.0015417226823046803, + 0.002875565318390727, + 0.0019064061642697482 + ], + [ + 0.001533699338324368, + 0.9999949336051941, + 0.0027903285808861256, + 0.015386615145732377 + ], + [ + -0.0028798526618629694, + -0.00278590340167284, + 0.9999919533729553, + 0.00241088902431668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999949932098389, + -0.0011982294963672757, + 0.002935572527348995, + 0.0018129640981879123 + ], + [ + 0.0011891665635630488, + 0.9999945163726807, + 0.0030870630871504545, + 0.01585713700190479 + ], + [ + -0.002939255442470312, + -0.0030835566576570272, + 0.9999909400939941, + 0.002406112768107514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999956488609314, + -0.0006279692752286792, + 0.0028795567341148853, + 0.0019723080690977547 + ], + [ + 0.0006181616336107254, + 0.9999940395355225, + 0.0034055798314511776, + 0.0168543067514239 + ], + [ + -0.0028816782869398594, + -0.0034037851728498936, + 0.9999900460243225, + 0.0024647569653632887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999959468841553, + -0.0005203551845625043, + 0.002804323099553585, + 0.0021870527777697562 + ], + [ + 0.000509489793330431, + 0.9999923706054688, + 0.0038738246075809, + 0.01763015611681576 + ], + [ + -0.002806317526847124, + -0.0038723801262676716, + 0.9999885559082031, + 0.002874615528465559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9999957084655762, + 9.047434286912903e-05, + 0.002934876596555114, + 0.0018902674644920682 + ], + [ + -0.00010373548866482452, + 0.9999898076057434, + 0.004518632777035236, + 0.018331851887827117 + ], + [ + -0.00293443794362247, + -0.004518917761743069, + 0.9999854564666748, + 0.0027619552122903806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9999957084655762, + 0.0006192305590957403, + 0.0028601211961358786, + 0.0018819565970368463 + ], + [ + -0.0006335877114906907, + 0.9999871850013733, + 0.005021599121391773, + 0.018927908686044465 + ], + [ + -0.0028569751884788275, + -0.005023390054702759, + 0.9999833106994629, + 0.0031542707837241535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999951124191284, + 0.0012230672873556614, + 0.0028743583243340254, + 0.0017829255821804205 + ], + [ + -0.0012392164207994938, + 0.9999834299087524, + 0.005623305216431618, + 0.019517906739686924 + ], + [ + -0.0028674330096691847, + -0.0056268395856022835, + 0.9999800324440002, + 0.00324498003659149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999940991401672, + 0.0018557795556262136, + 0.002894832519814372, + 0.0017197048265884137 + ], + [ + -0.00187316641677171, + 0.9999801516532898, + 0.006015091203153133, + 0.02010336630137674 + ], + [ + -0.002883612411096692, + -0.006020477972924709, + 0.999977707862854, + 0.003381849971928579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999933838844299, + 0.002255101455375552, + 0.0028478773310780525, + 0.0015366153380669215 + ], + [ + -0.0022752766963094473, + 0.9999722242355347, + 0.00710105849429965, + 0.020199333153226796 + ], + [ + -0.0028317845426499844, + -0.007107491139322519, + 0.9999707341194153, + 0.003565530079033445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9999926686286926, + 0.002436597365885973, + 0.002949671819806099, + 0.001309845316013796 + ], + [ + -0.00245897239074111, + 0.9999680519104004, + 0.0076058125123381615, + 0.020365745742239205 + ], + [ + -0.0029310453683137894, + -0.00761300977319479, + 0.9999667406082153, + 0.003608363397949028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9999927282333374, + 0.0025942260399460793, + 0.002801734721288085, + 0.0016042407880555473 + ], + [ + -0.0026174988597631454, + 0.9999618530273438, + 0.008335091173648834, + 0.020503616390530676 + ], + [ + -0.0027800046373158693, + -0.008342364802956581, + 0.9999613165855408, + 0.004473795882407941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9999905824661255, + 0.0033158964943140745, + 0.002807680983096361, + 0.0014760746069334666 + ], + [ + -0.0033412657212466, + 0.9999532103538513, + 0.009079729206860065, + 0.02082477964269107 + ], + [ + -0.0027774423360824585, + -0.009089023806154728, + 0.9999548196792603, + 0.004361370872870526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9999873042106628, + 0.004118083044886589, + 0.002909161616116762, + 0.001393797236732116 + ], + [ + -0.0041471971198916435, + 0.9999406337738037, + 0.010073535144329071, + 0.02113830484221598 + ], + [ + -0.002867505419999361, + -0.010085472837090492, + 0.9999450445175171, + 0.004071499093198309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9999817609786987, + 0.005196367856115103, + 0.0030771594028919935, + 0.0011486674569930661 + ], + [ + -0.005229214671999216, + 0.9999284148216248, + 0.010764294303953648, + 0.021309503675986302 + ], + [ + -0.0030210039112716913, + -0.010780188255012035, + 0.9999373555183411, + 0.003547352182167564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9999747276306152, + 0.006336743477731943, + 0.003226475790143013, + 0.0008259999668499564 + ], + [ + -0.0063743325881659985, + 0.9999103546142578, + 0.011776442639529705, + 0.021419703158522572 + ], + [ + -0.003151562064886093, + -0.011796711944043636, + 0.999925434589386, + 0.002822273490293061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9999735951423645, + 0.006302732974290848, + 0.003615729045122862, + -0.00012960167094955549 + ], + [ + -0.006350083276629448, + 0.9998922348022461, + 0.013237271457910538, + 0.022111672509059897 + ], + [ + -0.0035319081507623196, + -0.013259882107377052, + 0.9999058246612549, + 0.0012551145194390533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9999802112579346, + 0.004889429546892643, + 0.003965490963310003, + -0.0006213122670648291 + ], + [ + -0.0049576302990317345, + 0.9998367428779602, + 0.01737496256828308, + 0.02289478293273087 + ], + [ + -0.003879890078678727, + -0.017394278198480606, + 0.9998411536216736, + 0.00043162734626664537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9999873042106628, + 0.003230123780667782, + 0.003874172456562519, + -0.000248395832707448 + ], + [ + -0.003319503739476204, + 0.9997232556343079, + 0.023290526121854782, + 0.022947612591772616 + ], + [ + -0.0037978687323629856, + -0.023303091526031494, + 0.9997212290763855, + 0.0005374533904935507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9999893307685852, + 0.0024712844751775265, + 0.0039014474023133516, + -0.001160097603375713 + ], + [ + -0.0025806650519371033, + 0.9995965957641602, + 0.028284355998039246, + 0.02312894122693323 + ], + [ + -0.003829974913969636, + -0.028294123709201813, + 0.9995923042297363, + -0.0001328343728685059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9999926686286926, + 0.0018433056538924575, + 0.0033518762793391943, + -0.0007452688224992587 + ], + [ + -0.0019534395541995764, + 0.9994482398033142, + 0.03315657004714012, + 0.024491637770323923 + ], + [ + -0.0032889090944081545, + -0.03316287323832512, + 0.9994445443153381, + -0.0008515634300362995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9999940991401672, + 0.0017137096729129553, + 0.0029760238248854876, + -0.0013908021699856308 + ], + [ + -0.0018237924668937922, + 0.9992991089820862, + 0.03738987818360329, + 0.024562087804352973 + ], + [ + -0.002909862669184804, + -0.037395086139440536, + 0.9992963075637817, + -0.0007938512523062801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.999994695186615, + 0.001981552457436919, + 0.002586192451417446, + -0.002000542648944675 + ], + [ + -0.002081330632790923, + 0.9992305636405945, + 0.0391664132475853, + 0.025009700086643445 + ], + [ + -0.002506592310965061, + -0.03917159140110016, + 0.999229371547699, + -0.002326223122266432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9999933242797852, + 0.002655438845977187, + 0.0025118112098425627, + -0.003649536083114571 + ], + [ + -0.0027545925695449114, + 0.9991825222969055, + 0.0403318852186203, + 0.026106948701792632 + ], + [ + -0.002402659272775054, + -0.040338531136512756, + 0.999183177947998, + -0.004100502706041523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9999880790710449, + 0.003778306534513831, + 0.003100029192864895, + -0.006934409827226773 + ], + [ + -0.003904572920873761, + 0.9991188049316406, + 0.041789647191762924, + 0.028010738734155896 + ], + [ + -0.002939403522759676, + -0.04180125519633293, + 0.9991216063499451, + -0.007217483501881361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.999979555606842, + 0.005216371268033981, + 0.003699443070217967, + -0.009618688834940686 + ], + [ + -0.005379468202590942, + 0.9989480376243591, + 0.04554050788283348, + 0.030396487598544825 + ], + [ + -0.0034579948987811804, + -0.04555947706103325, + 0.9989556670188904, + -0.010342480483300547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.999957799911499, + 0.008263494819402695, + 0.0040146298706531525, + -0.01143419893239351 + ], + [ + -0.008451156318187714, + 0.9987519979476929, + 0.049224548041820526, + 0.031169324280584564 + ], + [ + -0.0036028525792062283, + -0.049256399273872375, + 0.9987796545028687, + -0.012622792295673315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9999012351036072, + 0.01186646893620491, + 0.007529034279286861, + -0.013990348544629182 + ], + [ + -0.012246912345290184, + 0.9985365271568298, + 0.05267605558037758, + 0.033348824850776615 + ], + [ + -0.006892937235534191, + -0.052763063460588455, + 0.9985832571983337, + -0.016619819468435118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9998235106468201, + 0.014500614255666733, + 0.011945638805627823, + -0.017645916764569634 + ], + [ + -0.015151485800743103, + 0.9982972741127014, + 0.05632919445633888, + 0.03448515585349764 + ], + [ + -0.011108491569757462, + -0.05650024488568306, + 0.9983407855033875, + -0.020579329847047727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9997400641441345, + 0.017316173762083054, + 0.01483236439526081, + -0.020257183514973697 + ], + [ + -0.01815749704837799, + 0.9981161952018738, + 0.05860314518213272, + 0.035525026833455944 + ], + [ + -0.013789640739560127, + -0.058857232332229614, + 0.9981711506843567, + -0.024077112381072605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9996517300605774, + 0.018884917721152306, + 0.018432999029755592, + -0.023046610939919072 + ], + [ + -0.01996445097029209, + 0.9979833960533142, + 0.06025400012731552, + 0.03622178772793097 + ], + [ + -0.01725793443620205, + -0.060601018369197845, + 0.9980128407478333, + -0.028075283491874443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9995655417442322, + 0.02024076133966446, + 0.021426524966955185, + -0.024509820130233673 + ], + [ + -0.02151092141866684, + 0.9979174733161926, + 0.06081094965338707, + 0.03681042095755829 + ], + [ + -0.0201510451734066, + -0.06124543026089668, + 0.9979193210601807, + -0.03217061019192139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9994807839393616, + 0.02069070190191269, + 0.024700021371245384, + -0.027430421468235697 + ], + [ + -0.022152893245220184, + 0.9979240894317627, + 0.0604713000357151, + 0.03697737111326526 + ], + [ + -0.023397551849484444, + -0.06098708137869835, + 0.997864305973053, + -0.037189806802380904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9994181394577026, + 0.019488245248794556, + 0.027993135154247284, + -0.029886050807202563 + ], + [ + -0.021115019917488098, + 0.9980320334434509, + 0.05904451385140419, + 0.037812597337452805 + ], + [ + -0.026787370443344116, + -0.05960123613476753, + 0.9978627562522888, + -0.04309142128947903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9992804527282715, + 0.017825081944465637, + 0.03347849100828171, + -0.03409699196470719 + ], + [ + -0.019777849316596985, + 0.9980659484863281, + 0.058933746069669724, + 0.03810507650395819 + ], + [ + -0.03236324340105057, + -0.059553470462560654, + 0.9977003335952759, + -0.04967594373715567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9991061687469482, + 0.016690701246261597, + 0.03883712366223335, + -0.03780913989917905 + ], + [ + -0.018906112760305405, + 0.9981725811958313, + 0.057393938302993774, + 0.038988122888201596 + ], + [ + -0.03780820593237877, + -0.0580768957734108, + 0.9975959062576294, + -0.05625377083379848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9988521337509155, + 0.016250377520918846, + 0.04505981132388115, + -0.04285983255078249 + ], + [ + -0.018744604662060738, + 0.9982829689979553, + 0.055495403707027435, + 0.03932132831610301 + ], + [ + -0.044080618768930435, + -0.05627632886171341, + 0.9974416494369507, + -0.06502820618231507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9985718131065369, + 0.015502371825277805, + 0.05112734064459801, + -0.04697518686161322 + ], + [ + -0.018209826201200485, + 0.9984326362609863, + 0.052921686321496964, + 0.0408653400509673 + ], + [ + -0.05022679641842842, + -0.05377712473273277, + 0.9972889423370361, + -0.07347238174840516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.998223066329956, + 0.015391716733574867, + 0.057565562427043915, + -0.05176404585568782 + ], + [ + -0.01836765743792057, + 0.9985025525093079, + 0.05152997374534607, + 0.04280816467807573 + ], + [ + -0.056686222553253174, + -0.05249575525522232, + 0.9970109462738037, + -0.08208519572793853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9977707266807556, + 0.015368946827948093, + 0.06494168192148209, + -0.05817527945482117 + ], + [ + -0.018690872937440872, + 0.998530924320221, + 0.05085848644375801, + 0.04527356781284599 + ], + [ + -0.0640646442770958, + -0.051958922296762466, + 0.9965921640396118, + -0.09134735328090542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9973674416542053, + 0.013319186866283417, + 0.0712796151638031, + -0.06368174609527284 + ], + [ + -0.016974426805973053, + 0.9985583424568176, + 0.05092277377843857, + 0.04731438399895149 + ], + [ + -0.07049860060214996, + -0.051998645067214966, + 0.9961556792259216, + -0.10092490056858343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9969456195831299, + 0.01043558306992054, + 0.07739841938018799, + -0.07067363703002533 + ], + [ + -0.014423130080103874, + 0.9985873103141785, + 0.05114104226231575, + 0.0494797695428133 + ], + [ + -0.07675538957118988, + -0.052101168781518936, + 0.99568772315979, + -0.11118726196388404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9965060353279114, + 0.008235763758420944, + 0.08311360329389572, + -0.07692223758272389 + ], + [ + -0.01250196062028408, + 0.9986234307289124, + 0.05094055458903313, + 0.052112687642083454 + ], + [ + -0.08257966488599777, + -0.0518016554415226, + 0.9952372312545776, + -0.12088187686989413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9959263801574707, + 0.007386547978967428, + 0.08986678719520569, + -0.08544732762418468 + ], + [ + -0.011968353763222694, + 0.9986496567726135, + 0.05055290460586548, + 0.055421574077769827 + ], + [ + -0.08937202394008636, + -0.05142252892255783, + 0.9946699738502502, + -0.13159658748875647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9953166246414185, + 0.006203466095030308, + 0.09646919369697571, + -0.09314658290514832 + ], + [ + -0.011115300469100475, + 0.9986640810966492, + 0.050462380051612854, + 0.058044102386224504 + ], + [ + -0.09602728486061096, + -0.05129832774400711, + 0.9940559267997742, + -0.1423596743238615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9946955442428589, + 0.005355997942388058, + 0.10272334516048431, + -0.1021115714464994 + ], + [ + -0.010568615980446339, + 0.9986798763275146, + 0.05026732757687569, + 0.06119058452108327 + ], + [ + -0.10231851041316986, + -0.05108633264899254, + 0.9934390187263489, + -0.15408422705881736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9940670132637024, + 0.004649905487895012, + 0.10867007821798325, + -0.11094683422707022 + ], + [ + -0.010138427838683128, + 0.9986973404884338, + 0.05000850930809975, + 0.06436361191319484 + ], + [ + -0.1082959845662117, + -0.05081355199217796, + 0.9928191900253296, + -0.16537627476797093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9934788942337036, + 0.0027197187300771475, + 0.11398357897996902, + -0.11962838883388459 + ], + [ + -0.008416739292442799, + 0.9987372159957886, + 0.049529675394296646, + 0.06781657931267046 + ], + [ + -0.11370492726564407, + -0.0501660592854023, + 0.9922472238540649, + -0.17662512216278736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9928701519966125, + 0.0006222643423825502, + 0.11919933557510376, + -0.12878162750583963 + ], + [ + -0.006505225785076618, + 0.9987789988517761, + 0.048971254378557205, + 0.07113186116604245 + ], + [ + -0.11902332305908203, + -0.04939751699566841, + 0.9916619062423706, + -0.18840079625849337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9923328757286072, + 0.00021539442241191864, + 0.12359370291233063, + -0.13656441100014777 + ], + [ + -0.006217550486326218, + 0.9988192915916443, + 0.04817996546626091, + 0.07465179964315657 + ], + [ + -0.12343740463256836, + -0.04857901111245155, + 0.9911625981330872, + -0.19951891965579752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.99174964427948, + -0.00018633645959198475, + 0.12818986177444458, + -0.14401441806500467 + ], + [ + -0.005873357877135277, + 0.9988827109336853, + 0.04689161852002144, + 0.07926097174777705 + ], + [ + -0.1280553638935089, + -0.04725765064358711, + 0.9906404614448547, + -0.21068170782288206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9910829067230225, + -0.0012436754768714309, + 0.13324104249477386, + -0.15186330945306348 + ], + [ + -0.004898299928754568, + 0.9989405274391174, + 0.045759014785289764, + 0.08317209964289385 + ], + [ + -0.13315679132938385, + -0.04600363224744797, + 0.9900267124176025, + -0.2215720857548363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9903432130813599, + -0.002160356380045414, + 0.13862061500549316, + -0.15944125332330883 + ], + [ + -0.004026984330266714, + 0.9990084171295166, + 0.04433908313512802, + 0.0879854404312723 + ], + [ + -0.13857895135879517, + -0.04446913301944733, + 0.9893525242805481, + -0.2326777046144593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9895128607749939, + -0.004190757405012846, + 0.14438408613204956, + -0.16680484862231157 + ], + [ + -0.0020193131640553474, + 0.9990800023078918, + 0.042837392538785934, + 0.09274265513408417 + ], + [ + -0.14443078637123108, + -0.04267970845103264, + 0.9885940551757812, + -0.24387991501420153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9886541962623596, + -0.008174290880560875, + 0.14998705685138702, + -0.17381199228248614 + ], + [ + 0.0018947734497487545, + 0.999117374420166, + 0.041962288320064545, + 0.09671850204467773 + ], + [ + -0.15019769966602325, + -0.04120200127363205, + 0.9877970814704895, + -0.2552316418136744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9878119826316833, + -0.012456805445253849, + 0.15515244007110596, + -0.18154283458933088 + ], + [ + 0.006095255725085735, + 0.9991236329078674, + 0.04141038656234741, + 0.10085148958891046 + ], + [ + -0.15553230047225952, + -0.03995998203754425, + 0.9870222210884094, + -0.26617161299960285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9869824647903442, + -0.017347119748592377, + 0.15988954901695251, + -0.18922823285136153 + ], + [ + 0.010847899131476879, + 0.9990824460983276, + 0.04143183305859566, + 0.10459163583376829 + ], + [ + -0.16046157479286194, + -0.03915802761912346, + 0.9862650632858276, + -0.2775533118394806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9862534999847412, + -0.024029091000556946, + 0.16348294913768768, + -0.19603912137887058 + ], + [ + 0.017445534467697144, + 0.9989825487136841, + 0.041587959975004196, + 0.10826634072205599 + ], + [ + -0.16431592404842377, + -0.03816422447562218, + 0.9856691956520081, + -0.28790023083634236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9857112169265747, + -0.029014229774475098, + 0.1659265160560608, + -0.20204923550287882 + ], + [ + 0.022287629544734955, + 0.9988580346107483, + 0.042259249836206436, + 0.1119043156504631 + ], + [ + -0.16696316003799438, + -0.03795730695128441, + 0.9852322340011597, + -0.298438524051259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9852312207221985, + -0.031308457255363464, + 0.16834251582622528, + -0.2077005763410353 + ], + [ + 0.024345312267541885, + 0.9987667798995972, + 0.04326942563056946, + 0.11482994655768078 + ], + [ + -0.16948960721492767, + -0.038532041013240814, + 0.9847784042358398, + -0.30783216603392477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9847077131271362, + -0.03199430927634239, + 0.1712513566017151, + -0.21343355737078715 + ], + [ + 0.02482367306947708, + 0.9987295866012573, + 0.043851349502801895, + 0.117867212786394 + ], + [ + -0.17243680357933044, + -0.03892967477440834, + 0.9842510223388672, + -0.3180142426589394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9842290282249451, + -0.032017845660448074, + 0.1739771068096161, + -0.21861625031805507 + ], + [ + 0.02468012645840645, + 0.998718798160553, + 0.04417780414223671, + 0.1209265549685441 + ], + [ + -0.1751686930656433, + -0.03918730095028877, + 0.983758270740509, + -0.32707317189550866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9836355447769165, + -0.03142516687512398, + 0.17740783095359802, + -0.2242728955696757 + ], + [ + 0.023973125964403152, + 0.9987441301345825, + 0.04399401694536209, + 0.12431821603985393 + ], + [ + -0.1785675585269928, + -0.03902105987071991, + 0.9831535816192627, + -0.33654161419208145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9830870628356934, + -0.029712233692407608, + 0.18071241676807404, + -0.2290236140765688 + ], + [ + 0.02219414710998535, + 0.9988076090812683, + 0.04348360747098923, + 0.12747742805410833 + ], + [ + -0.18178893625736237, + -0.03873741626739502, + 0.9825742840766907, + -0.34528910061892343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.982450544834137, + -0.02757636271417141, + 0.1844734400510788, + -0.23363453290133063 + ], + [ + 0.020016176626086235, + 0.9988865256309509, + 0.042720261961221695, + 0.13028079125226713 + ], + [ + -0.185446098446846, + -0.038278091698884964, + 0.9819086194038391, + -0.3541556089221701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9817735552787781, + -0.025717778131365776, + 0.1883063018321991, + -0.23764707586709774 + ], + [ + 0.018275020644068718, + 0.9989856481552124, + 0.041155073791742325, + 0.1331605280439059 + ], + [ + -0.18917369842529297, + -0.03696366026997566, + 0.9812476634979248, + -0.3627935306917803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9809156656265259, + -0.024484872817993164, + 0.19288581609725952, + -0.24261817932128907 + ], + [ + 0.01734204962849617, + 0.9991029500961304, + 0.038633331656455994, + 0.13652839169782752 + ], + [ + -0.193658709526062, + -0.03455100208520889, + 0.9804603457450867, + -0.3716202446971746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9801012873649597, + -0.0234035924077034, + 0.19711340963840485, + -0.24648113927858717 + ], + [ + 0.016611989587545395, + 0.9992123246192932, + 0.03603878244757652, + 0.13938850132273695 + ], + [ + -0.19780157506465912, + -0.03204721584916115, + 0.9797180891036987, + -0.3807201487140036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9792217016220093, + -0.02256373129785061, + 0.2015334516763687, + -0.2507182723869953 + ], + [ + 0.01618211530148983, + 0.9993157982826233, + 0.03325708582997322, + 0.14261190505588756 + ], + [ + -0.20214597880840302, + -0.02930482104420662, + 0.9789168834686279, + -0.38814777850776033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9783368706703186, + -0.021836984902620316, + 0.2058643102645874, + -0.2551154285669327 + ], + [ + 0.015807360410690308, + 0.9993978142738342, + 0.03088884986937046, + 0.14515517573146258 + ], + [ + -0.2064148485660553, + -0.026965530589222908, + 0.9780929088592529, + -0.39566688055501265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9776622653007507, + -0.022091170772910118, + 0.2090177834033966, + -0.2582012721529121 + ], + [ + 0.01644599623978138, + 0.999452531337738, + 0.0287078358232975, + 0.14679675160669814 + ], + [ + -0.209537535905838, + -0.02462906390428543, + 0.9774903655052185, + -0.4026843365245298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.977091372013092, + -0.022954296320676804, + 0.21157881617546082, + -0.26145689745671025 + ], + [ + 0.017720751464366913, + 0.9994891285896301, + 0.02659895457327366, + 0.1487425448847752 + ], + [ + -0.21208128333091736, + -0.022240271791815758, + 0.9769989252090454, + -0.409746787848645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9766486883163452, + -0.022828450426459312, + 0.213626429438591, + -0.2655814385452472 + ], + [ + 0.018104402348399162, + 0.9995469450950623, + 0.024044157937169075, + 0.15114016392651727 + ], + [ + -0.21407853066921234, + -0.019615115597844124, + 0.9766194820404053, + -0.41539155841147635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9763950705528259, + -0.021766049787402153, + 0.21489281952381134, + -0.26958508327530295 + ], + [ + 0.01751772128045559, + 0.999612033367157, + 0.021654458716511726, + 0.15325164678050024 + ], + [ + -0.21528078615665436, + -0.017378875985741615, + 0.9763975739479065, + -0.42129672203651247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9762238264083862, + -0.021267374977469444, + 0.21571913361549377, + -0.2728584385887884 + ], + [ + 0.01741793565452099, + 0.9996535778045654, + 0.019730309024453163, + 0.15451436034020255 + ], + [ + -0.21606403589248657, + -0.01550381537526846, + 0.9762560725212097, + -0.42634925470623536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9760749340057373, + -0.02073247916996479, + 0.2164437472820282, + -0.27549473429098725 + ], + [ + 0.017352530732750893, + 0.9996961951255798, + 0.017504829913377762, + 0.15614692568778993 + ], + [ + -0.2167409062385559, + -0.013330180197954178, + 0.976138174533844, + -0.43112636599689724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9758886098861694, + -0.021503882482647896, + 0.21720737218856812, + -0.2780549296552279 + ], + [ + 0.018592694774270058, + 0.9997079372406006, + 0.015437796711921692, + 0.15802505007561515 + ], + [ + -0.21747592091560364, + -0.011027099564671516, + 0.9760034084320068, + -0.4352374607213207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9757009148597717, + -0.022653697058558464, + 0.21793232858181, + -0.2805846579153748 + ], + [ + 0.020299693569540977, + 0.9997089505195618, + 0.013034665957093239, + 0.16012670777592003 + ], + [ + -0.21816419064998627, + -0.00829397700726986, + 0.9758768081665039, + -0.43907311043756847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.975489616394043, + -0.023147279396653175, + 0.21882474422454834, + -0.2828278209986713 + ], + [ + 0.021207956597208977, + 0.9997122883796692, + 0.011207502335309982, + 0.16087602692491867 + ], + [ + -0.21902120113372803, + -0.006291976198554039, + 0.9756998419761658, + -0.4423880177851328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9751903414726257, + -0.022257033735513687, + 0.220246359705925, + -0.2861505884932829 + ], + [ + 0.020718075335025787, + 0.9997421503067017, + 0.009295179508626461, + 0.16238130745934506 + ], + [ + -0.22039644420146942, + -0.004501489922404289, + 0.9753999710083008, + -0.4455439273541903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9749468564987183, + -0.022334039211273193, + 0.2213139533996582, + -0.288565608245485 + ], + [ + 0.021122321486473083, + 0.9997461438179016, + 0.00784057192504406, + 0.1637624152735168 + ], + [ + -0.2214328944683075, + -0.002969476394355297, + 0.9751710891723633, + -0.4484382321880035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.974751889705658, + -0.02435809001326561, + 0.2219582349061966, + -0.2911892527823939 + ], + [ + 0.0233447328209877, + 0.9997016191482544, + 0.007188284303992987, + 0.16445344116757898 + ], + [ + -0.22206710278987885, + -0.001825238112360239, + 0.975029706954956, + -0.45076076308648816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9747517704963684, + -0.027853067964315414, + 0.22154726088047028, + -0.29235239724866025 + ], + [ + 0.027000144124031067, + 0.9996117949485779, + 0.006878064014017582, + 0.16435677885424857 + ], + [ + -0.2216528207063675, + -0.0007225980516523123, + 0.9751253724098206, + -0.4524524365865635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9746463298797607, + -0.0315457321703434, + 0.2215161919593811, + -0.29344394603999807 + ], + [ + 0.030985800549387932, + 0.9995018243789673, + 0.006003253161907196, + 0.16560210302179934 + ], + [ + -0.22159519791603088, + 0.0010128072462975979, + 0.9751381874084473, + -0.45392160177659974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9746111631393433, + -0.033691491931676865, + 0.22135485708713531, + -0.2936446201439728 + ], + [ + 0.03337759152054787, + 0.9994295239448547, + 0.005159574095159769, + 0.1663420888430932 + ], + [ + -0.22140242159366608, + 0.0023597129620611668, + 0.9751796722412109, + -0.4546491426299326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9744858145713806, + -0.03643481060862541, + 0.22147215902805328, + -0.294617514546011 + ], + [ + 0.03638235107064247, + 0.99932861328125, + 0.004317775834351778, + 0.16741407747362175 + ], + [ + -0.22148077189922333, + 0.0038500665687024593, + 0.9751571416854858, + -0.4557641861302888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9743601679801941, + -0.03925063833594322, + 0.22154375910758972, + -0.29609403883234836 + ], + [ + 0.03956862911581993, + 0.9992123246192932, + 0.0030045011080801487, + 0.16938812571997736 + ], + [ + -0.22148719429969788, + 0.005838715936988592, + 0.9751458168029785, + -0.4559037344705989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9742578268051147, + -0.040864378213882446, + 0.22170203924179077, + -0.29749574722612604 + ], + [ + 0.04136017709970474, + 0.9991413950920105, + 0.0024078029673546553, + 0.17034507218529196 + ], + [ + -0.22161006927490234, + 0.006823813542723656, + 0.9751114845275879, + -0.4557693798259339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9741857051849365, + -0.04245569929480553, + 0.22171993553638458, + -0.29782959907406975 + ], + [ + 0.04299730435013771, + 0.9990723133087158, + 0.0023856826592236757, + 0.1706926106822257 + ], + [ + -0.22161553800106049, + 0.007209261879324913, + 0.9751074910163879, + -0.4554634192255417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9740447402000427, + -0.04409264773130417, + 0.22201961278915405, + -0.29854096903228294 + ], + [ + 0.044558085501194, + 0.9990025162696838, + 0.0029146026354283094, + 0.17074036352774677 + ], + [ + -0.22192665934562683, + 0.0070538148283958435, + 0.9750378727912903, + -0.45540730183323225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9739847183227539, + -0.044803179800510406, + 0.22214066982269287, + -0.29889548634562424 + ], + [ + 0.045222990214824677, + 0.9989718198776245, + 0.0031989377457648516, + 0.1720402147840051 + ], + [ + -0.222055584192276, + 0.006930147297680378, + 0.9750093817710876, + -0.4555096718715504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9739570617675781, + -0.046244774013757706, + 0.22196641564369202, + -0.29903513749367466 + ], + [ + 0.046522025018930435, + 0.9989093542098999, + 0.003982037305831909, + 0.1725731577943353 + ], + [ + -0.22190847992897034, + 0.006447995081543922, + 0.9750461578369141, + -0.4551155903194027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9738994240760803, + -0.047885436564683914, + 0.22187133133411407, + -0.2990598729190727 + ], + [ + 0.04801560565829277, + 0.998835027217865, + 0.004810351878404617, + 0.17310177882512412 + ], + [ + -0.2218431979417801, + 0.005968485958874226, + 0.9750640988349915, + -0.4544213602707411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9738293886184692, + -0.04928126186132431, + 0.2218732386827469, + -0.3006678482188898 + ], + [ + 0.049240268766880035, + 0.9987705945968628, + 0.005719739478081465, + 0.17331471381818547 + ], + [ + -0.22188232839107513, + 0.005355047527700663, + 0.9750587344169617, + -0.45506624162525816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9737997055053711, + -0.049882929772138596, + 0.2218688726425171, + -0.3015866852036732 + ], + [ + 0.0498436875641346, + 0.9987403154373169, + 0.005779660306870937, + 0.17434352028603647 + ], + [ + -0.22187769412994385, + 0.00543053075671196, + 0.9750593900680542, + -0.4546253368057603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.973879873752594, + -0.0491807721555233, + 0.2216736227273941, + -0.3021531521507046 + ], + [ + 0.049199704080820084, + 0.9987741708755493, + 0.00543988635763526, + 0.17537819637971766 + ], + [ + -0.22166942059993744, + 0.005608479958027601, + 0.9751057624816895, + -0.45427562410568856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9740517139434814, + -0.047391023486852646, + 0.2213083803653717, + -0.3027899692108964 + ], + [ + 0.04737541452050209, + 0.9988626837730408, + 0.005381734576076269, + 0.17575360615463817 + ], + [ + -0.22131171822547913, + 0.005242487881332636, + 0.9751890301704407, + -0.4544502121197772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9741417169570923, + -0.04748069867491722, + 0.22089244425296783, + -0.30397998784833097 + ], + [ + 0.047466013580560684, + 0.9988583922386169, + 0.005377605557441711, + 0.1759581183685976 + ], + [ + -0.22089560329914093, + 0.0052463337779045105, + 0.9752833247184753, + -0.45534034568597287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9743256568908691, + -0.04873392730951309, + 0.21980571746826172, + -0.30432058821487074 + ], + [ + 0.04872202128171921, + 0.9987973570823669, + 0.0054784794338047504, + 0.17564444097818113 + ], + [ + -0.21980836987495422, + 0.005371555220335722, + 0.9755282998085022, + -0.4557828281506184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9748038649559021, + -0.04703512787818909, + 0.2180483490228653, + -0.30373028946273467 + ], + [ + 0.04687952250242233, + 0.9988831877708435, + 0.0058897752314805984, + 0.175432065216934 + ], + [ + -0.21808184683322906, + 0.004480626434087753, + 0.9759202003479004, + -0.456989198714933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9753535985946655, + -0.044518373906612396, + 0.2161097377538681, + -0.30389445043150703 + ], + [ + 0.04399261623620987, + 0.9990055561065674, + 0.007245144806802273, + 0.17447184929076365 + ], + [ + -0.21621738374233246, + 0.0024406537413597107, + 0.9763422012329102, + -0.45858078153036974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9759193658828735, + -0.04384411498904228, + 0.21367990970611572, + -0.3037187860292547 + ], + [ + 0.042941223829984665, + 0.9990382194519043, + 0.008867371827363968, + 0.17320328103561028 + ], + [ + -0.21386319398880005, + 0.0005218363367021084, + 0.9768635034561157, + -0.4608439605902223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9766877293586731, + -0.041749075055122375, + 0.21056605875492096, + -0.3033142449005562 + ], + [ + 0.040668100118637085, + 0.9991279244422913, + 0.009463214315474033, + 0.17331787154955022 + ], + [ + -0.21077750623226166, + -0.0006792843341827393, + 0.9775338172912598, + -0.46243296033319303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9774497747421265, + -0.03997514396905899, + 0.20734989643096924, + -0.3048220204152897 + ], + [ + 0.038591332733631134, + 0.9991976022720337, + 0.010716104879975319, + 0.17186733729699077 + ], + [ + -0.20761188864707947, + -0.0024725464172661304, + 0.9782081246376038, + -0.4654146128393454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9782249927520752, + -0.03859778866171837, + 0.20392674207687378, + -0.30562056485088723 + ], + [ + 0.03698503598570824, + 0.999247133731842, + 0.011715222150087357, + 0.17046691959395127 + ], + [ + -0.20422539114952087, + -0.003917887341231108, + 0.9789160490036011, + -0.4688992188469616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9788795113563538, + -0.03728622570633888, + 0.20100918412208557, + -0.3052530199946726 + ], + [ + 0.03566518798470497, + 0.9992955327033997, + 0.011681252159178257, + 0.17116673623814305 + ], + [ + -0.2013031244277954, + -0.0042655086144804955, + 0.9795197248458862, + -0.4739547115750611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9791070222854614, + -0.03727620095014572, + 0.1998998522758484, + -0.3055818994365194 + ], + [ + 0.03566841781139374, + 0.9992958903312683, + 0.01163961086422205, + 0.17138718240985684 + ], + [ + -0.20019298791885376, + -0.004266313277184963, + 0.9797471761703491, + -0.4783095139585545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9791802763938904, + -0.03888498246669769, + 0.1992335319519043, + -0.3042230025956444 + ], + [ + 0.03750359266996384, + 0.9992391467094421, + 0.01070411130785942, + 0.1721757176752184 + ], + [ + -0.19949817657470703, + -0.00300928158685565, + 0.9798935651779175, + -0.4832681612408373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9790499210357666, + -0.04107796773314476, + 0.19943390786647797, + -0.30223096005947275 + ], + [ + 0.03981037810444832, + 0.9991534948348999, + 0.010363566689193249, + 0.1717571677530513 + ], + [ + -0.1996908038854599, + -0.002206910401582718, + 0.9798564910888672, + -0.49055035338353586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9787784814834595, + -0.041072290390729904, + 0.20076298713684082, + -0.2998472201327483 + ], + [ + 0.04021238908171654, + 0.9991561770439148, + 0.008361157029867172, + 0.17558819899956385 + ], + [ + -0.20093700289726257, + -0.00011056242510676384, + 0.979604184627533, + -0.49489665996904175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9782047271728516, + -0.041952650994062424, + 0.2033604383468628, + -0.29790066300033063 + ], + [ + 0.04143237695097923, + 0.9991180300712585, + 0.006816963665187359, + 0.17836227846496244 + ], + [ + -0.20346707105636597, + 0.0017573211807757616, + 0.9790802001953125, + -0.5001475225151379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9770103693008423, + -0.04402269423007965, + 0.2085970640182495, + -0.30080361046335274 + ], + [ + 0.043398626148700714, + 0.9990291595458984, + 0.007569853216409683, + 0.17721524729448207 + ], + [ + -0.20872780680656433, + 0.0016569998115301132, + 0.9779723882675171, + -0.5097002638777828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9760836362838745, + -0.04484368860721588, + 0.2127199023962021, + -0.3003682027479597 + ], + [ + 0.04427201300859451, + 0.9989917278289795, + 0.007452457677572966, + 0.1786824439962705 + ], + [ + -0.21283961832523346, + 0.002143316436558962, + 0.9770848155021667, + -0.5162482774517426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9759872555732727, + -0.04553968831896782, + 0.21301418542861938, + -0.29057797048167855 + ], + [ + 0.04568611457943916, + 0.9989468455314636, + 0.004237587098032236, + 0.18598063976741305 + ], + [ + -0.21298283338546753, + 0.005595958326011896, + 0.9770399332046509, + -0.5207481347983155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9747538566589355, + -0.04772258922457695, + 0.2181227207183838, + -0.2918381807394326 + ], + [ + 0.047839682549238205, + 0.9988437294960022, + 0.004747308325022459, + 0.18600463157190997 + ], + [ + -0.21809706091880798, + 0.005807462614029646, + 0.9759098291397095, + -0.528750101120129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9741184711456299, + -0.047462768852710724, + 0.22099873423576355, + -0.28963191789008824 + ], + [ + 0.04807931184768677, + 0.9988401532173157, + 0.0025917491875588894, + 0.19097061875988455 + ], + [ + -0.2208654284477234, + 0.008100796490907669, + 0.9752706289291382, + -0.5297636199413853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.973479151725769, + -0.049823544919490814, + 0.22328458726406097, + -0.2841491089622472 + ], + [ + 0.05059315264225006, + 0.9987167716026306, + 0.002276170300319791, + 0.19392536159823923 + ], + [ + -0.22311146557331085, + 0.009080865420401096, + 0.9747506380081177, + -0.5399646430445251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9722096920013428, + -0.050323713570833206, + 0.22863909602165222, + -0.28677958662019054 + ], + [ + 0.051086824387311935, + 0.9986909031867981, + 0.0025836615823209286, + 0.19455594516852323 + ], + [ + -0.22846978902816772, + 0.009168582037091255, + 0.973507821559906, + -0.5473976663368589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.971245527267456, + -0.050978053361177444, + 0.23255836963653564, + -0.28600932578282323 + ], + [ + 0.05163928493857384, + 0.9986605048179626, + 0.003247986314818263, + 0.19627377989829758 + ], + [ + -0.2324124276638031, + 0.00885455496609211, + 0.9725770354270935, + -0.555907008598796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9706275463104248, + -0.05201864242553711, + 0.23489612340927124, + -0.27955329090941183 + ], + [ + 0.052947305142879486, + 0.9985945224761963, + 0.002356006298214197, + 0.2027022530635198 + ], + [ + -0.23468855023384094, + 0.010150309652090073, + 0.9720176458358765, + -0.5589989004510583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9692384004592896, + -0.054066941142082214, + 0.24011193215847015, + -0.2790496669052278 + ], + [ + 0.05447998642921448, + 0.9985027313232422, + 0.004922259133309126, + 0.20210291918586282 + ], + [ + -0.2400185614824295, + 0.008310453966259956, + 0.9707327485084534, + -0.5683216515901115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.966953456401825, + -0.05609850957989693, + 0.24870456755161285, + -0.2875193926706618 + ], + [ + 0.05615408346056938, + 0.9983984231948853, + 0.006876754574477673, + 0.2007137644524668 + ], + [ + -0.24869202077388763, + 0.00731627456843853, + 0.9685549736022949, + -0.5739697126087313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9648348689079285, + -0.05956374108791351, + 0.2560192346572876, + -0.2933767791107005 + ], + [ + 0.059370093047618866, + 0.9981999397277832, + 0.00849226489663124, + 0.20076414428505243 + ], + [ + -0.256064236164093, + 0.007006252184510231, + 0.9666343927383423, + -0.5834483251404747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9626888036727905, + -0.06317547708749771, + 0.26313337683677673, + -0.2996144269538276 + ], + [ + 0.06255822628736496, + 0.9979836344718933, + 0.010732177644968033, + 0.19787991923444412 + ], + [ + -0.2632807791233063, + 0.0061294082552194595, + 0.9646997451782227, + -0.5932544855236569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9611198902130127, + -0.06636720150709152, + 0.26803717017173767, + -0.3018847490094748 + ], + [ + 0.06574397534132004, + 0.9977723956108093, + 0.011310094967484474, + 0.1978684433827213 + ], + [ + -0.2681907117366791, + 0.0067514702677726746, + 0.9633421897888184, + -0.6003764113338262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9598362445831299, + -0.0686873197555542, + 0.27202290296554565, + -0.3031794283904281 + ], + [ + 0.06822198629379272, + 0.9976075291633606, + 0.011179378256201744, + 0.19794490638316847 + ], + [ + -0.2721399664878845, + 0.00782756693661213, + 0.9622258543968201, + -0.6067427406489265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9585754871368408, + -0.07001800090074539, + 0.27609872817993164, + -0.30511886086314916 + ], + [ + 0.07010994106531143, + 0.99749356508255, + 0.009550334885716438, + 0.19930308312177658 + ], + [ + -0.27607542276382446, + 0.010202549397945404, + 0.9610818028450012, + -0.6123011244460941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.957547664642334, + -0.07139366865158081, + 0.27929461002349854, + -0.3061150417024014 + ], + [ + 0.07189235091209412, + 0.9973764419555664, + 0.008471392095088959, + 0.19956358814356373 + ], + [ + -0.27916663885116577, + 0.011967379599809647, + 0.9601681232452393, + -0.6167028624016573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9566403031349182, + -0.07247509062290192, + 0.28211110830307007, + -0.30826436622323944 + ], + [ + 0.0735538899898529, + 0.9972681999206543, + 0.006779215764254332, + 0.20009776160997506 + ], + [ + -0.2818317413330078, + 0.014265093952417374, + 0.9593577980995178, + -0.6214894486646003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9561019539833069, + -0.07349596917629242, + 0.28366783261299133, + -0.30860803434077433 + ], + [ + 0.07493829727172852, + 0.9971714019775391, + 0.005779385566711426, + 0.20001666028709975 + ], + [ + -0.28329023718833923, + 0.01573190465569496, + 0.9589051604270935, + -0.6244662725531003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9557282328605652, + -0.07291580736637115, + 0.2850733995437622, + -0.30928596816957 + ], + [ + 0.07470183074474335, + 0.9971952438354492, + 0.004618620499968529, + 0.2008839166339706 + ], + [ + -0.2846106290817261, + 0.01688135601580143, + 0.9584945440292358, + -0.6272416115236268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.955498993396759, + -0.07165828347206116, + 0.28615862131118774, + -0.3093870354341526 + ], + [ + 0.07375863194465637, + 0.9972701668739319, + 0.003446926362812519, + 0.20116672068834307 + ], + [ + -0.2856244444847107, + 0.01781313121318817, + 0.9581760764122009, + -0.629239941037753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9552366733551025, + -0.0702124685049057, + 0.2873901426792145, + -0.3098537533379653 + ], + [ + 0.07274627685546875, + 0.9973487257957458, + 0.0018664570525288582, + 0.20131653854075598 + ], + [ + -0.28675922751426697, + 0.019123651087284088, + 0.9578117728233337, + -0.6308901444844464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9549208283424377, + -0.06874336302280426, + 0.2887914776802063, + -0.31100724023931164 + ], + [ + 0.07163280248641968, + 0.9974309206008911, + 0.0005647456273436546, + 0.20146545198033838 + ], + [ + -0.2880883812904358, + 0.020147655159235, + 0.9573918581008911, + -0.6326871219218946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9547303915023804, + -0.06849163770675659, + 0.2894800901412964, + -0.3113142368548057 + ], + [ + 0.07185466587543488, + 0.9974146485328674, + -0.0009923875331878662, + 0.20158771311535556 + ], + [ + -0.28866368532180786, + 0.021747956052422523, + 0.9571835398674011, + -0.6329400464846734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9548672437667847, + -0.06897549331188202, + 0.2889133095741272, + -0.31198514248518383 + ], + [ + 0.07276058197021484, + 0.9973466396331787, + -0.0023682406172156334, + 0.20220862241352305 + ], + [ + -0.28798335790634155, + 0.02328285574913025, + 0.957352340221405, + -0.632830742439803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9554368853569031, + -0.06918323785066605, + 0.2869739532470703, + -0.31228750203096983 + ], + [ + 0.07327785342931747, + 0.9973052740097046, + -0.0035388339310884476, + 0.20239718778460633 + ], + [ + -0.2859557867050171, + 0.024409962818026543, + 0.9579318761825562, + -0.63085214213249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9562063813209534, + -0.06928880512714386, + 0.28437376022338867, + -0.31194974373953016 + ], + [ + 0.07351161539554596, + 0.9972855448722839, + -0.004190095700323582, + 0.20167268462040844 + ], + [ + -0.28331154584884644, + 0.024911370128393173, + 0.9587043523788452, + -0.6283110157020536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9570200443267822, + -0.06823056191205978, + 0.2818816304206848, + -0.31331360674298864 + ], + [ + 0.07250537723302841, + 0.9973567128181458, + -0.004749827086925507, + 0.20063626415589275 + ], + [ + -0.28081244230270386, + 0.024983610957860947, + 0.9594374299049377, + -0.6254370046834297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9581565260887146, + -0.06751136481761932, + 0.27816954255104065, + -0.31365164169201665 + ], + [ + 0.0718654990196228, + 0.9973993301391602, + -0.005473646335303783, + 0.2000209545680121 + ], + [ + -0.2770765721797943, + 0.025235403329133987, + 0.9605163931846619, + -0.6213527027042766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9594470858573914, + -0.06542050838470459, + 0.27419233322143555, + -0.3133931708686492 + ], + [ + 0.06992265582084656, + 0.9975301623344421, + -0.006667448207736015, + 0.199897561090834 + ], + [ + -0.27307891845703125, + 0.02556932158768177, + 0.9616517424583435, + -0.6163380952670658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9609232544898987, + -0.06317915767431259, + 0.26950863003730774, + -0.31184111106045104 + ], + [ + 0.067722387611866, + 0.997675359249115, + -0.007583159953355789, + 0.19946467043722377 + ], + [ + -0.268403023481369, + 0.025538600981235504, + 0.962968111038208, + -0.6086792655727442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9622263312339783, + -0.06078362464904785, + 0.2653787136077881, + -0.31265677657781865 + ], + [ + 0.06529192626476288, + 0.9978325963020325, + -0.00819103978574276, + 0.1976769437100373 + ], + [ + -0.26430565118789673, + 0.025208720937371254, + 0.964109480381012, + -0.602760969002859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9636563658714294, + -0.057625461369752884, + 0.2608558237552643, + -0.3121111234650016 + ], + [ + 0.06210066005587578, + 0.998029887676239, + -0.008938892744481564, + 0.19631001601616543 + ], + [ + -0.25982680916786194, + 0.02481333538889885, + 0.9653363823890686, + -0.5946348573391637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9652250409126282, + -0.056453440338373184, + 0.25525200366973877, + -0.30948906602776227 + ], + [ + 0.06076489016413689, + 0.9981112480163574, + -0.009030209854245186, + 0.19303149037501394 + ], + [ + -0.2542601227760315, + 0.024226544424891472, + 0.9668323993682861, + -0.5885449405786964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9666705131530762, + -0.05667605251073837, + 0.24967171251773834, + -0.30907783427951385 + ], + [ + 0.06107237935066223, + 0.998084306716919, + -0.009890547022223473, + 0.1903516495929045 + ], + [ + -0.24863286316394806, + 0.024808945134282112, + 0.968280017375946, + -0.5774241994007253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9681930541992188, + -0.05486844480037689, + 0.2441139668226242, + -0.310006820008743 + ], + [ + 0.05964546650648117, + 0.9981448650360107, + -0.012214248068630695, + 0.1887902034848344 + ], + [ + -0.24299092590808868, + 0.026386041194200516, + 0.9696696400642395, + -0.566458084242528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9698185920715332, + -0.055416181683540344, + 0.2374466508626938, + -0.3098747990148909 + ], + [ + 0.06062179058790207, + 0.9980529546737671, + -0.014672160148620605, + 0.18618893579525106 + ], + [ + -0.23617126047611237, + 0.028623774647712708, + 0.9712897539138794, + -0.554279353644918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9715765118598938, + -0.05504675209522247, + 0.23023678362369537, + -0.30810150471242037 + ], + [ + 0.06045906990766525, + 0.9980340600013733, + -0.01651376485824585, + 0.1827385670998517 + ], + [ + -0.22887511551380157, + 0.02996428683400154, + 0.9729945063591003, + -0.5452271545141497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9733700156211853, + -0.05603126063942909, + 0.22228655219078064, + -0.30506451302299314 + ], + [ + 0.06182161346077919, + 0.997903048992157, + -0.01917135901749134, + 0.1803587295261084 + ], + [ + -0.220746248960495, + 0.03240294009447098, + 0.9747928977012634, + -0.5327008659348769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9749148488044739, + -0.058506935834884644, + 0.21475102007389069, + -0.30243979714372576 + ], + [ + 0.06475189328193665, + 0.99765545129776, + -0.02215503714978695, + 0.17921598685138368 + ], + [ + -0.21295128762722015, + 0.03550480678677559, + 0.9764175415039062, + -0.5167398876181858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9761280417442322, + -0.06167621910572052, + 0.2082548439502716, + -0.30239331530881863 + ], + [ + 0.0681397020816803, + 0.9973871111869812, + -0.023999489843845367, + 0.1762969773481874 + ], + [ + -0.20623049139976501, + 0.037616997957229614, + 0.9777801036834717, + -0.5057125502649475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9774899482727051, + -0.06127142533659935, + 0.20188908278942108, + -0.30086805203418227 + ], + [ + 0.06794051826000214, + 0.9973435997962952, + -0.026264484971761703, + 0.174722585198926 + ], + [ + -0.19974352419376373, + 0.039389718323946, + 0.979056179523468, + -0.49829206874448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9782186150550842, + -0.06143096834421158, + 0.19827909767627716, + -0.30185531846740665 + ], + [ + 0.0680433139204979, + 0.9973249435424805, + -0.026702750474214554, + 0.17281867344589796 + ], + [ + -0.19610832631587982, + 0.03961269184947014, + 0.9797818064689636, + -0.4893057134878986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9788783192634583, + -0.06407173722982407, + 0.19414453208446503, + -0.3017343613702585 + ], + [ + 0.07031292468309402, + 0.9972010254859924, + -0.02542126551270485, + 0.17027108391710355 + ], + [ + -0.19197233021259308, + 0.03853519633412361, + 0.9806435108184814, + -0.4792650216478197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9796200394630432, + -0.06704811006784439, + 0.189338818192482, + -0.30208408814288823 + ], + [ + 0.0729069784283638, + 0.9970465302467346, + -0.02414216846227646, + 0.16758819596440183 + ], + [ + -0.187160924077034, + 0.0374542698264122, + 0.9816150069236755, + -0.469060378791947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9803107976913452, + -0.07001052796840668, + 0.1846327781677246, + -0.3026435012983925 + ], + [ + 0.07563675940036774, + 0.996856153011322, + -0.02359877899289131, + 0.16511410790331227 + ], + [ + -0.1824001669883728, + 0.037099163979291916, + 0.9825242161750793, + -0.45919342059094237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9814494848251343, + -0.07105452567338943, + 0.17806774377822876, + -0.2980420580973812 + ], + [ + 0.0764019712805748, + 0.9968037605285645, + -0.023346496745944023, + 0.1624927097968027 + ], + [ + -0.17583972215652466, + 0.03651813417673111, + 0.9837412238121033, + -0.44850950431005626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9822564721107483, + -0.07088378071784973, + 0.17363092303276062, + -0.29834023505157115 + ], + [ + 0.0760672390460968, + 0.9968286752700806, + -0.02337457798421383, + 0.16083322684554494 + ], + [ + -0.17142340540885925, + 0.0361674539744854, + 0.9845333695411682, + -0.43935579354600873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9830736517906189, + -0.07116293162107468, + 0.16882558166980743, + -0.2980623266495326 + ], + [ + 0.07602543383836746, + 0.9968518614768982, + -0.022506671026349068, + 0.1573324902969248 + ], + [ + -0.16669245064258575, + 0.034960754215717316, + 0.9853889346122742, + -0.43033110957373594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9841176867485046, + -0.07160152494907379, + 0.16243629157543182, + -0.2946174327284098 + ], + [ + 0.0761953741312027, + 0.9968452453613281, + -0.022221514955163002, + 0.15551766653855642 + ], + [ + -0.16033275425434113, + 0.034245479851961136, + 0.9864687919616699, + -0.42011898659790553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9850457310676575, + -0.07226753234863281, + 0.15640424191951752, + -0.2948498072577458 + ], + [ + 0.07666902244091034, + 0.9968075156211853, + -0.02228633686900139, + 0.15459586402364806 + ], + [ + -0.15429435670375824, + 0.033944420516490936, + 0.9874416589736938, + -0.41092001338507617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9861469864845276, + -0.07463228702545166, + 0.1481354534626007, + -0.288349832331433 + ], + [ + 0.07878118753433228, + 0.9966417551040649, + -0.02233206294476986, + 0.15256218892686507 + ], + [ + -0.14597129821777344, + 0.03369298204779625, + 0.9887149333953857, + -0.4005942634306848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9870718121528625, + -0.07416535168886185, + 0.1420869678258896, + -0.2855589735668664 + ], + [ + 0.07818985730409622, + 0.9966743588447571, + -0.02294585108757019, + 0.15077459067106247 + ], + [ + -0.1399126499891281, + 0.03375896438956261, + 0.98958820104599, + -0.3898186855127706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9879987239837646, + -0.0721406564116478, + 0.13658051192760468, + -0.28143466222008656 + ], + [ + 0.07627271860837936, + 0.996766984462738, + -0.025259286165237427, + 0.1508904075359597 + ], + [ + -0.13431672751903534, + 0.0353735089302063, + 0.9903069138526917, + -0.38046872677171933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9887574315071106, + -0.07030858844518661, + 0.1319674253463745, + -0.27670610056203954 + ], + [ + 0.07458045333623886, + 0.9968300461769104, + -0.027705857530236244, + 0.15020551221335637 + ], + [ + -0.1296011209487915, + 0.03723656386137009, + 0.9908667802810669, + -0.37280120078255147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9893129467964172, + -0.06810837239027023, + 0.12892292439937592, + -0.274111386399497 + ], + [ + 0.07248406857252121, + 0.9969316124916077, + -0.02955280989408493, + 0.14835880487865094 + ], + [ + -0.12651453912258148, + 0.038581833243370056, + 0.9912141561508179, + -0.3650074151289814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.989827036857605, + -0.06671242415904999, + 0.12566602230072021, + -0.27053578862664746 + ], + [ + 0.07121676206588745, + 0.9969571828842163, + -0.03169388324022293, + 0.14758948029256336 + ], + [ + -0.12316927313804626, + 0.040320985019207, + 0.9915661811828613, + -0.35690797334354296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9903092980384827, + -0.06756186485290527, + 0.12133806943893433, + -0.2653576293412377 + ], + [ + 0.0720692127943039, + 0.9968487024307251, + -0.033145830035209656, + 0.1458827425890109 + ], + [ + -0.118716299533844, + 0.041569359600543976, + 0.9920576810836792, + -0.3491688687902163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.990845263004303, + -0.06700506806373596, + 0.11720068752765656, + -0.25957306535804975 + ], + [ + 0.07155385613441467, + 0.9968210458755493, + -0.03504025191068649, + 0.14562724003312635 + ], + [ + -0.11448024213314056, + 0.04310562461614609, + 0.9924898743629456, + -0.33963923520025086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9913232922554016, + -0.06589843332767487, + 0.11373439431190491, + -0.2532894477905596 + ], + [ + 0.07046978175640106, + 0.9968404769897461, + -0.03664768487215042, + 0.14527404303936398 + ], + [ + -0.11096002161502838, + 0.044344544410705566, + 0.9928350448608398, + -0.3304636517576143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.991711437702179, + -0.06596160680055618, + 0.11026083678007126, + -0.24653721471481463 + ], + [ + 0.07044713944196701, + 0.9968183040618896, + -0.037288814783096313, + 0.14258721676819464 + ], + [ + -0.10745038837194443, + 0.04474730044603348, + 0.9932029247283936, + -0.3216666896334466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9921424984931946, + -0.0655379518866539, + 0.10657421499490738, + -0.23840725277641825 + ], + [ + 0.0699736550450325, + 0.9968085289001465, + -0.03842441737651825, + 0.14105376945991144 + ], + [ + -0.10371582955121994, + 0.04557988792657852, + 0.9935620427131653, + -0.3119090444499663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9926162362098694, + -0.06405828148126602, + 0.10300292819738388, + -0.23073598260388656 + ], + [ + 0.06841558963060379, + 0.9968810677528381, + -0.03933807462453842, + 0.138659980148077 + ], + [ + -0.10016173869371414, + 0.0460946187376976, + 0.993902862071991, + -0.3015869804749302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.993131160736084, + -0.06165022403001785, + 0.09944691509008408, + -0.2228964033700964 + ], + [ + 0.06591074913740158, + 0.9970179200172424, + -0.04013843834400177, + 0.1357656276839621 + ], + [ + -0.096675805747509, + 0.04641735553741455, + 0.9942329525947571, + -0.2927323178333395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9938334226608276, + -0.0567559115588665, + 0.09525683522224426, + -0.2140117635293042 + ], + [ + 0.0608578585088253, + 0.9973154067993164, + -0.04072178527712822, + 0.1323943737675162 + ], + [ + -0.09268991649150848, + 0.0462677963078022, + 0.9946194887161255, + -0.2834274198458183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9945377111434937, + -0.051533833146095276, + 0.09076900780200958, + -0.20540176953609082 + ], + [ + 0.055462732911109924, + 0.9976059794425964, + -0.04130617901682854, + 0.1282011274686631 + ], + [ + -0.08842304348945618, + 0.04611485078930855, + 0.9950149655342102, + -0.27434646326719836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9952187538146973, + -0.046724021434783936, + 0.08576996624469757, + -0.19607971012592315 + ], + [ + 0.0504322275519371, + 0.9978612065315247, + -0.04158812016248703, + 0.12377525791525841 + ], + [ + -0.0836433619260788, + 0.0457148477435112, + 0.9954466223716736, + -0.26477296426892283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/a2556aad-e6da-4818-871f-46de6e0df909/boom_up/transforms.json b/dynpose_eval/camera_controls/a2556aad-e6da-4818-871f-46de6e0df909/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..16f717cfe459487b7f41d979519f7c2be2d090a8 --- /dev/null +++ b/dynpose_eval/camera_controls/a2556aad-e6da-4818-871f-46de6e0df909/boom_up/transforms.json @@ -0,0 +1,7188 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 205, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 6.97937430231832e-05, + 5.229944144957699e-05, + -0.0001302181917708367 + ], + [ + -6.979006138863042e-05, + 1.0, + -7.033456495264545e-05, + 0.00015771843027323484 + ], + [ + -5.230435272096656e-05, + 7.033091242192313e-05, + 1.0, + -8.678555605001748e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999999403953552, + 0.0002837729116436094, + -0.0002859134692698717, + -0.00017085350088617656 + ], + [ + -0.0002837154606822878, + 0.9999999403953552, + 0.00020099488028790802, + -0.0002766848774626851 + ], + [ + 0.0002859705127775669, + -0.00020091373880859464, + 0.9999999403953552, + 0.00010282159904925399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999998211860657, + 0.00025605392875149846, + -0.0005882792174816132, + 5.944591067222349e-05 + ], + [ + -0.00025583646493032575, + 0.9999998807907104, + 0.0003696829080581665, + -0.000794145307508206 + ], + [ + 0.0005883738631382585, + -0.00036953232483938336, + 0.9999997615814209, + 0.0004283433684773341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999998211860657, + 4.4314456317806616e-05, + -0.0005895099020563066, + 9.453539194189088e-05 + ], + [ + -4.40534895460587e-05, + 0.9999998807907104, + 0.00044269373756833375, + -0.001376872016065617 + ], + [ + 0.0005895294598303735, + -0.0004426677187439054, + 0.9999997019767761, + 0.0005332442690012292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999998211860657, + -0.00011699614697135985, + -0.0006327012670226395, + 0.00018575134945065513 + ], + [ + 0.00011730048572644591, + 0.9999998807907104, + 0.000481003982713446, + -0.0018892705334092527 + ], + [ + 0.0006326449220068753, + -0.00048107808106578887, + 0.9999997019767761, + 0.0006238852863259357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999997019767761, + -0.0005319613846950233, + -0.0005915404763072729, + 0.00031594658945572983 + ], + [ + 0.0005322561482898891, + 0.9999997615814209, + 0.0004982849350199103, + -0.0023559319725951784 + ], + [ + 0.0005912752822041512, + -0.0004985996056348085, + 0.9999997019767761, + 0.0007461930970962652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999999463558197, + -0.0008804386598058045, + -0.0005736188613809645, + 0.0005699183505973505 + ], + [ + 0.0008807412232272327, + 0.999999463558197, + 0.000527509895619005, + -0.002805739388328648 + ], + [ + 0.0005731541314162314, + -0.0005280147888697684, + 0.9999997019767761, + 0.0008131679539527634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999989867210388, + -0.001365739619359374, + -0.00046193701564334333, + 0.0007144620220916455 + ], + [ + 0.0013660104013979435, + 0.9999988675117493, + 0.0005863537080585957, + -0.0030938549463719353 + ], + [ + 0.0004611356707755476, + -0.0005869840970262885, + 0.9999997019767761, + 0.000955603145092598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999986886978149, + -0.0015857677208259702, + -0.00029334271675907075, + 0.0010424111038446426 + ], + [ + 0.0015859693521633744, + 0.9999985098838806, + 0.0006882752641104162, + -0.0036952689769403895 + ], + [ + 0.00029225085745565593, + -0.0006887396448291838, + 0.9999997019767761, + 0.0010495552439333908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999994039535522, + -0.001075500389561057, + -5.2751620387425646e-05, + 0.001139757688061389 + ], + [ + 0.0010755332186818123, + 0.9999992251396179, + 0.0006269499426707625, + -0.0038189841311096267 + ], + [ + 5.207729191170074e-05, + -0.0006270062876865268, + 0.9999998211860657, + 0.001212002187179785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999999403953552, + -0.00038851378485560417, + 0.00015193287981674075, + 0.001262510585708215 + ], + [ + 0.00038839998887851834, + 0.9999996423721313, + 0.0007484423695132136, + -0.004171320522551005 + ], + [ + -0.00015222359797917306, + -0.0007483833469450474, + 0.9999997019767761, + 0.0014244971760347777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999998807907104, + -5.467627488542348e-05, + 0.0004938338533975184, + 0.0011610000523183308 + ], + [ + 5.4190932132769376e-05, + 0.9999995231628418, + 0.0009827656904235482, + -0.00445932245050904 + ], + [ + -0.0004938874044455588, + -0.000982738914899528, + 0.9999994039535522, + 0.0015495898866884448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999995231628418, + -0.00021750877203885466, + 0.0009240994695574045, + 0.0014976596583865637 + ], + [ + 0.00021641903731506318, + 0.9999992847442627, + 0.0011791718425229192, + -0.0048372334417174844 + ], + [ + -0.0009243552340194583, + -0.0011789713753387332, + 0.9999988675117493, + 0.001876149358748294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999995231628418, + -0.00019485139637254179, + 0.0009827553294599056, + 0.001515856143369627 + ], + [ + 0.0001936146873049438, + 0.9999991655349731, + 0.0012583447387441993, + -0.005398140065874174 + ], + [ + -0.0009829998016357422, + -0.001258153817616403, + 0.9999987483024597, + 0.001839552198333538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999988675117493, + -0.000559321022592485, + 0.0014007317367941141, + 0.001629039327563791 + ], + [ + 0.0005572098307311535, + 0.9999986886978149, + 0.001507116132415831, + -0.005949228328159628 + ], + [ + -0.0014015729539096355, + -0.001506333821453154, + 0.9999978542327881, + 0.002129596096860683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999983310699463, + -0.0008178612915799022, + 0.001619419432245195, + 0.0017913361276869716 + ], + [ + 0.0008152223890647292, + 0.9999983310699463, + 0.0016295254463329911, + -0.006372307701145902 + ], + [ + -0.0016207493608817458, + -0.0016282025026157498, + 0.9999973773956299, + 0.0021278505865826875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999980330467224, + -0.0010243115248158574, + 0.0017145954770967364, + 0.0019942964372389456 + ], + [ + 0.001021448872052133, + 0.9999980926513672, + 0.0016696375096216798, + -0.006837934548236137 + ], + [ + -0.001716302358545363, + -0.0016678828978911042, + 0.9999971389770508, + 0.002222735279550155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999969005584717, + -0.0013215726939961314, + 0.0021000702399760485, + 0.001783324389058786 + ], + [ + 0.0013180429814383388, + 0.9999977350234985, + 0.0016812592511996627, + -0.007196743289629617 + ], + [ + -0.0021022872533649206, + -0.0016784860054031014, + 0.9999963641166687, + 0.0020354214017667496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999966025352478, + -0.001526239444501698, + 0.0021004111040383577, + 0.00200310967527056 + ], + [ + 0.0015225884271785617, + 0.9999973177909851, + 0.0017387032276019454, + -0.007660910163951271 + ], + [ + -0.002103059319779277, + -0.0017354992451146245, + 0.9999963045120239, + 0.0023438767102026544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999964833259583, + -0.0014453823678195477, + 0.0022327930200845003, + 0.002112025720313849 + ], + [ + 0.0014413725584745407, + 0.9999973773956299, + 0.001796447904780507, + -0.007987890386606987 + ], + [ + -0.0022353834938257933, + -0.001793223200365901, + 0.9999958872795105, + 0.0023335737122597137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999959468841553, + -0.0016274151857942343, + 0.0023412660229951143, + 0.002179458602696803 + ], + [ + 0.0016228831373155117, + 0.9999967813491821, + 0.0019362978637218475, + -0.008468664945194534 + ], + [ + -0.002344409702345729, + -0.0019324903842061758, + 0.9999954104423523, + 0.002413731623057495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999948740005493, + -0.0020642653107643127, + 0.0024569269735366106, + 0.0024031543063328547 + ], + [ + 0.0020594503730535507, + 0.9999959468841553, + 0.001960654743015766, + -0.0086971231352757 + ], + [ + -0.0024609642568975687, + -0.0019555846229195595, + 0.9999950528144836, + 0.0024257099872235866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999943971633911, + -0.002301930682733655, + 0.0024415331427007914, + 0.0027279936377525185 + ], + [ + 0.0022968535777181387, + 0.9999951720237732, + 0.002080162288621068, + -0.009169094878541052 + ], + [ + -0.002446309896185994, + -0.002074542688205838, + 0.9999948740005493, + 0.0025574409491930378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999945759773254, + -0.001920277951285243, + 0.002673517446964979, + 0.0025655256745213753 + ], + [ + 0.001914765452966094, + 0.9999960660934448, + 0.0020628925412893295, + -0.009530077663286791 + ], + [ + -0.002677468117326498, + -0.00205776235088706, + 0.9999942779541016, + 0.002465627707002283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999947547912598, + -0.0017213894752785563, + 0.0027508982457220554, + 0.0025007275713826802 + ], + [ + 0.0017156883841380477, + 0.9999963641166687, + 0.002073467243462801, + -0.010057295158998492 + ], + [ + -0.002754457760602236, + -0.0020687365904450417, + 0.9999940395355225, + 0.0023106379078372437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999942183494568, + -0.0019017234444618225, + 0.00281855883076787, + 0.00213994436860815 + ], + [ + 0.001895219786092639, + 0.9999955296516418, + 0.0023083470296114683, + -0.010660834341109092 + ], + [ + -0.0028229360468685627, + -0.0023029919248074293, + 0.9999933838844299, + 0.002165401728216595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999938011169434, + -0.0022737726103514433, + 0.002695554867386818, + 0.002199760361291541 + ], + [ + 0.002267075004056096, + 0.9999943375587463, + 0.0024851954076439142, + -0.011035744403945464 + ], + [ + -0.002701190300285816, + -0.0024790687020868063, + 0.9999932646751404, + 0.0022937922444030206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999939203262329, + -0.001997763989493251, + 0.0028648003935813904, + 0.002026528633295504 + ], + [ + 0.001990021439269185, + 0.9999943375587463, + 0.002703031525015831, + -0.011652694900027094 + ], + [ + -0.0028701843693852425, + -0.0026973141357302666, + 0.9999922513961792, + 0.0024517463150379414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.999994695186615, + -0.0015417226823046803, + 0.002875565318390727, + 0.0019487279633918376 + ], + [ + 0.001533699338324368, + 0.9999949336051941, + 0.0027903285808861256, + -0.012064226168920014 + ], + [ + -0.0028798526618629694, + -0.00278590340167284, + 0.9999919533729553, + 0.0024873648039704446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999949932098389, + -0.0011982294963672757, + 0.002935572527348995, + 0.0018470314073983543 + ], + [ + 0.0011891665635630488, + 0.9999945163726807, + 0.0030870630871504545, + -0.012574079640063586 + ], + [ + -0.002939255442470312, + -0.0030835566576570272, + 0.9999909400939941, + 0.0024937825162173704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999956488609314, + -0.0006279692752286792, + 0.0028795567341148853, + 0.001990777753663304 + ], + [ + 0.0006181616336107254, + 0.9999940395355225, + 0.0034055798314511776, + -0.012557282646679704 + ], + [ + -0.0028816782869398594, + -0.0034037851728498936, + 0.9999900460243225, + 0.0025648682939765207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999959468841553, + -0.0005203551845625043, + 0.002804323099553585, + 0.0022028674941633225 + ], + [ + 0.000509489793330431, + 0.9999923706054688, + 0.0038738246075809, + -0.012761768872173977 + ], + [ + -0.002806317526847124, + -0.0038723801262676716, + 0.9999885559082031, + 0.0029923055126952628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9999957084655762, + 9.047434286912903e-05, + 0.002934876596555114, + 0.0018874290537353898 + ], + [ + -0.00010373548866482452, + 0.9999898076057434, + 0.004518632777035236, + -0.013040377370392282 + ], + [ + -0.00293443794362247, + -0.004518917761743069, + 0.9999854564666748, + 0.0029037251812862415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9999957084655762, + 0.0006192305590957403, + 0.0028601211961358786, + 0.001861922667183749 + ], + [ + -0.0006335877114906907, + 0.9999871850013733, + 0.005021599121391773, + -0.013424617887529383 + ], + [ + -0.0028569751884788275, + -0.005023390054702759, + 0.9999833106994629, + 0.0033167922266704197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999951124191284, + 0.0012230672873556614, + 0.0028743583243340254, + 0.0017421566726018986 + ], + [ + -0.0012392164207994938, + 0.9999834299087524, + 0.005623305216431618, + -0.013814874257271487 + ], + [ + -0.0028674330096691847, + -0.0056268395856022835, + 0.9999800324440002, + 0.0034325413561115663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999940991401672, + 0.0018557795556262136, + 0.002894832519814372, + 0.0016560261163463378 + ], + [ + -0.00187316641677171, + 0.9999801516532898, + 0.006015091203153133, + -0.014209678118098895 + ], + [ + -0.002883612411096692, + -0.006020477972924709, + 0.999977707862854, + 0.0035884350004112896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999933838844299, + 0.002255101455375552, + 0.0028478773310780525, + 0.0014570235219948432 + ], + [ + -0.0022752766963094473, + 0.9999722242355347, + 0.00710105849429965, + -0.01509380417273325 + ], + [ + -0.0028317845426499844, + -0.007107491139322519, + 0.9999707341194153, + 0.003816382707480122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9999926686286926, + 0.002436597365885973, + 0.002949671819806099, + 0.0012214589409767559 + ], + [ + -0.00245897239074111, + 0.9999680519104004, + 0.0076058125123381615, + -0.015907605160392968 + ], + [ + -0.0029310453683137894, + -0.00761300977319479, + 0.9999667406082153, + 0.0038845215956041334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9999927282333374, + 0.0025942260399460793, + 0.002801734721288085, + 0.0015075931512732424 + ], + [ + -0.0026174988597631454, + 0.9999618530273438, + 0.008335091173648834, + -0.016749864408527226 + ], + [ + -0.0027800046373158693, + -0.008342364802956581, + 0.9999613165855408, + 0.004784589865263186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9999905824661255, + 0.0033158964943140745, + 0.002807680983096361, + 0.0013492903292096933 + ], + [ + -0.0033412657212466, + 0.9999532103538513, + 0.009079729206860065, + -0.017408725459073834 + ], + [ + -0.0027774423360824585, + -0.009089023806154728, + 0.9999548196792603, + 0.004708892371341148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9999873042106628, + 0.004118083044886589, + 0.002909161616116762, + 0.0012323037839914654 + ], + [ + -0.0041471971198916435, + 0.9999406337738037, + 0.010073535144329071, + -0.018075053344992008 + ], + [ + -0.002867505419999361, + -0.010085472837090492, + 0.9999450445175171, + 0.00446700783190774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9999817609786987, + 0.005196367856115103, + 0.0030771594028919935, + 0.0009397938470904003 + ], + [ + -0.005229214671999216, + 0.9999284148216248, + 0.010764294303953648, + -0.018883697311941755 + ], + [ + -0.0030210039112716913, + -0.010780188255012035, + 0.9999373555183411, + 0.003980673474770989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9999747276306152, + 0.006336743477731943, + 0.003226475790143013, + 0.0005650752354139353 + ], + [ + -0.0063743325881659985, + 0.9999103546142578, + 0.011776442639529705, + -0.019753076149123337 + ], + [ + -0.003151562064886093, + -0.011796711944043636, + 0.999925434589386, + 0.003308020452694858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9999735951423645, + 0.006302732974290848, + 0.003615729045122862, + -0.0003953051198657383 + ], + [ + -0.006350083276629448, + 0.9998922348022461, + 0.013237271457910538, + -0.020040647193387738 + ], + [ + -0.0035319081507623196, + -0.013259882107377052, + 0.9999058246612549, + 0.001814109549455929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9999802112579346, + 0.004889429546892643, + 0.003965490963310003, + -0.0008322288357543156 + ], + [ + -0.0049576302990317345, + 0.9998367428779602, + 0.01737496256828308, + -0.02023542950514193 + ], + [ + -0.003879890078678727, + -0.017394278198480606, + 0.9998411536216736, + 0.0011819687587501227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9999873042106628, + 0.003230123780667782, + 0.003874172456562519, + -0.00039090129361926196 + ], + [ + -0.003319503739476204, + 0.9997232556343079, + 0.023290526121854782, + -0.021157825156799794 + ], + [ + -0.0037978687323629856, + -0.023303091526031494, + 0.9997212290763855, + 0.0015655309578184696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9999893307685852, + 0.0024712844751775265, + 0.0039014474023133516, + -0.0012715476875503858 + ], + [ + -0.0025806650519371033, + 0.9995965957641602, + 0.028284355998039246, + -0.021950905248705375 + ], + [ + -0.003829974913969636, + -0.028294123709201813, + 0.9995923042297363, + 0.0011431751277425565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9999926686286926, + 0.0018433056538924575, + 0.0033518762793391943, + -0.0008302054555707739 + ], + [ + -0.0019534395541995764, + 0.9994482398033142, + 0.03315657004714012, + -0.021561369357868006 + ], + [ + -0.0032889090944081545, + -0.03316287323832512, + 0.9994445443153381, + 0.0006765297485924071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9999940991401672, + 0.0017137096729129553, + 0.0029760238248854876, + -0.0014714473310638878 + ], + [ + -0.0018237924668937922, + 0.9992991089820862, + 0.03738987818360329, + -0.022463752618333433 + ], + [ + -0.002909862669184804, + -0.037395086139440536, + 0.9992963075637817, + 0.0009659175071968039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.999994695186615, + 0.001981552457436919, + 0.002586192451417446, + -0.0020957348748411545 + ], + [ + -0.002081330632790923, + 0.9992305636405945, + 0.0391664132475853, + -0.022992552480404722 + ], + [ + -0.002506592310965061, + -0.03917159140110016, + 0.999229371547699, + -0.0004444505941743652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9999933242797852, + 0.002655438845977187, + 0.0025118112098425627, + -0.0037797046539958055 + ], + [ + -0.0027545925695449114, + 0.9991825222969055, + 0.0403318852186203, + -0.02287258670491842 + ], + [ + -0.002402659272775054, + -0.040338531136512756, + 0.999183177947998, + -0.0021231237287614863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9999880790710449, + 0.003778306534513831, + 0.003100029192864895, + -0.007123325153952464 + ], + [ + -0.003904572920873761, + 0.9991188049316406, + 0.041789647191762924, + -0.02194520151242614 + ], + [ + -0.002939403522759676, + -0.04180125519633293, + 0.9991216063499451, + -0.005127420742064714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.999979555606842, + 0.005216371268033981, + 0.003699443070217967, + -0.00988462148782085 + ], + [ + -0.005379468202590942, + 0.9989480376243591, + 0.04554050788283348, + -0.02053027510387348 + ], + [ + -0.0034579948987811804, + -0.04555947706103325, + 0.9989556670188904, + -0.008019840476267477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.999957799911499, + 0.008263494819402695, + 0.0040146298706531525, + -0.01186357660438208 + ], + [ + -0.008451156318187714, + 0.9987519979476929, + 0.049224548041820526, + -0.020726612867677918 + ], + [ + -0.0036028525792062283, + -0.049256399273872375, + 0.9987796545028687, + -0.010063391156932886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9999012351036072, + 0.01186646893620491, + 0.007529034279286861, + -0.014618573370663558 + ], + [ + -0.012246912345290184, + 0.9985365271568298, + 0.05267605558037758, + -0.019514873645761436 + ], + [ + -0.006892937235534191, + -0.052763063460588455, + 0.9985832571983337, + -0.01382648081463926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9998235106468201, + 0.014500614255666733, + 0.011945638805627823, + -0.01842781263129676 + ], + [ + -0.015151485800743103, + 0.9982972741127014, + 0.05632919445633888, + -0.019344599123167643 + ], + [ + -0.011108491569757462, + -0.05650024488568306, + 0.9983407855033875, + -0.01753274801497658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9997400641441345, + 0.017316173762083054, + 0.01483236439526081, + -0.021207875407793942 + ], + [ + -0.01815749704837799, + 0.9981161952018738, + 0.05860314518213272, + -0.019273509373705765 + ], + [ + -0.013789640739560127, + -0.058857232332229614, + 0.9981711506843567, + -0.020845734919695293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9996517300605774, + 0.018884917721152306, + 0.018432999029755592, + -0.024101944577277584 + ], + [ + -0.01996445097029209, + 0.9979833960533142, + 0.06025400012731552, + -0.01954787263975424 + ], + [ + -0.01725793443620205, + -0.060601018369197845, + 0.9980128407478333, + -0.02468875599477221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9995655417442322, + 0.02024076133966446, + 0.021426524966955185, + -0.025660765382881257 + ], + [ + -0.02151092141866684, + 0.9979174733161926, + 0.06081094965338707, + -0.019933905956499718 + ], + [ + -0.0201510451734066, + -0.06124543026089668, + 0.9979193210601807, + -0.028688026902576286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9994807839393616, + 0.02069070190191269, + 0.024700021371245384, + -0.028627236578248297 + ], + [ + -0.022152893245220184, + 0.9979240894317627, + 0.0604713000357151, + -0.020745688961709245 + ], + [ + -0.023397551849484444, + -0.06098708137869835, + 0.997864305973053, + -0.03366212268341698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9994181394577026, + 0.019488245248794556, + 0.027993135154247284, + -0.031032418174778715 + ], + [ + -0.021115019917488098, + 0.9980320334434509, + 0.05904451385140419, + -0.020895169335691372 + ], + [ + -0.026787370443344116, + -0.05960123613476753, + 0.9978627562522888, + -0.039585466222728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9992804527282715, + 0.017825081944465637, + 0.03347849100828171, + -0.035163001767268366 + ], + [ + -0.019777849316596985, + 0.9980659484863281, + 0.058933746069669724, + -0.021583181199635947 + ], + [ + -0.03236324340105057, + -0.059553470462560654, + 0.9977003335952759, + -0.046114412660473114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9991061687469482, + 0.016690701246261597, + 0.03883712366223335, + -0.03882367272003024 + ], + [ + -0.018906112760305405, + 0.9981725811958313, + 0.057393938302993774, + -0.021685112439388154 + ], + [ + -0.03780820593237877, + -0.0580768957734108, + 0.9975959062576294, + -0.052723606580904886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9988521337509155, + 0.016250377520918846, + 0.04505981132388115, + -0.043863532338839245 + ], + [ + -0.018744604662060738, + 0.9982829689979553, + 0.055495403707027435, + -0.02233732565141776 + ], + [ + -0.044080618768930435, + -0.05627632886171341, + 0.9974416494369507, + -0.06155231528203277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9985718131065369, + 0.015502371825277805, + 0.05112734064459801, + -0.047947884701630646 + ], + [ + -0.018209826201200485, + 0.9984326362609863, + 0.052921686321496964, + -0.02178141359678086 + ], + [ + -0.05022679641842842, + -0.05377712473273277, + 0.9972889423370361, + -0.0700981307847827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.998223066329956, + 0.015391716733574867, + 0.057565562427043915, + -0.052744890549494064 + ], + [ + -0.01836765743792057, + 0.9985025525093079, + 0.05152997374534607, + -0.02082189994261545 + ], + [ + -0.056686222553253174, + -0.05249575525522232, + 0.9970109462738037, + -0.07873987799108613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9977707266807556, + 0.015368946827948093, + 0.06494168192148209, + -0.05916974072015899 + ], + [ + -0.018690872937440872, + 0.998530924320221, + 0.05085848644375801, + -0.019337256701991844 + ], + [ + -0.0640646442770958, + -0.051958922296762466, + 0.9965921640396118, + -0.08798530536758549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9973674416542053, + 0.013319186866283417, + 0.0712796151638031, + -0.0645566338600189 + ], + [ + -0.016974426805973053, + 0.9985583424568176, + 0.05092277377843857, + -0.018277193397721825 + ], + [ + -0.07049860060214996, + -0.051998645067214966, + 0.9961556792259216, + -0.09750930329456049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9969456195831299, + 0.01043558306992054, + 0.07739841938018799, + -0.07136934256802002 + ], + [ + -0.014423130080103874, + 0.9985873103141785, + 0.05114104226231575, + -0.017092717811465263 + ], + [ + -0.07675538957118988, + -0.052101168781518936, + 0.99568772315979, + -0.10771385071178277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9965060353279114, + 0.008235763758420944, + 0.08311360329389572, + -0.07747936277814647 + ], + [ + -0.01250196062028408, + 0.9986234307289124, + 0.05094055458903313, + -0.01544125031899004 + ], + [ + -0.08257966488599777, + -0.0518016554415226, + 0.9952372312545776, + -0.11737764723708524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9959263801574707, + 0.007386547978967428, + 0.08986678719520569, + -0.08595424758352559 + ], + [ + -0.011968353763222694, + 0.9986496567726135, + 0.05055290460586548, + -0.01311320628897817 + ], + [ + -0.08937202394008636, + -0.05142252892255783, + 0.9946699738502502, + -0.12806759040583582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9953166246414185, + 0.006203466095030308, + 0.09646919369697571, + -0.09357839279999847 + ], + [ + -0.011115300469100475, + 0.9986640810966492, + 0.050462380051612854, + -0.01147075031756186 + ], + [ + -0.09602728486061096, + -0.05129832774400711, + 0.9940559267997742, + -0.13878890837305316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9946955442428589, + 0.005355997942388058, + 0.10272334516048431, + -0.1024896418894915 + ], + [ + -0.010568615980446339, + 0.9986798763275146, + 0.05026732757687569, + -0.009304465572623648 + ], + [ + -0.10231851041316986, + -0.05108633264899254, + 0.9934390187263489, + -0.1504781329894767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9940670132637024, + 0.004649905487895012, + 0.10867007821798325, + -0.11127962158061563 + ], + [ + -0.010138427838683128, + 0.9986973404884338, + 0.05000850930809975, + -0.007111785984506798 + ], + [ + -0.1082959845662117, + -0.05081355199217796, + 0.9928191900253296, + -0.1617396185959817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9934788942337036, + 0.0027197187300771475, + 0.11398357897996902, + -0.11982570176136077 + ], + [ + -0.008416739292442799, + 0.9987372159957886, + 0.049529675394296646, + -0.00464082655369067 + ], + [ + -0.11370492726564407, + -0.0501660592854023, + 0.9922472238540649, + -0.17298562374404247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9928701519966125, + 0.0006222643423825502, + 0.11919933557510376, + -0.1288273822368972 + ], + [ + -0.006505225785076618, + 0.9987789988517761, + 0.048971254378557205, + -0.0023077711024705114 + ], + [ + -0.11902332305908203, + -0.04939751699566841, + 0.9916619062423706, + -0.18476862589116483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9923328757286072, + 0.00021539442241191864, + 0.12359370291233063, + -0.13658045999632745 + ], + [ + -0.006217550486326218, + 0.9988192915916443, + 0.04817996546626091, + 0.00022997007358308008 + ], + [ + -0.12343740463256836, + -0.04857901111245155, + 0.9911625981330872, + -0.19589930706310507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.99174964427948, + -0.00018633645959198475, + 0.12818986177444458, + -0.1440003514891335 + ], + [ + -0.005873357877135277, + 0.9988827109336853, + 0.04689161852002144, + 0.003855120040038046 + ], + [ + -0.1280553638935089, + -0.04725765064358711, + 0.9906404614448547, + -0.2071142185095917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9910829067230225, + -0.0012436754768714309, + 0.13324104249477386, + -0.15176820485777331 + ], + [ + -0.004898299928754568, + 0.9989405274391174, + 0.045759014785289764, + 0.006782529897549572 + ], + [ + -0.13315679132938385, + -0.04600363224744797, + 0.9900267124176025, + -0.21805416093591382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9903432130813599, + -0.002160356380045414, + 0.13862061500549316, + -0.15927393160367787 + ], + [ + -0.004026984330266714, + 0.9990084171295166, + 0.04433908313512802, + 0.010611259104574423 + ], + [ + -0.13857895135879517, + -0.04446913301944733, + 0.9893525242805481, + -0.22923352666491387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9895128607749939, + -0.004190757405012846, + 0.14438408613204956, + -0.16647616176701643 + ], + [ + -0.0020193131640553474, + 0.9990800023078918, + 0.042837392538785934, + 0.014383439266798546 + ], + [ + -0.14443078637123108, + -0.04267970845103264, + 0.9885940551757812, + -0.24053248690039503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9886541962623596, + -0.008174290880560875, + 0.14998705685138702, + -0.1731628574184416 + ], + [ + 0.0018947734497487545, + 0.999117374420166, + 0.041962288320064545, + 0.017376828193664554 + ], + [ + -0.15019769966602325, + -0.04120200127363205, + 0.9877970814704895, + -0.25195971818312124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9878119826316833, + -0.012456805445253849, + 0.15515244007110596, + -0.18054140513196734 + ], + [ + 0.006095255725085735, + 0.9991236329078674, + 0.04141038656234741, + 0.02052978576690543 + ], + [ + -0.15553230047225952, + -0.03995998203754425, + 0.9870222210884094, + -0.26295914385540814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9869824647903442, + -0.017347119748592377, + 0.15988954901695251, + -0.18781665349927018 + ], + [ + 0.010847899131476879, + 0.9990824460983276, + 0.04143183305859566, + 0.023293750514002405 + ], + [ + -0.16046157479286194, + -0.03915802761912346, + 0.9862650632858276, + -0.2743669233175323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9862534999847412, + -0.024029091000556946, + 0.16348294913768768, + -0.19406025506117763 + ], + [ + 0.017445534467697144, + 0.9989825487136841, + 0.041587959975004196, + 0.02599718965151731 + ], + [ + -0.16431592404842377, + -0.03816422447562218, + 0.9856691956520081, + -0.28475729470305583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9857112169265747, + -0.029014229774475098, + 0.1659265160560608, + -0.19963138302167258 + ], + [ + 0.022287629544734955, + 0.9988580346107483, + 0.042259249836206436, + 0.028666146099567406 + ], + [ + -0.16696316003799438, + -0.03795730695128441, + 0.9852322340011597, + -0.2952754151386519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9852312207221985, + -0.031308457255363464, + 0.16834251582622528, + -0.20506084367048508 + ], + [ + 0.024345312267541885, + 0.9987667798995972, + 0.04326942563056946, + 0.030620198448499038 + ], + [ + -0.16948960721492767, + -0.038532041013240814, + 0.9847784042358398, + -0.30458338610535746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9847077131271362, + -0.03199430927634239, + 0.1712513566017151, + -0.21070463099133444 + ], + [ + 0.02482367306947708, + 0.9987295866012573, + 0.043851349502801895, + 0.03268145392922794 + ], + [ + -0.17243680357933044, + -0.03892967477440834, + 0.9842510223388672, + -0.31469377039876933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9842290282249451, + -0.032017845660448074, + 0.1739771068096161, + -0.21585392637872228 + ], + [ + 0.02468012645840645, + 0.998718798160553, + 0.04417780414223671, + 0.03476258022528068 + ], + [ + -0.1751686930656433, + -0.03918730095028877, + 0.983758270740509, + -0.32369230671548377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9836355447769165, + -0.03142516687512398, + 0.17740783095359802, + -0.22153089571488546 + ], + [ + 0.023973125964403152, + 0.9987441301345825, + 0.04399401694536209, + 0.037172894881052125 + ], + [ + -0.1785675585269928, + -0.03902105987071991, + 0.9831535816192627, + -0.33313683543865585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9830870628356934, + -0.029712233692407608, + 0.18071241676807404, + -0.22640194639782696 + ], + [ + 0.02219414710998535, + 0.9988076090812683, + 0.04348360747098923, + 0.03934734489987878 + ], + [ + -0.18178893625736237, + -0.03873741626739502, + 0.9825742840766907, + -0.34187109330121207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.982450544834137, + -0.02757636271417141, + 0.1844734400510788, + -0.231174288776831 + ], + [ + 0.020016176626086235, + 0.9988865256309509, + 0.042720261961221695, + 0.04116444435774111 + ], + [ + -0.185446098446846, + -0.038278091698884964, + 0.9819086194038391, + -0.35074060270197543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9817735552787781, + -0.025717778131365776, + 0.1883063018321991, + -0.23532743313368046 + ], + [ + 0.018275020644068718, + 0.9989856481552124, + 0.041155073791742325, + 0.04305594017108281 + ], + [ + -0.18917369842529297, + -0.03696366026997566, + 0.9812476634979248, + -0.359459553490959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9809156656265259, + -0.024484872817993164, + 0.19288581609725952, + -0.24038573503494262 + ], + [ + 0.01734204962849617, + 0.9991029500961304, + 0.038633331656455994, + 0.04543371095376856 + ], + [ + -0.193658709526062, + -0.03455100208520889, + 0.9804603457450867, + -0.3684700062717585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9801012873649597, + -0.0234035924077034, + 0.19711340963840485, + -0.24432433762532824 + ], + [ + 0.016611989587545395, + 0.9992123246192932, + 0.03603878244757652, + 0.04730422826958637 + ], + [ + -0.19780157506465912, + -0.03204721584916115, + 0.9797180891036987, + -0.37776677784162993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9792217016220093, + -0.02256373129785061, + 0.2015334516763687, + -0.24861674839356804 + ], + [ + 0.01618211530148983, + 0.9993157982826233, + 0.03325708582997322, + 0.049538374823682445 + ], + [ + -0.20214597880840302, + -0.02930482104420662, + 0.9789168834686279, + -0.38541840792030974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9783368706703186, + -0.021836984902620316, + 0.2058643102645874, + -0.253060182929039 + ], + [ + 0.015807360410690308, + 0.9993978142738342, + 0.03088884986937046, + 0.051094204976278194 + ], + [ + -0.2064148485660553, + -0.026965530589222908, + 0.9780929088592529, + -0.39312894826426226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9776622653007507, + -0.022091170772910118, + 0.2090177834033966, + -0.25610044512842944 + ], + [ + 0.01644599623978138, + 0.999452531337738, + 0.0287078358232975, + 0.05175077558732501 + ], + [ + -0.209537535905838, + -0.02462906390428543, + 0.9774903655052185, + -0.4003421608395144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.977091372013092, + -0.022954296320676804, + 0.21157881617546082, + -0.25925148467295894 + ], + [ + 0.017720751464366913, + 0.9994891285896301, + 0.02659895457327366, + 0.052713197235967596 + ], + [ + -0.21208128333091736, + -0.022240271791815758, + 0.9769989252090454, + -0.40760997742158817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9766486883163452, + -0.022828450426459312, + 0.213626429438591, + -0.2633657360038556 + ], + [ + 0.018104402348399162, + 0.9995469450950623, + 0.024044157937169075, + 0.05412531337317298 + ], + [ + -0.21407853066921234, + -0.019615115597844124, + 0.9766194820404053, + -0.4134877383681562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9763950705528259, + -0.021766049787402153, + 0.21489281952381134, + -0.26745115682555765 + ], + [ + 0.01751772128045559, + 0.999612033367157, + 0.021654458716511726, + 0.05525046703862209 + ], + [ + -0.21528078615665436, + -0.017378875985741615, + 0.9763975739479065, + -0.4195929106653613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9762238264083862, + -0.021267374977469444, + 0.21571913361549377, + -0.27075255145866645 + ], + [ + 0.01741793565452099, + 0.9996535778045654, + 0.019730309024453163, + 0.05552905508700539 + ], + [ + -0.21606403589248657, + -0.01550381537526846, + 0.9762560725212097, + -0.42481407298770385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9760749340057373, + -0.02073247916996479, + 0.2164437472820282, + -0.2734214863739908 + ], + [ + 0.017352530732750893, + 0.9996961951255798, + 0.017504829913377762, + 0.05617730617523193 + ], + [ + -0.2167409062385559, + -0.013330180197954178, + 0.976138174533844, + -0.4297933479771018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9758886098861694, + -0.021503882482647896, + 0.21720737218856812, + -0.275883459169235 + ], + [ + 0.018592694774270058, + 0.9997079372406006, + 0.015437796711921692, + 0.05707415053073098 + ], + [ + -0.21747592091560364, + -0.011027099564671516, + 0.9760034084320068, + -0.43412393988292736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9757009148597717, + -0.022653697058558464, + 0.21793232858181, + -0.2782748691956787 + ], + [ + 0.020299693569540977, + 0.9997089505195618, + 0.013034665957093239, + 0.05819559909549414 + ], + [ + -0.21816419064998627, + -0.00829397700726986, + 0.9758768081665039, + -0.4382274500368273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.975489616394043, + -0.023147279396653175, + 0.21882474422454834, + -0.2804450128254864 + ], + [ + 0.021207956597208977, + 0.9997122883796692, + 0.011207502335309982, + 0.05796446782701156 + ], + [ + -0.21902120113372803, + -0.006291976198554039, + 0.9756998419761658, + -0.4417403143529287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9751903414726257, + -0.022257033735513687, + 0.220246359705925, + -0.2838376026344942 + ], + [ + 0.020718075335025787, + 0.9997421503067017, + 0.009295179508626461, + 0.058486534976491734 + ], + [ + -0.22039644420146942, + -0.004501489922404289, + 0.9753999710083008, + -0.44507612546029335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9749468564987183, + -0.022334039211273193, + 0.2213139533996582, + -0.28622272373998864 + ], + [ + 0.021122321486473083, + 0.9997461438179016, + 0.00784057192504406, + 0.05888708450046239 + ], + [ + -0.2214328944683075, + -0.002969476394355297, + 0.9751710891723633, + -0.44812672829173283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.974751889705658, + -0.02435809001326561, + 0.2219582349061966, + -0.2886101608986364 + ], + [ + 0.0233447328209877, + 0.9997016191482544, + 0.007188284303992987, + 0.05860268149305792 + ], + [ + -0.22206710278987885, + -0.001825238112360239, + 0.975029706954956, + -0.4505675025804735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9747517704963684, + -0.027853067964315414, + 0.22154726088047028, + -0.2893759419465912 + ], + [ + 0.027000144124031067, + 0.9996117949485779, + 0.006878064014017582, + 0.05753551841366524 + ], + [ + -0.2216528207063675, + -0.0007225980516523123, + 0.9751253724098206, + -0.4523752177751614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9746463298797607, + -0.0315457321703434, + 0.2215161919593811, + -0.29004195531574534 + ], + [ + 0.030985800549387932, + 0.9995018243789673, + 0.006003253161907196, + 0.05781269058877346 + ], + [ + -0.22159519791603088, + 0.0010128072462975979, + 0.9751381874084473, + -0.45403082608747497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9746111631393433, + -0.033691491931676865, + 0.22135485708713531, + -0.2899781930808197 + ], + [ + 0.03337759152054787, + 0.9994295239448547, + 0.005159574095159769, + 0.0575806406490943 + ], + [ + -0.22140242159366608, + 0.0023597129620611668, + 0.9751796722412109, + -0.4549059349228628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9744858145713806, + -0.03643481060862541, + 0.22147215902805328, + -0.29061682945957373 + ], + [ + 0.03638235107064247, + 0.99932861328125, + 0.004317775834351778, + 0.05768387679960213 + ], + [ + -0.22148077189922333, + 0.0038500665687024593, + 0.9751571416854858, + -0.45618693853783254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9743601679801941, + -0.03925063833594322, + 0.22154375910758972, + -0.29174568380101346 + ], + [ + 0.03956862911581993, + 0.9992123246192932, + 0.0030045011080801487, + 0.05869107407097723 + ], + [ + -0.22148719429969788, + 0.005838715936988592, + 0.9751458168029785, + -0.4565505726087163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9742578268051147, + -0.040864378213882446, + 0.22170203924179077, + -0.29292855201398627 + ], + [ + 0.04136017709970474, + 0.9991413950920105, + 0.0024078029673546553, + 0.05867632802794961 + ], + [ + -0.22161006927490234, + 0.006823813542723656, + 0.9751114845275879, + -0.4565320413395324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9741857051849365, + -0.04245569929480553, + 0.22171993553638458, + -0.2930429270947535 + ], + [ + 0.04299730435013771, + 0.9990723133087158, + 0.0023856826592236757, + 0.05805210476996852 + ], + [ + -0.22161553800106049, + 0.007209261879324913, + 0.9751074910163879, + -0.4562762281629166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9740447402000427, + -0.04409264773130417, + 0.22201961278915405, + -0.29352651105499733 + ], + [ + 0.044558085501194, + 0.9990025162696838, + 0.0029146026354283094, + 0.05712831265786115 + ], + [ + -0.22192665934562683, + 0.0070538148283958435, + 0.9750378727912903, + -0.4562095003823439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9739847183227539, + -0.044803179800510406, + 0.22214066982269287, + -0.2937562980743892 + ], + [ + 0.045222990214824677, + 0.9989718198776245, + 0.0031989377457648516, + 0.05745227073921877 + ], + [ + -0.222055584192276, + 0.006930147297680378, + 0.9750093817710876, + -0.45630460053216665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9739570617675781, + -0.046244774013757706, + 0.22196641564369202, + -0.29368525187247524 + ], + [ + 0.046522025018930435, + 0.9989093542098999, + 0.003982037305831909, + 0.057013056032797875 + ], + [ + -0.22190847992897034, + 0.006447995081543922, + 0.9750461578369141, + -0.455861534848444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9738994240760803, + -0.047885436564683914, + 0.22187133133411407, + -0.2934732386531929 + ], + [ + 0.04801560565829277, + 0.998835027217865, + 0.004810351878404617, + 0.056571025649706515 + ], + [ + -0.2218431979417801, + 0.005968485958874226, + 0.9750640988349915, + -0.45511768363260974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9738293886184692, + -0.04928126186132431, + 0.2218732386827469, + -0.2948700527057928 + ], + [ + 0.049240268766880035, + 0.9987705945968628, + 0.005719739478081465, + 0.0558122909244369 + ], + [ + -0.22188232839107513, + 0.005355047527700663, + 0.9750587344169617, + -0.45569624721675234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9737997055053711, + -0.049882929772138596, + 0.2218688726425171, + -0.2956692003973705 + ], + [ + 0.0498436875641346, + 0.9987403154373169, + 0.005779660306870937, + 0.05586550247435476 + ], + [ + -0.22187769412994385, + 0.00543053075671196, + 0.9750593900680542, + -0.45526954682689963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.973879873752594, + -0.0491807721555233, + 0.2216736227273941, + -0.29627074606935766 + ], + [ + 0.049199704080820084, + 0.9987741708755493, + 0.00543988635763526, + 0.05591697202009313 + ], + [ + -0.22166942059993744, + 0.005608479958027601, + 0.9751057624816895, + -0.45494644229674674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9740517139434814, + -0.047391023486852646, + 0.2213083803653717, + -0.2970751693198348 + ], + [ + 0.04737541452050209, + 0.9988626837730408, + 0.005381734576076269, + 0.05530251781730091 + ], + [ + -0.22131171822547913, + 0.005242487881332636, + 0.9751890301704407, + -0.4550823944819379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9741417169570923, + -0.04748069867491722, + 0.22089244425296783, + -0.29820782448000765 + ], + [ + 0.047466013580560684, + 0.9988583922386169, + 0.005377605557441711, + 0.05452827460625592 + ], + [ + -0.22089560329914093, + 0.0052463337779045105, + 0.9752833247184753, + -0.4559781352825025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9743256568908691, + -0.04873392730951309, + 0.21980571746826172, + -0.29834829320145007 + ], + [ + 0.04872202128171921, + 0.9987973570823669, + 0.0054784794338047504, + 0.053242804080832234 + ], + [ + -0.21980836987495422, + 0.005371555220335722, + 0.9755282998085022, + -0.4564411069766399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9748038649559021, + -0.04703512787818909, + 0.2180483490228653, + -0.29792006778366426 + ], + [ + 0.04687952250242233, + 0.9988831877708435, + 0.0058897752314805984, + 0.052040612609947426 + ], + [ + -0.21808184683322906, + 0.004480626434087753, + 0.9759202003479004, + -0.4575426878626732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9753535985946655, + -0.044518373906612396, + 0.2161097377538681, + -0.2983514764254876 + ], + [ + 0.04399261623620987, + 0.9990055561065674, + 0.007245144806802273, + 0.050085863383377296 + ], + [ + -0.21621738374233246, + 0.0024406537413597107, + 0.9763422012329102, + -0.45888466684914686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9759193658828735, + -0.04384411498904228, + 0.21367990970611572, + -0.2982167794423945 + ], + [ + 0.042941223829984665, + 0.9990382194519043, + 0.008867371827363968, + 0.04783377898674385 + ], + [ + -0.21386319398880005, + 0.0005218363367021084, + 0.9768635034561157, + -0.4609094459344359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9766877293586731, + -0.041749075055122375, + 0.21056605875492096, + -0.2980342148200554 + ], + [ + 0.040668100118637085, + 0.9991279244422913, + 0.009463214315474033, + 0.046957575223025155 + ], + [ + -0.21077750623226166, + -0.0006792843341827393, + 0.9775338172912598, + -0.46234705084386996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9774497747421265, + -0.03997514396905899, + 0.20734989643096924, + -0.29972714912511556 + ], + [ + 0.038591332733631134, + 0.9991976022720337, + 0.010716104879975319, + 0.04451862328192767 + ], + [ + -0.20761188864707947, + -0.0024725464172661304, + 0.9782081246376038, + -0.46509948437439974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9782249927520752, + -0.03859778866171837, + 0.20392674207687378, + -0.3006633978757058 + ], + [ + 0.03698503598570824, + 0.999247133731842, + 0.011715222150087357, + 0.04213223869309707 + ], + [ + -0.20422539114952087, + -0.003917887341231108, + 0.9789160490036011, + -0.4683960391982349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9788795113563538, + -0.03728622570633888, + 0.20100918412208557, + -0.3004277437267935 + ], + [ + 0.03566518798470497, + 0.9992955327033997, + 0.011681252159178257, + 0.04184613788829129 + ], + [ + -0.2013031244277954, + -0.0042655086144804955, + 0.9795197248458862, + -0.473402704577893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9791070222854614, + -0.03727620095014572, + 0.1998998522758484, + -0.3007213751949808 + ], + [ + 0.03566841781139374, + 0.9992958903312683, + 0.01163961086422205, + 0.041086835925485565 + ], + [ + -0.20019298791885376, + -0.004266313277184963, + 0.9797471761703491, + -0.4777532201684902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9791802763938904, + -0.03888498246669769, + 0.1992335319519043, + -0.2991145833304115 + ], + [ + 0.03750359266996384, + 0.9992391467094421, + 0.01070411130785942, + 0.04090312389182109 + ], + [ + -0.19949817657470703, + -0.00300928158685565, + 0.9798935651779175, + -0.4828728242480543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9790499210357666, + -0.04107796773314476, + 0.19943390786647797, + -0.29679417021243887 + ], + [ + 0.03981037810444832, + 0.9991534948348999, + 0.010363566689193249, + 0.0395162640249028 + ], + [ + -0.1996908038854599, + -0.002206910401582718, + 0.9798564910888672, + -0.4902582623009734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9787784814834595, + -0.041072290390729904, + 0.20076298713684082, + -0.29437091474731764 + ], + [ + 0.04021238908171654, + 0.9991561770439148, + 0.008361157029867172, + 0.04236737539370855 + ], + [ + -0.20093700289726257, + -0.00011056242510676384, + 0.979604184627533, + -0.49488191831236084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9782047271728516, + -0.041952650994062424, + 0.2033604383468628, + -0.2922658461511281 + ], + [ + 0.04143237695097923, + 0.9991180300712585, + 0.006816963665187359, + 0.04416701364166596 + ], + [ + -0.20346707105636597, + 0.0017573211807757616, + 0.9790802001953125, + -0.5003835548698108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9770103693008423, + -0.04402269423007965, + 0.2085970640182495, + -0.2948475988910479 + ], + [ + 0.043398626148700714, + 0.9990291595458984, + 0.007569853216409683, + 0.04205247865003697 + ], + [ + -0.20872780680656433, + 0.0016569998115301132, + 0.9779723882675171, + -0.509924446205225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9760836362838745, + -0.04484368860721588, + 0.2127199023962021, + -0.29425715106521166 + ], + [ + 0.04427201300859451, + 0.9989917278289795, + 0.007452457677572966, + 0.042545335988203675 + ], + [ + -0.21283961832523346, + 0.002143316436558962, + 0.9770848155021667, + -0.5165403568484893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9759872555732727, + -0.04553968831896782, + 0.21301418542861938, + -0.28432742502613395 + ], + [ + 0.04568611457943916, + 0.9989468455314636, + 0.004237587098032236, + 0.04887028841995725 + ], + [ + -0.21298283338546753, + 0.005595958326011896, + 0.9770399332046509, + -0.5215162075097289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9747538566589355, + -0.04772258922457695, + 0.2181227207183838, + -0.2852412345819175 + ], + [ + 0.047839682549238205, + 0.9988437294960022, + 0.004747308325022459, + 0.04792917484746259 + ], + [ + -0.21809706091880798, + 0.005807462614029646, + 0.9759098291397095, + -0.5295528974226567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9741184711456299, + -0.047462768852710724, + 0.22099873423576355, + -0.28302435595176967 + ], + [ + 0.04807931184768677, + 0.9988401532173157, + 0.0025917491875588894, + 0.05191640135119943 + ], + [ + -0.2208654284477234, + 0.008100796490907669, + 0.9752706289291382, + -0.5308913778842372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.973479151725769, + -0.049823544919490814, + 0.22328458726406097, + -0.2771640433509852 + ], + [ + 0.05059315264225006, + 0.9987167716026306, + 0.002276170300319791, + 0.05390918675590964 + ], + [ + -0.22311146557331085, + 0.009080865420401096, + 0.9747506380081177, + -0.5412377447652283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9722096920013428, + -0.050323713570833206, + 0.22863909602165222, + -0.2796750623513671 + ], + [ + 0.051086824387311935, + 0.9986909031867981, + 0.0025836615823209286, + 0.05356428824803408 + ], + [ + -0.22846978902816772, + 0.009168582037091255, + 0.973507821559906, + -0.5486920543891542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.971245527267456, + -0.050978053361177444, + 0.23255836963653564, + -0.278762445648146 + ], + [ + 0.05163928493857384, + 0.9986605048179626, + 0.003247986314818263, + 0.0543073355859401 + ], + [ + -0.2324124276638031, + 0.00885455496609211, + 0.9725770354270935, + -0.5571657443537796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9706275463104248, + -0.05201864242553711, + 0.23489612340927124, + -0.27210748522889383 + ], + [ + 0.052947305142879486, + 0.9985945224761963, + 0.002356006298214197, + 0.059766174356142676 + ], + [ + -0.23468855023384094, + 0.010150309652090073, + 0.9720176458358765, + -0.5604517879110633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9692384004592896, + -0.054066941142082214, + 0.24011193215847015, + -0.27125766656416306 + ], + [ + 0.05447998642921448, + 0.9985027313232422, + 0.004922259133309126, + 0.0582010549657485 + ], + [ + -0.2400185614824295, + 0.008310453966259956, + 0.9707327485084534, + -0.5695193346617196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.966953456401825, + -0.05609850957989693, + 0.24870456755161285, + -0.27937960892769637 + ], + [ + 0.05615408346056938, + 0.9983984231948853, + 0.006876754574477673, + 0.055848110890855965 + ], + [ + -0.24869202077388763, + 0.00731627456843853, + 0.9685549736022949, + -0.5750312897029752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9648348689079285, + -0.05956374108791351, + 0.2560192346572876, + -0.2846758012458974 + ], + [ + 0.059370093047618866, + 0.9981999397277832, + 0.00849226489663124, + 0.05494866289344488 + ], + [ + -0.256064236164093, + 0.007006252184510231, + 0.9666343927383423, + -0.5844717874693885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9626888036727905, + -0.06317547708749771, + 0.26313337683677673, + -0.2903239156174309 + ], + [ + 0.06255822628736496, + 0.9979836344718933, + 0.010732177644968033, + 0.051117620047400975 + ], + [ + -0.2632807791233063, + 0.0061294082552194595, + 0.9646997451782227, + -0.5941558690906009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9611198902130127, + -0.06636720150709152, + 0.26803717017173767, + -0.29205980055107206 + ], + [ + 0.06574397534132004, + 0.9977723956108093, + 0.011310094967484474, + 0.050159000503081905 + ], + [ + -0.2681907117366791, + 0.0067514702677726746, + 0.9633421897888184, + -0.6013758936969965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9598362445831299, + -0.0686873197555542, + 0.27202290296554565, + -0.2929436709366593 + ], + [ + 0.06822198629379272, + 0.9976075291633606, + 0.011179378256201744, + 0.04928182360588336 + ], + [ + -0.2721399664878845, + 0.00782756693661213, + 0.9622258543968201, + -0.6079092016041863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9585754871368408, + -0.07001800090074539, + 0.27609872817993164, + -0.29461616072803737 + ], + [ + 0.07010994106531143, + 0.99749356508255, + 0.009550334885716438, + 0.04967904835939406 + ], + [ + -0.27607542276382446, + 0.010202549397945404, + 0.9610818028450012, + -0.6138315068557858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.957547664642334, + -0.07139366865158081, + 0.27929461002349854, + -0.29533599761186863 + ], + [ + 0.07189235091209412, + 0.9973764419555664, + 0.008471392095088959, + 0.04897930180909586 + ], + [ + -0.27916663885116577, + 0.011967379599809647, + 0.9601681232452393, + -0.6185097020667265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9566403031349182, + -0.07247509062290192, + 0.28211110830307007, + -0.2972509946089749 + ], + [ + 0.0735538899898529, + 0.9972681999206543, + 0.006779215764254332, + 0.0485521037788952 + ], + [ + -0.2818317413330078, + 0.014265093952417374, + 0.9593577980995178, + -0.6236571835299187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9561019539833069, + -0.07349596917629242, + 0.28366783261299133, + -0.29736747434910604 + ], + [ + 0.07493829727172852, + 0.9971714019775391, + 0.005779385566711426, + 0.04750809292582904 + ], + [ + -0.28329023718833923, + 0.01573190465569496, + 0.9589051604270935, + -0.6268723285592654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9557282328605652, + -0.07291580736637115, + 0.2850733995437622, + -0.29806265272200105 + ], + [ + 0.07470183074474335, + 0.9971952438354492, + 0.004618620499968529, + 0.047394060474984775 + ], + [ + -0.2846106290817261, + 0.01688135601580143, + 0.9584945440292358, + -0.6298400163221374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.955498993396759, + -0.07165828347206116, + 0.28615862131118774, + -0.2982870268178921 + ], + [ + 0.07375863194465637, + 0.9972701668739319, + 0.003446926362812519, + 0.04668761640787124 + ], + [ + -0.2856244444847107, + 0.01781313121318817, + 0.9581760764122009, + -0.6319992299903842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9552366733551025, + -0.0702124685049057, + 0.2873901426792145, + -0.29890886854161236 + ], + [ + 0.07274627685546875, + 0.9973487257957458, + 0.0018664570525288582, + 0.045847472460830915 + ], + [ + -0.28675922751426697, + 0.019123651087284088, + 0.9578117728233337, + -0.6338711842127582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9549208283424377, + -0.06874336302280426, + 0.2887914776802063, + -0.30022396760828357 + ], + [ + 0.07163280248641968, + 0.9974309206008911, + 0.0005647456273436546, + 0.04500569972921821 + ], + [ + -0.2880883812904358, + 0.020147655159235, + 0.9573918581008911, + -0.6358475384174609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9547303915023804, + -0.06849163770675659, + 0.2894800901412964, + -0.30050330188344504 + ], + [ + 0.07185466587543488, + 0.9974146485328674, + -0.0009923875331878662, + 0.04415265584693236 + ], + [ + -0.28866368532180786, + 0.021747956052422523, + 0.9571835398674011, + -0.6363728120968696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9548672437667847, + -0.06897549331188202, + 0.2889133095741272, + -0.30103021119447315 + ], + [ + 0.07276058197021484, + 0.9973466396331787, + -0.0023682406172156334, + 0.043806509060018206 + ], + [ + -0.28798335790634155, + 0.02328285574913025, + 0.957352340221405, + -0.6365286077646648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9554368853569031, + -0.06918323785066605, + 0.2869739532470703, + -0.3012317493156183 + ], + [ + 0.07327785342931747, + 0.9973052740097046, + -0.0035388339310884476, + 0.043023893996781 + ], + [ + -0.2859557867050171, + 0.024409962818026543, + 0.9579318761825562, + -0.634752949916155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9562063813209534, + -0.06928880512714386, + 0.28437376022338867, + -0.3008091907583031 + ], + [ + 0.07351161539554596, + 0.9972855448722839, + -0.004190095700323582, + 0.04132481269976672 + ], + [ + -0.28331154584884644, + 0.024911370128393173, + 0.9587043523788452, + -0.632316373252109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9570200443267822, + -0.06823056191205978, + 0.2818816304206848, + -0.30227630996309657 + ], + [ + 0.07250537723302841, + 0.9973567128181458, + -0.004749827086925507, + 0.03929914884707507 + ], + [ + -0.28081244230270386, + 0.024983610957860947, + 0.9594374299049377, + -0.6294784711619072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9581565260887146, + -0.06751136481761932, + 0.27816954255104065, + -0.3026644980060119 + ], + [ + 0.0718654990196228, + 0.9973993301391602, + -0.005473646335303783, + 0.03769910280026641 + ], + [ + -0.2770765721797943, + 0.025235403329133987, + 0.9605163931846619, + -0.6254596408931355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9594470858573914, + -0.06542050838470459, + 0.27419233322143555, + -0.3026821660644868 + ], + [ + 0.06992265582084656, + 0.9975301623344421, + -0.006667448207736015, + 0.036576446277253774 + ], + [ + -0.27307891845703125, + 0.02556932158768177, + 0.9616517424583435, + -0.6205244449779903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9609232544898987, + -0.06317915767431259, + 0.26950863003730774, + -0.30143513214938783 + ], + [ + 0.067722387611866, + 0.997675359249115, + -0.007583159953355789, + 0.03514167009031072 + ], + [ + -0.268403023481369, + 0.025538600981235504, + 0.962968111038208, + -0.6128856233814184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9622263312339783, + -0.06078362464904785, + 0.2653787136077881, + -0.3025857642585156 + ], + [ + 0.06529192626476288, + 0.9978325963020325, + -0.00819103978574276, + 0.0323497782443084 + ], + [ + -0.26430565118789673, + 0.025208720937371254, + 0.964109480381012, + -0.6069377080601293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9636563658714294, + -0.057625461369752884, + 0.2608558237552643, + -0.3025068799033761 + ], + [ + 0.06210066005587578, + 0.998029887676239, + -0.008938892744481564, + 0.02997170140345891 + ], + [ + -0.25982680916786194, + 0.02481333538889885, + 0.9653363823890686, + -0.5987704132373134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9652250409126282, + -0.056453440338373184, + 0.25525200366973877, + -0.3000248127945644 + ], + [ + 0.06076489016413689, + 0.9981112480163574, + -0.009030209854245186, + 0.025701075266389276 + ], + [ + -0.2542601227760315, + 0.024226544424891472, + 0.9668323993682861, + -0.5926064494969872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9666705131530762, + -0.05667605251073837, + 0.24967171251773834, + -0.29952069601299713 + ], + [ + 0.06107237935066223, + 0.998084306716919, + -0.009890547022223473, + 0.02204723708769854 + ], + [ + -0.24863286316394806, + 0.024808945134282112, + 0.968280017375946, + -0.5816076685802317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9681930541992188, + -0.05486844480037689, + 0.2441139668226242, + -0.3007007014298556 + ], + [ + 0.05964546650648117, + 0.9981448650360107, + -0.012214248068630695, + 0.01949700578755023 + ], + [ + -0.24299092590808868, + 0.026386041194200516, + 0.9696696400642395, + -0.5709333637784071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9698185920715332, + -0.055416181683540344, + 0.2374466508626938, + -0.30042145037475754 + ], + [ + 0.06062179058790207, + 0.9980529546737671, + -0.014672160148620605, + 0.015932843527373147 + ], + [ + -0.23617126047611237, + 0.028623774647712708, + 0.9712897539138794, + -0.5591622328495278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9715765118598938, + -0.05504675209522247, + 0.23023678362369537, + -0.29865720900980863 + ], + [ + 0.06045906990766525, + 0.9980340600013733, + -0.01651376485824585, + 0.0115072332760867 + ], + [ + -0.22887511551380157, + 0.02996428683400154, + 0.9729945063591003, + -0.5503680860788068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9733700156211853, + -0.05603126063942909, + 0.22228655219078064, + -0.2953963739322681 + ], + [ + 0.06182161346077919, + 0.997903048992157, + -0.01917135901749134, + 0.008171536758834225 + ], + [ + -0.220746248960495, + 0.03240294009447098, + 0.9747928977012634, + -0.5382919614805894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9749148488044739, + -0.058506935834884644, + 0.21475102007389069, + -0.2922871229841429 + ], + [ + 0.06475189328193665, + 0.99765545129776, + -0.02215503714978695, + 0.006093423243831178 + ], + [ + -0.21295128762722015, + 0.03550480678677559, + 0.9764175415039062, + -0.5229010158547146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9761280417442322, + -0.06167621910572052, + 0.2082548439502716, + -0.29163021040605563 + ], + [ + 0.0681397020816803, + 0.9973871111869812, + -0.023999489843845367, + 0.0022431481410475212 + ], + [ + -0.20623049139976501, + 0.037616997957229614, + 0.9777801036834717, + -0.5122770852025818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9774899482727051, + -0.06127142533659935, + 0.20188908278942108, + -0.29011551758785753 + ], + [ + 0.06794051826000214, + 0.9973435997962952, + -0.026264484971761703, + -0.0003014386868944452 + ], + [ + -0.19974352419376373, + 0.039389718323946, + 0.979056179523468, + -0.5052045781366235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9782186150550842, + -0.06143096834421158, + 0.19827909767627716, + -0.29101455934783993 + ], + [ + 0.0680433139204979, + 0.9973249435424805, + -0.026702750474214554, + -0.0031798460027750858 + ], + [ + -0.19610832631587982, + 0.03961269184947014, + 0.9797818064689636, + -0.49629618852015805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9788783192634583, + -0.06407173722982407, + 0.19414453208446503, + -0.2903647687833975 + ], + [ + 0.07031292468309402, + 0.9972010254859924, + -0.02542126551270485, + -0.006683215703449999 + ], + [ + -0.19197233021259308, + 0.03853519633412361, + 0.9806435108184814, + -0.4861031300169142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9796200394630432, + -0.06704811006784439, + 0.189338818192482, + -0.290120601836665 + ], + [ + 0.0729069784283638, + 0.9970465302467346, + -0.02414216846227646, + -0.01031618492276061 + ], + [ + -0.187160924077034, + 0.0374542698264122, + 0.9816150069236755, + -0.47574339556489503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9803107976913452, + -0.07001052796840668, + 0.1846327781677246, + -0.29008278892759015 + ], + [ + 0.07563675940036774, + 0.996856153011322, + -0.02359877899289131, + -0.013733613666366148 + ], + [ + -0.1824001669883728, + 0.037099163979291916, + 0.9825242161750793, + -0.4658494470695801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9814494848251343, + -0.07105452567338943, + 0.17806774377822876, + -0.2852243789562992 + ], + [ + 0.0764019712805748, + 0.9968037605285645, + -0.023346496745944023, + -0.017322870533840337 + ], + [ + -0.17583972215652466, + 0.03651813417673111, + 0.9837412238121033, + -0.45509708929879994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9822564721107483, + -0.07088378071784973, + 0.17363092303276062, + -0.28548386305862783 + ], + [ + 0.0760672390460968, + 0.9968286752700806, + -0.02337457798421383, + -0.019964130924028517 + ], + [ + -0.17142340540885925, + 0.0361674539744854, + 0.9845333695411682, + -0.44591557686491046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9830736517906189, + -0.07116293162107468, + 0.16882558166980743, + -0.2850855567656896 + ], + [ + 0.07602543383836746, + 0.9968518614768982, + -0.022506671026349068, + -0.024446378560627216 + ], + [ + -0.16669245064258575, + 0.034960754215717316, + 0.9853889346122742, + -0.43670630593071963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9841176867485046, + -0.07160152494907379, + 0.16243629157543182, + -0.2814904864877462 + ], + [ + 0.0761953741312027, + 0.9968452453613281, + -0.022221514955163002, + -0.02723729511102041 + ], + [ + -0.16033275425434113, + 0.034245479851961136, + 0.9864687919616699, + -0.4263973245707651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9850457310676575, + -0.07226753234863281, + 0.15640424191951752, + -0.281529909138586 + ], + [ + 0.07666902244091034, + 0.9968075156211853, + -0.02228633686900139, + -0.02912944277711943 + ], + [ + -0.15429435670375824, + 0.033944420516490936, + 0.9874416589736938, + -0.4171764359900764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9861469864845276, + -0.07463228702545166, + 0.1481354534626007, + -0.2745209085590699 + ], + [ + 0.07878118753433228, + 0.9966417551040649, + -0.02233206294476986, + -0.032109665695358725 + ], + [ + -0.14597129821777344, + 0.03369298204779625, + 0.9887149333953857, + -0.4068373748101294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9870718121528625, + -0.07416535168886185, + 0.1420869678258896, + -0.2717438590365882 + ], + [ + 0.07818985730409622, + 0.9966743588447571, + -0.02294585108757019, + -0.03488043695688248 + ], + [ + -0.1399126499891281, + 0.03375896438956261, + 0.98958820104599, + -0.39610712005592447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9879987239837646, + -0.0721406564116478, + 0.13658051192760468, + -0.2679259706763368 + ], + [ + 0.07627271860837936, + 0.996766984462738, + -0.025259286165237427, + -0.035759096417356945 + ], + [ + -0.13431672751903534, + 0.0353735089302063, + 0.9903069138526917, + -0.387092589718454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9887574315071106, + -0.07030858844518661, + 0.1319674253463745, + -0.26347154273706325 + ], + [ + 0.07458045333623886, + 0.9968300461769104, + -0.027705857530236244, + -0.03743308471406208 + ], + [ + -0.1296011209487915, + 0.03723656386137009, + 0.9908667802810669, + -0.37981043633292705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9893129467964172, + -0.06810837239027023, + 0.12892292439937592, + -0.26122421397663215 + ], + [ + 0.07248406857252121, + 0.9969316124916077, + -0.02955280989408493, + -0.04027629434770229 + ], + [ + -0.12651453912258148, + 0.038581833243370056, + 0.9912141561508179, + -0.3723077031838543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.989827036857605, + -0.06671242415904999, + 0.12566602230072021, + -0.2578473471689458 + ], + [ + 0.07121676206588745, + 0.9969571828842163, + -0.03169388324022293, + -0.042027866256003285 + ], + [ + -0.12316927313804626, + 0.040320985019207, + 0.9915661811828613, + -0.3645768665726863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9903092980384827, + -0.06756186485290527, + 0.12133806943893433, + -0.2524413904722999 + ], + [ + 0.0720692127943039, + 0.9968487024307251, + -0.033145830035209656, + -0.044691274052157115 + ], + [ + -0.118716299533844, + 0.041569359600543976, + 0.9920576810836792, + -0.3571159522432615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.990845263004303, + -0.06700506806373596, + 0.11720068752765656, + -0.24669758169090047 + ], + [ + 0.07155385613441467, + 0.9968210458755493, + -0.03504025191068649, + -0.04591876486060667 + ], + [ + -0.11448024213314056, + 0.04310562461614609, + 0.9924898743629456, + -0.34792227679315735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9913232922554016, + -0.06589843332767487, + 0.11373439431190491, + -0.2405620052753126 + ], + [ + 0.07046978175640106, + 0.9968404769897461, + -0.03664768487215042, + -0.047252990261596794 + ], + [ + -0.11096002161502838, + 0.044344544410705566, + 0.9928350448608398, + -0.33902823533497606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.991711437702179, + -0.06596160680055618, + 0.11026083678007126, + -0.23373290280647138 + ], + [ + 0.07044713944196701, + 0.9968183040618896, + -0.037288814783096313, + -0.050912806961466286 + ], + [ + -0.10745038837194443, + 0.04474730044603348, + 0.9932029247283936, + -0.33035293030826485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9921424984931946, + -0.0655379518866539, + 0.10657421499490738, + -0.22562092686912008 + ], + [ + 0.0699736550450325, + 0.9968085289001465, + -0.03842441737651825, + -0.053421620001979905 + ], + [ + -0.10371582955121994, + 0.04557988792657852, + 0.9935620427131653, + -0.32080159121211255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9926162362098694, + -0.06405828148126602, + 0.10300292819738388, + -0.2181755352546187 + ], + [ + 0.06841558963060379, + 0.9968810677528381, + -0.03933807462453842, + -0.05680689588189125 + ], + [ + -0.10016173869371414, + 0.0460946187376976, + 0.993902862071991, + -0.3106251410117336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.993131160736084, + -0.06165022403001785, + 0.09944691509008408, + -0.21074768275241643 + ], + [ + 0.06591074913740158, + 0.9970179200172424, + -0.04013843834400177, + -0.06070555067237686 + ], + [ + -0.096675805747509, + 0.04641735553741455, + 0.9942329525947571, + -0.3018792673068888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9938334226608276, + -0.0567559115588665, + 0.09525683522224426, + -0.2027718673186267 + ], + [ + 0.0608578585088253, + 0.9973154067993164, + -0.04072178527712822, + -0.06511318718685824 + ], + [ + -0.09268991649150848, + 0.0462677963078022, + 0.9946194887161255, + -0.29259025793814775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9945377111434937, + -0.051533833146095276, + 0.09076900780200958, + -0.1951455262727013 + ], + [ + 0.055462732911109924, + 0.9976059794425964, + -0.04130617901682854, + -0.07034202334197129 + ], + [ + -0.08842304348945618, + 0.04611485078930855, + 0.9950149655342102, + -0.2835242227870314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9952187538146973, + -0.046724021434783936, + 0.08576996624469757, + -0.18673490583896638 + ], + [ + 0.0504322275519371, + 0.9978612065315247, + -0.04158812016248703, + -0.07579698339104653 + ], + [ + -0.0836433619260788, + 0.0457148477435112, + 0.9954466223716736, + -0.273915933817625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/a2556aad-e6da-4818-871f-46de6e0df909/pan_right/transforms.json b/dynpose_eval/camera_controls/a2556aad-e6da-4818-871f-46de6e0df909/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..481f582110f054dcb8a86f5660c1cf55b861a8eb --- /dev/null +++ b/dynpose_eval/camera_controls/a2556aad-e6da-4818-871f-46de6e0df909/pan_right/transforms.json @@ -0,0 +1,7188 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 205, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 6.97937430231832e-05, + 5.229944144957699e-05, + -0.0001302181917708367 + ], + [ + -6.979006138863042e-05, + 1.0, + -7.033456495264545e-05, + 0.00015771843027323484 + ], + [ + -5.230435272096656e-05, + 7.033091242192313e-05, + 1.0, + -8.678555605001748e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999994838484731, + 0.0002837729116436094, + 0.0009974166697665216, + -0.0001707143965177238 + ], + [ + -0.00028397316980732936, + 0.9999999403953552, + 0.00020063061421849598, + 0.00021351117175072432 + ], + [ + -0.0009973596263058, + -0.00020091373880859464, + 0.9999994839216787, + 0.00010272311192238703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999980372264486, + 0.00025605392875149846, + 0.001978380107893754, + 5.969694393570535e-05 + ], + [ + -0.00025678447177456665, + 0.9999998807907104, + 0.0003690250456999435, + 0.00018624673248268664 + ], + [ + -0.00197828530956413, + -0.00036953232483938336, + 0.9999979778649233, + 0.00042798108188435435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999946795834155, + 4.431445631780662e-05, + 0.0032604752645087084, + 9.46005602600053e-05 + ], + [ + -4.575752575017782e-05, + 0.9999998807907107, + 0.0004425208515546215, + 9.371604392072186e-05 + ], + [ + -0.0032604552479260306, + -0.00044266771874390553, + 0.9999945604503064, + 0.0005325932870618999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999898935680637, + -0.00011699614697135985, + 0.004500604935948853, + 0.00018552194524090737 + ], + [ + 0.00011482980307808169, + 0.9999998807907104, + 0.0004815997837031348, + 7.15135465725325e-05 + ], + [ + -0.004500660668285345, + -0.00048107808106578887, + 0.9999897740711089, + 0.0006229419959709048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999829110274061, + -0.0005319613846950234, + 0.0058250774184784105, + 0.0003146427625324577 + ], + [ + 0.0005290478920093101, + 0.9999997615814211, + 0.0005016899558698482, + 9.504783520242199e-05 + ], + [ + -0.005825342607122077, + -0.0004985996056348086, + 0.9999829093257596, + 0.0007449710392393172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999742356704728, + -0.0008804386598058045, + 0.00712629991885387, + 0.0005673288251273334 + ], + [ + 0.0008766533373440224, + 0.999999463558197, + 0.0005342758822849517, + 0.0001354355044895783 + ], + [ + -0.007126766470842441, + -0.0005280147888697684, + 0.9999744705036072, + 0.0008116149692796171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999627867517726, + -0.001365739619359374, + 0.008521264022415254, + 0.0007097756606526673 + ], + [ + 0.0013606879556698546, + 0.9999988675117493, + 0.0005986011819036337, + 0.0003375137166585773 + ], + [ + -0.008522071760228303, + -0.0005869840970262885, + 0.9999634947800152, + 0.0009535889839753509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.999948998846039, + -0.0015857677208259706, + 0.009973121582701335, + 0.001036192406900227 + ], + [ + 0.0015788196171266304, + 0.9999985098838808, + 0.0007045212855293287, + 0.0002262938069179654 + ], + [ + -0.00997422378725237, + -0.0006887396448291839, + 0.9999500008620665, + 0.001046854304149747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999333130630041, + -0.001075500389561057, + 0.011496961208829537, + 0.0011350128334015608 + ], + [ + 0.0010682203864985124, + 0.9999992251396179, + 0.0006393302284202587, + 0.0005927771562710404 + ], + [ + -0.011497640311244539, + -0.0006270062876865268, + 0.9999337224793855, + 0.0012092359829694033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999156449461158, + -0.00038851378485560417, + 0.012984870669635258, + 0.0012606061063706875 + ], + [ + 0.000378763281503369, + 0.9999996423721313, + 0.0007533650565484085, + 0.0007306385086849332 + ], + [ + -0.012985158304244338, + -0.0007483833469450474, + 0.9999154028163976, + 0.0014208286302164197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998932717443091, + -5.4676274885423495e-05, + 0.014609947767581314, + 0.001160705229267478 + ], + [ + 4.03126502083207e-05, + 0.999999523162842, + 0.0009834327377265177, + 0.0009328318410553038 + ], + [ + -0.014609994582181726, + -0.0009827389148995282, + 0.9998927941987266, + 0.0015442908043041825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998667155814067, + -0.00021750877203885466, + 0.01632333783854243, + 0.0014963801950216293 + ], + [ + 0.00019823488882301414, + 0.9999992847442627, + 0.001182364733390083, + 0.0010451152920722961 + ], + [ + -0.016323583476072556, + -0.0011789713753387332, + 0.9998660560694516, + 0.0018692142330110073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998439654665006, + -0.00019485139637254179, + 0.017665131026171114, + 0.001514614443294704 + ], + [ + 0.00017259538152559052, + 0.9999991655349731, + 0.0012613996047809095, + 0.0009744036360643804 + ], + [ + -0.017665362537701346, + -0.001258153817616403, + 0.9998431866355383, + 0.0018315345514565706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998123071679971, + -0.000559321022592485, + 0.01936614338442654, + 0.0016252008499577641 + ], + [ + 0.0005300435664950679, + 0.9999986886978149, + 0.0015168835320052369, + 0.0009135077707469463 + ], + [ + -0.019366966261550097, + -0.001506333821453154, + 0.9998112789395555, + 0.002119258511811495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9997818848911756, + -0.0008178612915799022, + 0.02086785339759138, + 0.0017853224417194724 + ], + [ + 0.0007837049947966836, + 0.9999983310699463, + 0.0016449155616656643, + 0.0009806212037801743 + ], + [ + -0.020869164722771977, + -0.0016282025026157498, + 0.9997809057940655, + 0.0021158785093575716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9997520291606815, + -0.0010243115248158574, + 0.022246036142734536, + 0.001986262621358037 + ], + [ + 0.0009869528157625876, + 0.9999980926513672, + 0.0016902577765567474, + 0.0010051877470687032 + ], + [ + -0.022247724307474032, + -0.0016678828978911042, + 0.9997511002340591, + 0.0022096538450568914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9997131155851142, + -0.0013215726939961314, + 0.02391438790072915, + 0.001772311283275485 + ], + [ + 0.0012810528456230275, + 0.9999977350234985, + 0.0017096121131369123, + 0.0011365711688995361 + ], + [ + -0.023916592684112614, + -0.0016784860054031014, + 0.9997125309070777, + 0.0020214340183883905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9996812964851933, + -0.001526239444501698, + 0.025197663910121928, + 0.001989642856642604 + ], + [ + 0.0014820218341690026, + 0.9999973177909851, + 0.001773407938207635, + 0.0011625955812633038 + ], + [ + -0.02520030453563223, + -0.0017354992451146245, + 0.9996809373732793, + 0.00232856348156929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9996447896030076, + -0.0014453823678195477, + 0.026612903797081432, + 0.002098563825711608 + ], + [ + 0.0013971451546038734, + 0.9999973773956299, + 0.0018310558003186675, + 0.0013258106773719192 + ], + [ + -0.026615478968660223, + -0.001793223200365901, + 0.9996441305757607, + 0.0023168721236288548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9996064931966173, + -0.0016274151857942343, + 0.02800417951824456, + 0.0021635035518556833 + ], + [ + 0.0015726558703406212, + 0.9999967813491821, + 0.001977309436562728, + 0.0013352250680327415 + ], + [ + -0.028007308395034756, + -0.0019324903842061758, + 0.9996058762527793, + 0.002394785638898611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.999565542277221, + -0.0020642653107643127, + 0.02940257147891729, + 0.0023819045163691044 + ], + [ + 0.0020058694040602926, + 0.9999959468841553, + 0.002015438114712391, + 0.0015969527885317802 + ], + [ + -0.02940661211467028, + -0.0019555846229195595, + 0.9995656122348613, + 0.0024055789690464735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9995269438785344, + -0.002301930682733655, + 0.030669918537519655, + 0.0027031688950955868 + ], + [ + 0.0022372162317326268, + 0.9999951720237732, + 0.002144172343108156, + 0.001615166780538857 + ], + [ + -0.030674706848197168, + -0.002074542688205838, + 0.9995272856802159, + 0.002535068430006504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9994800935167855, + -0.001920277951285243, + 0.03218450470782501, + 0.0025438754819333553 + ], + [ + 0.0018530506853689803, + 0.9999960660934448, + 0.0021185031352899037, + 0.0017443877877667546 + ], + [ + -0.03218844486198679, + -0.00205776235088706, + 0.9994796790299596, + 0.002442427445203066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9994357629197657, + -0.0017213894752785563, + 0.03354449057857363, + 0.0024804759304970503 + ], + [ + 0.0016510221217827057, + 0.9999963641166687, + 0.0021253185630779174, + 0.001707367948256433 + ], + [ + -0.03354802637890376, + -0.0020687365904450417, + 0.9994349383877908, + 0.002286299830302596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9993891847003378, + -0.001901723444461823, + 0.03489467739094206, + 0.002116638934239745 + ], + [ + 0.001820197871928193, + 0.9999955296516421, + 0.002367953494843426, + 0.0015940128359943628 + ], + [ + -0.03489902558665982, + -0.0023029919248074297, + 0.9993882102534828, + 0.002137178787961602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9993472668102804, + -0.0022737726103514437, + 0.036054245341963005, + 0.0021707809064537287 + ], + [ + 0.002182906013650659, + 0.9999943375587466, + 0.0025594426392787435, + 0.0017092814669013023 + ], + [ + -0.03605985974219507, + -0.0024790687020868067, + 0.9993465426667855, + 0.002262196270748973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9992944303529369, + -0.001997763989493251, + 0.03750585602706003, + 0.0020000876393169165 + ], + [ + 0.0018951858492626547, + 0.9999943375587463, + 0.0027703493192619225, + 0.00158252427354455 + ], + [ + -0.03751117895442089, + -0.0026973141357302666, + 0.9992925759076582, + 0.002416046569123864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9992458627009224, + -0.0015417226823046803, + 0.0387990354565752, + 0.001927567063830793 + ], + [ + 0.001432465292979735, + 0.9999949336051941, + 0.002843626282424444, + 0.0016611944884061813 + ], + [ + -0.03880322153136654, + -0.00278590340167284, + 0.9992429686321543, + 0.0024491269141435623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9991933129575605, + -0.0011982294963672757, + 0.040141342425277234, + 0.0018299977527931333 + ], + [ + 0.0010734797076596594, + 0.9999945163726807, + 0.0031291719251562667, + 0.0016415286809206009 + ], + [ + -0.04014487198184876, + -0.0030835566576570272, + 0.9991891256144589, + 0.002449947642162442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9991437868009115, + -0.0006279692752286792, + 0.0413676550569994, + 0.0019815429113805294 + ], + [ + 0.00048662142858728975, + 0.9999940395355225, + 0.0034268494829646336, + 0.002148512052372098 + ], + [ + -0.041369559382269924, + -0.0034037851728498936, + 0.9991381064567565, + 0.0025148126296699047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9990931657214992, + -0.0005203551845625043, + 0.042574689915228246, + 0.0021949601359665394 + ], + [ + 0.0003550140143820267, + 0.9999923706054688, + 0.003891023257370683, + 0.0024341936223208904 + ], + [ + -0.04257638880501755, + -0.0038723801262676716, + 0.9990857012697955, + 0.002933460520580411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9990321075288937, + 9.047434286912903e-05, + 0.04398725470614888, + 0.001888848259113729 + ], + [ + -0.00028916062640290416, + 0.9999898076057434, + 0.004510564195025273, + 0.0026457372587174177 + ], + [ + -0.04398639552694082, + -0.004518917761743069, + 0.9990218821824959, + 0.002832840196788311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9989779996325049, + 0.0006192305590957403, + 0.04519461796569814, + 0.0018719396321102977 + ], + [ + -0.0008456202839620706, + 0.9999871850013733, + 0.004990272283099045, + 0.0027516453992575407 + ], + [ + -0.04519094989158852, + -0.005023390054702759, + 0.9989657461758046, + 0.0032355315051972866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9989179609037043, + 0.0012230672873556614, + 0.04649079674416759, + 0.0017625411273911595 + ], + [ + -0.0014833220898638145, + 0.9999834299087524, + 0.0055638992147996535, + 0.002851516241207719 + ], + [ + -0.04648322024159121, + -0.0056268395856022835, + 0.998903197359354, + 0.003338760696351528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9988555437149531, + 0.0018557795556262136, + 0.047793107875276984, + 0.0016878654714673758 + ], + [ + -0.0021413635570787376, + 0.9999801516532898, + 0.005924916600559596, + 0.0029468440916389227 + ], + [ + -0.04778116309064493, + -0.006020477972924709, + 0.9988396727688034, + 0.0034851424861699343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9987948409214167, + 0.0022551014553755526, + 0.0490279916648458, + 0.0014968194300308824 + ], + [ + -0.0026008003600553765, + 0.9999722242355349, + 0.006988401338744784, + 0.0025527644902467728 + ], + [ + -0.0490108700033426, + -0.007107491139322521, + 0.9987729585449008, + 0.0036909563932567835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9987255531902244, + 0.0024365973658859734, + 0.05041138045976643, + 0.001265652128495276 + ], + [ + -0.002817213633234367, + 0.9999680519104006, + 0.007480523814278331, + 0.0022290702909231186 + ], + [ + -0.050391544319076144, + -0.007613009773194792, + 0.9987005385052657, + 0.003746442496776581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.998667307392463, + 0.0025942260399460797, + 0.05154527507434468, + 0.0015559169696643949 + ], + [ + -0.003020699609716226, + 0.999961853027344, + 0.008197586170438243, + 0.0018768759910017252 + ], + [ + -0.051522039593557105, + -0.008342364802956583, + 0.9986369923697959, + 0.004629192873835564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9985978948591194, + 0.0033158964943140745, + 0.05283268378928876, + 0.00141268246807158 + ], + [ + -0.003791331354995776, + 0.9999532103538513, + 0.00890119911284492, + 0.0017080270918086171 + ], + [ + -0.05280069383203509, + -0.009089023806154728, + 0.9985636896645942, + 0.004535131622105837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9985207898018347, + 0.004118083044886589, + 0.054215349646918876, + 0.0013130505103617907 + ], + [ + -0.004658614036082814, + 0.9999406337738037, + 0.009847470209047735, + 0.0015316257486119866 + ], + [ + -0.054171579949610194, + -0.010085472837090492, + 0.9984807231830948, + 0.004269253462553024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9984360204227979, + 0.005196367856115103, + 0.0556642104258774, + 0.0010442306520417333 + ], + [ + -0.005788096459501169, + 0.9999284148216248, + 0.01047438099953839, + 0.0012129031820222735 + ], + [ + -0.05560579726567425, + -0.010780188255012035, + 0.9983946297612452, + 0.0037640128284692764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9983486953203252, + 0.006336743477731943, + 0.05709420809637221, + 0.0006955376011319458 + ], + [ + -0.00699951695916577, + 0.9999103546142578, + 0.011415930953060252, + 0.0008333135046996176 + ], + [ + -0.05701674756188338, + -0.011796711944043636, + 0.9983035097502592, + 0.0030651469714939594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9982520023968936, + 0.006302732974290848, + 0.05876397016084973, + -0.0002624533954076469 + ], + [ + -0.007070521510297522, + 0.9998922348022461, + 0.012866881473106138, + 0.0010355126578360796 + ], + [ + -0.05867653896468174, + -0.013259882107377052, + 0.99818895823477, + 0.0015346120344474912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9981626330242904, + 0.004889429546892644, + 0.06039458634728532, + -0.0007267705514095724 + ], + [ + -0.005930311410825201, + 0.9998367428779604, + 0.01706747869492598, + 0.0013296767137944698 + ], + [ + -0.06030127396350457, + -0.01739427819848061, + 0.9980286280367515, + 0.000806798052508384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9980966567147213, + 0.003230123780667782, + 0.06158475176233063, + -0.000319648563163355 + ], + [ + -0.0046582471702048735, + 0.9997232556343079, + 0.02306010506069898, + 0.0008948937174864113 + ], + [ + -0.06149321797747138, + -0.023303091526031494, + 0.9978354292245202, + 0.0010514921741560102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9980172150911383, + 0.0024712844751775265, + 0.06289293541062035, + -0.0012158226454630494 + ], + [ + -0.00424491593075783, + 0.9995965957641602, + 0.028082829541819794, + 0.0005890179891139269 + ], + [ + -0.06279816328952928, + -0.028294123709201813, + 0.9976250969530673, + 0.0005051703774370253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.997972140781378, + 0.001843305653892458, + 0.06362529850586136, + -0.0007877371390350163 + ], + [ + -0.003948563943603066, + 0.9994482398033144, + 0.032978521891772215, + 0.0014651342062279582 + ], + [ + -0.0635294049147214, + -0.033162873238325126, + 0.9974288088860813, + -8.751684072194621e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9979142323458664, + 0.0017137096729129553, + 0.06453092215768351, + -0.0014311247505247593 + ], + [ + -0.004122088113352598, + 0.9992991089820862, + 0.03720668755926478, + 0.00104916759300977 + ], + [ + -0.06442192980621064, + -0.037395086139440536, + 0.9972218371914072, + 8.603312744526193e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9978556886827346, + 0.001981552457436919, + 0.06542249885377759, + -0.0020481387618929148 + ], + [ + -0.004538502894041269, + 0.9992305636405945, + 0.03895820652140442, + 0.0010085738031193614 + ], + [ + -0.06529496176486353, + -0.03917159140110016, + 0.9970968799152607, + -0.0013853368582203984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9977743097511952, + 0.002655438845977187, + 0.06662870702794313, + -0.003714620368555188 + ], + [ + -0.00533510474702376, + 0.9991825222969055, + 0.04007225228072961, + 0.0016171809984371066 + ], + [ + -0.06646783111913523, + -0.040338531136512756, + 0.9969728297662681, + -0.0031118132174015045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9976442762233544, + 0.003778306534513831, + 0.06849574135648646, + -0.007028867490589619 + ], + [ + -0.006629386626294656, + 0.9991188049316406, + 0.04144480106196126, + 0.0030327686108648777 + ], + [ + -0.0682787895709183, + -0.04180125519633293, + 0.9967901641083216, + -0.006172452121973038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9975070764543827, + 0.005216371268033981, + 0.07037350306839553, + -0.009751655161380768 + ], + [ + -0.008404302045338088, + 0.9989480376243591, + 0.04508041973517806, + 0.004933106247335672 + ], + [ + -0.07006431568402316, + -0.04555947706103325, + 0.996501567517887, + -0.009181160479784012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9973728158417945, + 0.008263494819402696, + 0.07196655526460992, + -0.011648887768387794 + ], + [ + -0.011777116228048876, + 0.9987519979476931, + 0.048536354481841446, + 0.005221355706453323 + ], + [ + -0.07147565853302701, + -0.04925639927387239, + 0.9962253806407703, + -0.0113430917263031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9969798558975737, + 0.01186646893620491, + 0.07674850652195926, + -0.01430446095764637 + ], + [ + -0.01586503737499814, + 0.9985365271568298, + 0.051701588782068986, + 0.006916975602507591 + ], + [ + -0.07602267371800672, + -0.052763063460588455, + 0.9957090876462523, + -0.01522315014153719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9964915311713713, + 0.014500614255666733, + 0.08242802334365633, + -0.018036864697933197 + ], + [ + -0.01908635176811969, + 0.9982972741127014, + 0.05512038503361305, + 0.007570278365164995 + ], + [ + -0.08148839200775201, + -0.05650024488568306, + 0.9950715374044556, + -0.019056038931012154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9960944168089116, + 0.017316173762083054, + 0.0865800652031767, + -0.02073252946138382 + ], + [ + -0.02231860580849317, + 0.9981161952018738, + 0.057148080974474345, + 0.008125758729875088 + ], + [ + -0.08542737783000613, + -0.058857232332229614, + 0.9946044255719699, + -0.02246142365038395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9956312369291186, + 0.018884917721152306, + 0.0914428614891825, + -0.023574277758598328 + ], + [ + -0.024314701030241585, + 0.9979833960533142, + 0.058633771392412624, + 0.008336957544088364 + ], + [ + -0.0901511617325393, + -0.060601018369197845, + 0.9940826095636307, + -0.026382019743323326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9952045041165914, + 0.02024076133966446, + 0.09569933751416126, + -0.025085292756557465 + ], + [ + -0.02597353320309118, + 0.9979174733161926, + 0.05904292430913934, + 0.00843825750052929 + ], + [ + -0.09430496906441271, + -0.06124543026089668, + 0.9936576919525923, + -0.03042931854724884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9947487349082218, + 0.020690701901912693, + 0.10023414048253836, + -0.028028829023241997 + ], + [ + -0.026663723355948844, + 0.9979240894317629, + 0.05862230517423406, + 0.008115841075778008 + ], + [ + -0.0988131255742964, + -0.06098708137869836, + 0.9932354125693821, + -0.03542596474289894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9943035047468276, + 0.019488245248794556, + 0.1047891861836672, + -0.03045923449099064 + ], + [ + -0.025594381324710484, + 0.9980320334434509, + 0.05724531707196573, + 0.008458714000880718 + ], + [ + -0.10346734826443053, + -0.05960123613476753, + 0.9928454821238855, + -0.041338443756103516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.993601969328572, + 0.017825081944465637, + 0.11152290846007576, + -0.03462999686598778 + ], + [ + -0.02432608704921803, + 0.9980659484863281, + 0.05720656639117746, + 0.008260947652161121 + ], + [ + -0.11028750596553438, + -0.059553470462560654, + 0.992113905359391, + -0.04789517819881439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9928583800382166, + 0.016690701246261597, + 0.1181257626026143, + -0.038316406309604645 + ], + [ + -0.023408115459774847, + 0.9981725811958313, + 0.05570965252319465, + 0.00865150522440672 + ], + [ + -0.11698006058455794, + -0.0580768957734108, + 0.9914346766395853, + -0.054488688707351685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9919502077492729, + 0.016250377520918846, + 0.12558167478368365, + -0.04336168244481087 + ], + [ + -0.02316528053821521, + 0.9982829689979553, + 0.05380027708226688, + 0.008492001332342625 + ], + [ + -0.12449176763301226, + -0.05627632886171341, + 0.9906234121875803, + -0.06329026073217392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9910110673688395, + 0.015502371825277809, + 0.13287864856604717, + -0.04746153578162193 + ], + [ + -0.022490179355701505, + 0.9984326362609866, + 0.051249336443872376, + 0.00954196322709322 + ], + [ + -0.13187589232023303, + -0.05377712473273279, + 0.9898064025913982, + -0.07178525626659393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9899557588827013, + 0.015391716733574867, + 0.1405371110621561, + -0.05225446820259094 + ], + [ + -0.022597255915840078, + 0.9985025525093079, + 0.04982040805761114, + 0.01099313236773014 + ], + [ + -0.13955983521445495, + -0.05249575525522232, + 0.9888211199261759, + -0.08041253685951233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9886998610112102, + 0.015368946827948093, + 0.14911884491320257, + -0.05867251008749008 + ], + [ + -0.02292642327840815, + 0.998530924320221, + 0.04909494363142443, + 0.012968155555427074 + ], + [ + -0.14814524663939177, + -0.051958922296762466, + 0.987599719506674, + -0.08966632932424545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9875615988666492, + 0.01331918686628342, + 0.15666743648155618, + -0.06411918997764587 + ], + [ + -0.021284825118686502, + 0.9985583424568178, + 0.04927693450640269, + 0.014518595300614834 + ], + [ + -0.15578524440660882, + -0.05199864506721498, + 0.9864213843819953, + -0.09921710193157196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9864062237859293, + 0.010435583069920542, + 0.16399343098101665, + -0.07102148979902267 + ], + [ + -0.01882548123894856, + 0.9985873103141787, + 0.0496893765417273, + 0.01619352586567402 + ], + [ + -0.16324321519750196, + -0.05210116878151895, + 0.9852091577788618, + -0.1094505563378334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9852516746029479, + 0.008235763758420944, + 0.17091309835566915, + -0.07720080018043518 + ], + [ + -0.016957861280900204, + 0.9986234307289124, + 0.04963537107715771, + 0.018335718661546707 + ], + [ + -0.17026904633490192, + -0.0518016554415226, + 0.984035060040121, + -0.11912976205348969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9838483635643017, + 0.007386547978967428, + 0.17885131155850326, + -0.08570078760385513 + ], + [ + -0.016455313683143, + 0.9986496567726135, + 0.049275351926503265, + 0.021154183894395828 + ], + [ + -0.17824582817034718, + -0.05142252892255783, + 0.9826414098145223, + -0.12983208894729614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9824100462449691, + 0.006203466095030308, + 0.1866333026474337, + -0.0933624878525734 + ], + [ + -0.015660785170813808, + 0.9986640810966492, + 0.04924166439942316, + 0.02328667603433132 + ], + [ + -0.18607851551570379, + -0.05129832774400711, + 0.9811947875457404, + -0.14057429134845734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9809742338744637, + 0.005355997942388058, + 0.19406407151239027, + -0.10230060666799545 + ], + [ + -0.015161615977990992, + 0.9986798763275146, + 0.04907774716099956, + 0.025943059474229813 + ], + [ + -0.19354502617070535, + -0.05108633264899254, + 0.9797604219122764, + -0.15228118002414703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9795423090784618, + 0.004649905487895013, + 0.20118468501393405, + -0.11111322790384293 + ], + [ + -0.014772073244066713, + 0.9986973404884341, + 0.04884080849382423, + 0.028625912964344025 + ], + [ + -0.2006955027370718, + -0.05081355199217798, + 0.9783349526296354, + -0.16355794668197632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9781940009639759, + 0.002719718730077148, + 0.2076753862232953, + -0.11972704529762268 + ], + [ + -0.013075404372194946, + 0.9987372159957888, + 0.048508391495543646, + 0.0315878763794899 + ], + [ + -0.20728119847065432, + -0.05016605928540231, + 0.9769943032030196, + -0.17480537295341492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9768195140457191, + 0.0006222643423825502, + 0.21406367582289126, + -0.1288045048713684 + ], + [ + -0.011181314737739634, + 0.9987789988517761, + 0.048119433897956344, + 0.034412045031785965 + ], + [ + -0.21377236406161818, + -0.04939751699566841, + 0.9756337755980907, + -0.1865847110748291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9755813554189144, + 0.00021539442241191864, + 0.219638244871841, + -0.1365724354982376 + ], + [ + -0.010879695981893223, + 0.9988192915916443, + 0.04734553011342978, + 0.03744088485836983 + ], + [ + -0.21936872948349662, + -0.04857901111245155, + 0.9744318597650391, + -0.1977091133594513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9742648602362052, + -0.00018633645959198475, + 0.2254062547915516, + -0.1440073847770691 + ], + [ + -0.010470830687554023, + 0.9988827109336853, + 0.046083423537023604, + 0.04155804589390755 + ], + [ + -0.22516298583739927, + -0.04725765064358711, + 0.9731743573904733, + -0.20889796316623688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9728066093086828, + -0.0012436754768714309, + 0.23161563912869426, + -0.1518157571554184 + ], + [ + -0.009446601169786373, + 0.9989405274391174, + 0.04504045406799753, + 0.04497731477022171 + ], + [ + -0.23142626137635225, + -0.04600363224744797, + 0.9717641215454025, + -0.21981312334537506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9712282096424897, + -0.0021603563800454144, + 0.2381409653870107, + -0.15935759246349335 + ], + [ + -0.008493843063190997, + 0.9990084171295168, + 0.04370383880253416, + 0.049298349767923355 + ], + [ + -0.23799924855216584, + -0.044469133019447334, + 0.970246824652676, + -0.23095561563968658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9695051403503399, + -0.004190757405012846, + 0.24503519910732696, + -0.166640505194664 + ], + [ + -0.006398920373303703, + 0.9990800023078918, + 0.04240487758775727, + 0.05356304720044136 + ], + [ + -0.24498748858165154, + -0.04267970845103264, + 0.9685863866579805, + -0.24220620095729828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9677544723573871, + -0.008174290880560875, + 0.25176282140615686, + -0.17348742485046387 + ], + [ + -0.0024695727041214614, + 0.999117374420166, + 0.04193238626814787, + 0.05704766511917114 + ], + [ + -0.25188339068514215, + -0.04120200127363205, + 0.9668801273392362, + -0.2535956799983978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9660504595405636, + -0.012456805445253849, + 0.2580529060332807, + -0.1810421198606491 + ], + [ + 0.0017118330877837085, + 0.9991236329078674, + 0.04182154809517221, + 0.060690637677907944 + ], + [ + -0.25834770934848605, + -0.03995998203754425, + 0.9652251667289247, + -0.2645653784275055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9643900541824766, + -0.017347119748592377, + 0.26391452609204286, + -0.18852244317531586 + ], + [ + 0.006381588487572155, + 0.9990824460983276, + 0.042350313275551145, + 0.06394269317388535 + ], + [ + -0.2644070392824098, + -0.03915802761912346, + 0.9636159035741955, + -0.27596011757850647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9629392194702101, + -0.024029091000556946, + 0.26864605058889285, + -0.1950496882200241 + ], + [ + 0.012869773534083305, + 0.9989825487136841, + 0.04322353545150569, + 0.06713176518678665 + ], + [ + -0.2694113243374295, + -0.03816422447562218, + 0.9622686862160257, + -0.2863287627696991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9617885815845997, + -0.029014229774475098, + 0.2722516046579978, + -0.2008403092622757 + ], + [ + 0.017554526949638622, + 0.9988580346107483, + 0.044434459724595136, + 0.07028523087501526 + ], + [ + -0.27322994180452154, + -0.03795730695128441, + 0.9611995893810433, + -0.29685696959495544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9606952208962706, + -0.031308457255363464, + 0.27583410497529576, + -0.2063807100057602 + ], + [ + 0.019431388529988672, + 0.9987667798995972, + 0.04568761936892895, + 0.0727250725030899 + ], + [ + -0.2769243429050114, + -0.038532041013240814, + 0.9601188159336247, + -0.3062077760696411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9594960985843333, + -0.03199430927634239, + 0.27989916797204945, + -0.2120690941810608 + ], + [ + 0.01978328584581101, + 0.9987295866012573, + 0.04634411719970615, + 0.07527433335781097 + ], + [ + -0.2810263503927689, + -0.03892967477440834, + 0.9589101712823169, + -0.31635400652885437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9583532964533595, + -0.03201784566044808, + 0.2837847298066685, + -0.21723508834838867 + ], + [ + 0.019544373357297504, + 0.9987187981605532, + 0.046677665868199984, + 0.07784456759691238 + ], + [ + -0.28491567431078196, + -0.03918730095028878, + 0.9577512541431178, + -0.3253827393054962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9570077077302008, + -0.031425166875123985, + 0.28835511227864236, + -0.22290189564228058 + ], + [ + 0.01880300635843916, + 0.9987441301345827, + 0.04643954400485048, + 0.08074555546045303 + ], + [ + -0.28945235503774863, + -0.03902105987071992, + 0.9563967127568855, + -0.33483922481536865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9557112065999792, + -0.029712233692407615, + 0.29280239115874834, + -0.22771278023719788 + ], + [ + 0.01703508870348148, + 0.9988076090812685, + 0.04575161240322858, + 0.08341238647699356 + ], + [ + -0.29381264392552287, + -0.038737416267395026, + 0.9550777828762947, + -0.34358009696006775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.954264248976512, + -0.02757636271417141, + 0.29768988268744556, + -0.2324044108390808 + ], + [ + 0.01490216812324975, + 0.9988865256309509, + 0.04476151800362098, + 0.08572261780500412 + ], + [ + -0.29859277197040407, + -0.038278091698884964, + 0.9536126828098193, + -0.35244810581207275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9527576707610662, + -0.025717778131365783, + 0.30264070770535684, + -0.2364872545003891 + ], + [ + 0.01330004463729039, + 0.9989856481552126, + 0.043021219078391744, + 0.08810823410749435 + ], + [ + -0.30344011971356216, + -0.03696366026997567, + 0.9521332674811126, + -0.36112654209136963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9509714443446047, + -0.024484872817993164, + 0.3083079518341564, + -0.24150195717811584 + ], + [ + 0.012618744361092775, + 0.9991029500961304, + 0.040423363182005755, + 0.09098105132579803 + ], + [ + -0.30902113372877005, + -0.03455100208520889, + 0.9504273377080755, + -0.37004512548446655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9492577890300465, + -0.023403592407703403, + 0.31362697543342277, + -0.2454027384519577 + ], + [ + 0.012154332836089903, + 0.9992123246192934, + 0.03777597426500094, + 0.09334636479616165 + ], + [ + -0.314264025382604, + -0.032047215849161155, + 0.9487945613068116, + -0.3792434632778168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9474439219329444, + -0.02256373129785061, + 0.3191251915227244, + -0.24966751039028168 + ], + [ + 0.012017455170326784, + 0.9993157982826233, + 0.03497821300126842, + 0.096075139939785 + ], + [ + -0.31969610177638125, + -0.02930482104420662, + 0.9470668740893243, + -0.38678309321403503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9456232626241989, + -0.021836984902620316, + 0.3245301094469843, + -0.25408780574798584 + ], + [ + 0.011891670714299345, + 0.9993978142738342, + 0.03259726763133135, + 0.09812469035387039 + ], + [ + -0.32504649489877163, + -0.026965530589222908, + 0.9453134952085077, + -0.39439791440963745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9441450785732446, + -0.02209117077291012, + 0.32878870019784256, + -0.2571508586406708 + ], + [ + 0.012754320540656772, + 0.9994525313377383, + 0.03052765856600351, + 0.09927376359701157 + ], + [ + -0.3292830874615193, + -0.024629063904285438, + 0.9439099755383591, + -0.4015132486820221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9428347290533783, + -0.022954296320676804, + 0.33246927438107504, + -0.2603541910648346 + ], + [ + 0.014244347676631299, + 0.9994891285896301, + 0.028611675521020893, + 0.1007278710603714 + ], + [ + -0.33295617689163515, + -0.022240271791815758, + 0.9426799853972846, + -0.4086783826351166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9417087198381624, + -0.022828450426459316, + 0.33565398660747114, + -0.2644735872745514 + ], + [ + 0.014911890031302145, + 0.9995469450950625, + 0.026144338794366243, + 0.10263273864984512 + ], + [ + -0.3360987432448156, + -0.019615115597844127, + 0.941622464039391, + -0.4144396483898163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9408635834320793, + -0.021766049787402153, + 0.338085751036772, + -0.2685181200504303 + ], + [ + 0.01460230562173858, + 0.999612033367157, + 0.02371832227823417, + 0.10425105690956116 + ], + [ + -0.33847084765653024, + -0.017378875985741615, + 0.9408164138588647, + -0.4204448163509369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9401523212269463, + -0.021267374977469444, + 0.3400901597324384, + -0.2718054950237274 + ], + [ + 0.014721610115764073, + 0.9996535778045654, + 0.02181613559420835, + 0.10502170771360397 + ], + [ + -0.3404363367454876, + -0.01550381537526846, + 0.9401397169378605, + -0.4255816638469696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9394728994732072, + -0.020732479169964794, + 0.34199538547646563, + -0.274458110332489 + ], + [ + 0.014919238632764141, + 0.9996961951255801, + 0.019620033428768346, + 0.10616211593151093 + ], + [ + -0.342298256742254, + -0.013330180197954181, + 0.9394968119427496, + -0.4304598569869995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9387478896197933, + -0.0215038824826479, + 0.34393316381676253, + -0.27696919441223145 + ], + [ + 0.016395824628633638, + 0.9997079372406008, + 0.01775361374579497, + 0.10754960030317307 + ], + [ + -0.34421450013760985, + -0.011027099564671518, + 0.9388262924226187, + -0.434680700302124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9380232407926187, + -0.022653697058558468, + 0.3458311362966015, + -0.27942976355552673 + ], + [ + 0.018384630839621472, + 0.999708950519562, + 0.015620032795135484, + 0.10916115343570709 + ], + [ + -0.34608434252152454, + -0.008293977007269861, + 0.9381667158136934, + -0.4386502802371979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9372493807094056, + -0.02314727939665318, + 0.34789058443334203, + -0.28163641691207886 + ], + [ + 0.019510064965653908, + 0.9997122883796694, + 0.013955031231102371, + 0.10942024737596512 + ], + [ + -0.3481135026404559, + -0.006291976198554041, + 0.9374313081275713, + -0.44206416606903076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9363128495910199, + -0.02225703373551369, + 0.3504609946284359, + -0.28499409556388855 + ], + [ + 0.019266121834890546, + 0.9997421503067019, + 0.012018966558258959, + 0.1104339212179184 + ], + [ + -0.3506381212781856, + -0.00450148992240429, + 0.9365001889835102, + -0.4453100264072418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9354749906413042, + -0.022334039211273193, + 0.3526865192359502, + -0.2873941659927368 + ], + [ + 0.01985023689387194, + 0.9997461438179016, + 0.010658101535774414, + 0.1113247498869896 + ], + [ + -0.3528350348406359, + -0.002969476394355297, + 0.9356808313197579, + -0.44828248023986816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9347394983936075, + -0.02435809001326561, + 0.354497919133939, + -0.28989970684051514 + ], + [ + 0.022127759734103476, + 0.9997016191482544, + 0.0103445749486444, + 0.11152806133031845 + ], + [ + -0.35464412524003097, + -0.001825238112360239, + 0.9349996107052084, + -0.45066413283348083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9343409737971287, + -0.02785306796431542, + 0.35529023005604543, + -0.29086416959762573 + ], + [ + 0.02577742557317931, + 0.9996117949485781, + 0.01057543749064665, + 0.11094614863395691 + ], + [ + -0.35544684909966195, + -0.0007225980516523124, + 0.9346962085670417, + -0.4524138271808624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9337842293731725, + -0.0315457321703434, + 0.3564434101259598, + -0.2917429506778717 + ], + [ + 0.029832926040171542, + 0.9995018243789673, + 0.010303174660950534, + 0.11170739680528641 + ], + [ + -0.35659083351958304, + 0.0010128072462975979, + 0.934260078207073, + -0.45397621393203735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9333141198263746, + -0.033691491931676865, + 0.35747677659480126, + -0.29181140661239624 + ], + [ + 0.03230701984001059, + 0.9994295239448547, + 0.009845876782346765, + 0.11196136474609375 + ], + [ + -0.35760456965306947, + 0.0023597129620611668, + 0.9338701179517728, + -0.4547775387763977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9327137324439952, + -0.03643481060862542, + 0.3587723698054048, + -0.29261717200279236 + ], + [ + 0.03538871076010274, + 0.9993286132812502, + 0.009484609023095293, + 0.11254897713661194 + ], + [ + -0.35887705382312457, + 0.00385006656870246, + 0.9333769032606909, + -0.45597556233406067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9321178664718109, + -0.03925063833594322, + 0.36002174538484893, + -0.2939198613166809 + ], + [ + 0.03871912263505191, + 0.9992123246192932, + 0.00869097114168369, + 0.1140395998954773 + ], + [ + -0.3600793073072286, + 0.005838715936988592, + 0.9329034428686855, + -0.4562271535396576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9315307504970107, + -0.040864378213882446, + 0.36135933386792407, + -0.29521214962005615 + ], + [ + 0.0405673324011483, + 0.9991413950920105, + 0.008411498481441104, + 0.11451070010662079 + ], + [ + -0.36139279118464784, + 0.006823813542723656, + 0.9323886960604966, + -0.45615071058273315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9309922709193605, + -0.04245569929480553, + 0.3625615940627782, + -0.2954362630844116 + ], + [ + 0.042179087677641613, + 0.9990723133087158, + 0.00868240898660696, + 0.1143723577260971 + ], + [ + -0.36259387799649284, + 0.007209261879324913, + 0.9319193878009188, + -0.4558698236942291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9303423649647328, + -0.04409264773130417, + 0.3640315210613535, + -0.29603374004364014 + ], + [ + 0.04363298136903044, + 0.9990025162696838, + 0.00949109208173659, + 0.11393433809280396 + ], + [ + -0.3640868942273415, + 0.0070538148283958435, + 0.9313382999520438, + -0.4558084011077881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9297969712898547, + -0.04480317980051041, + 0.3653358740881357, + -0.2963258922100067 + ], + [ + 0.04423565632922647, + 0.9989718198776247, + 0.009927676253483198, + 0.11474624276161194 + ], + [ + -0.36540502118968493, + 0.00693014729768038, + 0.9308228335735956, + -0.4559071362018585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9293263061911585, + -0.046244774013757706, + 0.3663523774479144, + -0.29636019468307495 + ], + [ + 0.04538891358534076, + 0.9989093542098999, + 0.010954540451771362, + 0.11479310691356659 + ], + [ + -0.3664594001967342, + 0.006447995081543922, + 0.9304116784436685, + -0.45548856258392334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9288128876025067, + -0.047885436564683914, + 0.36744196236574106, + -0.2962665557861328 + ], + [ + 0.04672500951794667, + 0.998835027217865, + 0.012058663171120637, + 0.11483640223741531 + ], + [ + -0.3675913306717347, + 0.005968485958874226, + 0.9299682870533346, + -0.4547695219516754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9282710742759338, + -0.04928126186132431, + 0.36862477513481995, + -0.2977689504623413 + ], + [ + 0.04778017312741424, + 0.9987705945968628, + 0.01320509537436316, + 0.11456350237131119 + ], + [ + -0.3688223286571901, + 0.005355047527700663, + 0.9294844770618494, + -0.45538124442100525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9277685919390507, + -0.049882929772138596, + 0.3698068453955934, + -0.29862794280052185 + ], + [ + 0.04835007829688434, + 0.9987403154373169, + 0.01341892663140533, + 0.11510451138019562 + ], + [ + -0.37001038314112844, + 0.00543053075671196, + 0.9290117554046677, + -0.45494744181632996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9274028762278193, + -0.0491807721555233, + 0.3708168128305725, + -0.29921194911003113 + ], + [ + 0.047749691042844884, + 0.9987741708755493, + 0.013044931986680112, + 0.1156475841999054 + ], + [ + -0.3710038117831817, + 0.005608479958027601, + 0.9286144257421691, + -0.45461103320121765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9271533502617797, + -0.04739102348685266, + 0.3716729822768073, + -0.2999325692653656 + ], + [ + 0.0459404426847873, + 0.998862683773041, + 0.012762001957471599, + 0.11552806198596954 + ], + [ + -0.37185505899173843, + 0.005242487881332637, + 0.9282760022164365, + -0.45476630330085754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9268303836734236, + -0.047480698674917235, + 0.3724661012010849, + -0.3010939061641693 + ], + [ + 0.04601413563310166, + 0.9988583922386172, + 0.012831227871872746, + 0.11524319648742676 + ], + [ + -0.37265012199027464, + 0.005246333777904511, + 0.9279570666854412, + -0.45565924048423767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9267067838140205, + -0.04873392730951309, + 0.37261183011363874, + -0.3013344407081604 + ], + [ + 0.047221400203550305, + 0.9987973570823669, + 0.013190468433647844, + 0.11444362252950668 + ], + [ + -0.3728065456173833, + 0.005371555220335722, + 0.9278935621822072, + -0.45611196756362915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9269827357402554, + -0.04703512787818909, + 0.3721433397013489, + -0.30082517862319946 + ], + [ + 0.045319753137747505, + 0.9988831877708435, + 0.013360353957366147, + 0.1137363389134407 + ], + [ + -0.37235612594396494, + 0.004480626434087753, + 0.9280791156131464, + -0.4572659432888031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9273614016836912, + -0.044518373906612396, + 0.3715089389380411, + -0.3011229634284973 + ], + [ + 0.04223399664611016, + 0.9990055561065674, + 0.014287474719989047, + 0.11227885633707047 + ], + [ + -0.37177557134714423, + 0.0024406537413597107, + 0.9283194361264919, + -0.4587327241897583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9278393669625264, + -0.04384411498904228, + 0.3703941436251685, + -0.3009677827358246 + ], + [ + 0.04091310671850075, + 0.9990382194519043, + 0.01577012003068269, + 0.11051853001117706 + ], + [ + -0.3707293540793514, + 0.0005218363367021084, + 0.928740822916466, + -0.4608767032623291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9286342687332942, + -0.041749075055122375, + 0.3686399065667759, + -0.3006742298603058 + ], + [ + 0.03855259781479992, + 0.9991279244422913, + 0.01603570996776776, + 0.11013772338628769 + ], + [ + -0.3689878937188616, + -0.0006792843341827393, + 0.9294339435217713, + -0.4623900055885315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9294459585008035, + -0.039975143969059, + 0.3667863845890282, + -0.30227458477020264 + ], + [ + 0.03627599903949064, + 0.9991976022720339, + 0.01697579923430221, + 0.10819298028945923 + ], + [ + -0.36717067087080024, + -0.002472546417266131, + 0.9301502727338803, + -0.46525704860687256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9303115548688091, + -0.03859778866171837, + 0.36473368840355863, + -0.3031419813632965 + ], + [ + 0.03450335512785347, + 0.999247133731842, + 0.017738596387856014, + 0.10629957914352417 + ], + [ + -0.36514375835291296, + -0.003917887341231108, + 0.9309428968110263, + -0.46864762902259827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9309797378231128, + -0.03728622570633888, + 0.3631618339218595, + -0.30284038186073303 + ], + [ + 0.03318533334786124, + 0.9992955327033997, + 0.017526863284169792, + 0.10650643706321716 + ], + [ + -0.36355950077655136, + -0.0042655086144804955, + 0.931561231836994, + -0.47367870807647705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.930925545692279, + -0.03727620095014572, + 0.3633017208962016, + -0.3031516373157501 + ], + [ + 0.03317306916452367, + 0.9992958903312683, + 0.01752894898287957, + 0.1062370091676712 + ], + [ + -0.36369933057780995, + -0.004266313277184963, + 0.9315066068272969, + -0.47803136706352234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9306447374343355, + -0.03888498246669769, + 0.36385214939398486, + -0.30166879296302795 + ], + [ + 0.03511873545578704, + 0.9992391467094421, + 0.01696384042698043, + 0.10653942078351974 + ], + [ + -0.36423494849750043, + -0.00300928158685565, + 0.9313022193824869, + -0.4830704927444458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9300140831532591, + -0.04107796773314476, + 0.36522107910639384, + -0.2995125651359558 + ], + [ + 0.03742789321577009, + 0.9991534948348999, + 0.017071102154500906, + 0.10563671588897705 + ], + [ + -0.3656131692724588, + -0.002206910401582718, + 0.9307642938681936, + -0.49040430784225464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9290465101871451, + -0.041072290390729904, + 0.36767604589945907, + -0.29710906744003296 + ], + [ + 0.03814957285339444, + 0.9991561770439148, + 0.01521694035083936, + 0.1089777871966362 + ], + [ + -0.36799079981573096, + -0.00011056242510676384, + 0.9298294515254327, + -0.4948892891407013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9275546610428502, + -0.04195265099406243, + 0.37132506907778867, + -0.29508325457572937 + ], + [ + 0.03960129147974644, + 0.9991180300712588, + 0.01395888844273362, + 0.11126464605331421 + ], + [ + -0.37158318856921185, + 0.001757321180775762, + 0.9283979865292079, + -0.5002655386924744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9249791239966745, + -0.04402269423007965, + 0.37745942432100793, + -0.2978256046772003 + ], + [ + 0.04138619921692116, + 0.9990291595458984, + 0.015097216421910092, + 0.10963386297225952 + ], + [ + -0.3777576060884453, + 0.0016569998115301132, + 0.9259030621994274, + -0.5098123550415039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9228503800017696, + -0.04484368860721588, + 0.38253914574483794, + -0.2973126769065857 + ], + [ + 0.04224714878121122, + 0.9989917278289795, + 0.015189755795514995, + 0.11061388999223709 + ], + [ + -0.382834609631915, + 0.002143316436558962, + 0.9238144302194644, + -0.516394317150116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9222112780699333, + -0.04553968831896782, + 0.38399547502006753, + -0.28745269775390625 + ], + [ + 0.04419346108952677, + 0.9989468455314636, + 0.012333539909836762, + 0.11742546409368515 + ], + [ + -0.3841527423968056, + 0.005595958326011896, + 0.9232526138075452, + -0.5211321711540222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9195851131838857, + -0.04772258922457695, + 0.3899818226220792, + -0.28853970766067505 + ], + [ + 0.04620427256124372, + 0.9988437294960022, + 0.013279207801334191, + 0.11696690320968628 + ], + [ + -0.390164614880562, + 0.005807462614029646, + 0.9207268302205721, + -0.5291514992713928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9179378077960444, + -0.047462768852710724, + 0.3938748752833842, + -0.28632813692092896 + ], + [ + 0.04681349756834293, + 0.9988401532173157, + 0.01126205296635903, + 0.12144351005554199 + ], + [ + -0.39395257773823666, + 0.008100796490907669, + 0.9190950460255087, + -0.5303274989128113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9163858559438612, + -0.04982354491949083, + 0.39718336921432434, + -0.2806565761566162 + ], + [ + 0.04932822404832608, + 0.9987167716026308, + 0.011470586635225644, + 0.12391727417707443 + ], + [ + -0.3972451854112828, + 0.009080865420401098, + 0.9176675841692672, + -0.5406011939048767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9136436508412964, + -0.050323713570833206, + 0.4033891430471718, + -0.2832273244857788 + ], + [ + 0.0497422275510505, + 0.9986909031867981, + 0.011926849182056592, + 0.12406011670827866 + ], + [ + -0.40346124950743767, + 0.009168582037091255, + 0.9149507873556842, + -0.5480448603630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.911452589123448, + -0.050978053361177444, + 0.40823454937720005, + -0.2823858857154846 + ], + [ + 0.05014689636335128, + 0.9986605048179626, + 0.012745742394688977, + 0.12529055774211884 + ], + [ + -0.4083374703269918, + 0.00885455496609211, + 0.9127881116117199, + -0.5565363764762878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.909885315969951, + -0.05201864242553711, + 0.4115856341413799, + -0.27583038806915283 + ], + [ + 0.05158177640801419, + 0.9985945224761963, + 0.012177365485360461, + 0.13123421370983124 + ], + [ + -0.41164063029747316, + 0.010150309652090073, + 0.9112897513499647, + -0.5597253441810608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9070137322742476, + -0.054066941142082214, + 0.41761574007177404, + -0.27515366673469543 + ], + [ + 0.0525903393689486, + 0.9985027313232422, + 0.015051702938925375, + 0.13015198707580566 + ], + [ + -0.4178042648939831, + 0.008310453966259956, + 0.9084990782159713, + -0.5689204931259155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9026109635406875, + -0.05609850957989694, + 0.4267861259045599, + -0.2834495007991791 + ], + [ + 0.05384597630911309, + 0.9983984231948855, + 0.017354586658650903, + 0.12828093767166138 + ], + [ + -0.4270761599798348, + 0.007316274568438532, + 0.9041860492527082, + -0.5745005011558533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.8985923640433316, + -0.05956374108791351, + 0.43472282670467083, + -0.28902629017829895 + ], + [ + 0.05667402158373616, + 0.9981999397277832, + 0.019620952807743175, + 0.12785640358924866 + ], + [ + -0.43510901306608885, + 0.007006252184510231, + 0.9003505367442052, + -0.5839600563049316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.8945662787884323, + -0.06317547708749771, + 0.44244782695487467, + -0.2949691712856293 + ], + [ + 0.05934951618660375, + 0.9979836344718933, + 0.02250213860148344, + 0.12449876964092255 + ], + [ + -0.4429772255821521, + 0.0061294082552194595, + 0.8965118764513063, + -0.5937051773071289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.8915138528659052, + -0.06636720150709152, + 0.4481053649588852, + -0.29697227478027344 + ], + [ + 0.062335419442247866, + 0.9977723956108093, + 0.023758872549273904, + 0.12401372194290161 + ], + [ + -0.4486839860802323, + 0.0067514702677726746, + 0.8936649893131632, + -0.6008761525154114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.8889061900738661, + -0.06868731975555421, + 0.4529104341937961, + -0.2980615496635437 + ], + [ + 0.06476122972587926, + 0.9976075291633608, + 0.024190928805185925, + 0.12361336499452591 + ], + [ + -0.453488459218682, + 0.007827566936612131, + 0.8912277899533786, + -0.6073259711265564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.8862925381503034, + -0.07001800090074539, + 0.4578023689992229, + -0.29986751079559326 + ], + [ + 0.06689962029857915, + 0.99749356508255, + 0.023044598857795535, + 0.12449106574058533 + ], + [ + -0.4582684693287304, + 0.010202549397945404, + 0.8887552423660436, + -0.6130663156509399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.884068974130265, + -0.07139366865158081, + 0.46187125720315914, + -0.300725519657135 + ], + [ + 0.06882955418987922, + 0.9973764419555664, + 0.02242246805592315, + 0.1242714449763298 + ], + [ + -0.4622603010912572, + 0.011967379599809647, + 0.8866635501579855, + -0.6176062822341919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.8820294835293937, + -0.07247509062290193, + 0.4655870887330596, + -0.3027576804161072 + ], + [ + 0.070763883726806, + 0.9972681999206545, + 0.02118030356054368, + 0.12432493269443512 + ], + [ + -0.4658502265918286, + 0.014265093952417377, + 0.8847485979539571, + -0.6225733160972595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.8805940808820599, + -0.07349596917629242, + 0.4681372132030629, + -0.3029877543449402 + ], + [ + 0.07229223165101903, + 0.9971714019775391, + 0.020566549016061766, + 0.12376237660646439 + ], + [ + -0.4683246188397841, + 0.01573190465569496, + 0.883416389121521, + -0.6256693005561829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.8793451346897355, + -0.07291580736637117, + 0.4705692640958475, + -0.3036743104457855 + ], + [ + 0.07226639053845935, + 0.9971952438354494, + 0.019474700780291482, + 0.12413898855447769 + ], + [ + -0.47066945593630966, + 0.016881356015801433, + 0.8821480966191149, + -0.6285408139228821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.878297430288286, + -0.07165828347206117, + 0.47271419153853766, + -0.30383703112602234 + ], + [ + 0.07155341814005782, + 0.9972701668739321, + 0.018229795395779413, + 0.12392716854810715 + ], + [ + -0.47273006820835095, + 0.017813131213188175, + 0.8810272409566049, + -0.6306195855140686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.8771836296156899, + -0.0702124685049057, + 0.47499376434427687, + -0.3043813109397888 + ], + [ + 0.07085887233440871, + 0.9973487257957458, + 0.016568786007351635, + 0.12358200550079346 + ], + [ + -0.4748977472529105, + 0.019123651087284088, + 0.8798331525793215, + -0.6323806643486023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.8759784009913175, + -0.06874336302280426, + 0.47742658805267557, + -0.3056156039237976 + ], + [ + 0.07001287684922348, + 0.9974309206008911, + 0.01515831141577065, + 0.12323557585477829 + ], + [ + -0.477242087237673, + 0.020147655159235, + 0.8785408787082418, + -0.6342673301696777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.8750373290946188, + -0.06849163770675659, + 0.4791852624376685, + -0.30590876936912537 + ], + [ + 0.070529955268861, + 0.9974146485328674, + 0.01376964962730997, + 0.12287018448114395 + ], + [ + -0.4788894834856821, + 0.021747956052422523, + 0.8776057855458069, + -0.6346564292907715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.8746725474892494, + -0.06897549331188202, + 0.4797815006193115, + -0.3065076768398285 + ], + [ + 0.07168261794326242, + 0.9973466396331787, + 0.012700910875431579, + 0.12300756573677063 + ], + [ + -0.4793845105354026, + 0.02328285574913025, + 0.8772960781954661, + -0.6346796751022339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.8750160611253388, + -0.06918323785066605, + 0.47912481099964843, + -0.30675962567329407 + ], + [ + 0.07241534101993448, + 0.9973052740097046, + 0.011755234313570754, + 0.12271054089069366 + ], + [ + -0.4786469508972872, + 0.024409962818026543, + 0.8776680965794798, + -0.6328025460243225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.8756962027568055, + -0.06928880512714386, + 0.47786529447095616, + -0.3063794672489166 + ], + [ + 0.07276485811192564, + 0.9972855448722839, + 0.011260103196324162, + 0.12149874866008759 + ], + [ + -0.4773483849596278, + 0.024911370128393173, + 0.8783609660372204, + -0.6303136944770813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.8764014849418338, + -0.0682305619120598, + 0.47672324885997414, + -0.3077949583530426 + ], + [ + 0.07188422332564631, + 0.997356712818146, + 0.010594763892039094, + 0.11996770650148392 + ], + [ + -0.47618600485937174, + 0.024983610957860954, + 0.8789895894893593, + -0.6274577379226685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.8776845893995054, + -0.06751136481761934, + 0.4744596762845824, + -0.3081580698490143 + ], + [ + 0.0713981878912097, + 0.9973993301391604, + 0.00984426327334394, + 0.11886002868413925 + ], + [ + -0.4738903486289646, + 0.025235403329133994, + 0.880222191212932, + -0.623406171798706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.8791818827967014, + -0.06542050838470459, + 0.47197390088828256, + -0.308037668466568 + ], + [ + 0.06974099764265579, + 0.9975301623344421, + 0.008356189948205358, + 0.11823700368404388 + ], + [ + -0.4713548435567995, + 0.02556932158768177, + 0.881572901656111, + -0.6184312701225281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.8810194524698978, + -0.06317915767431259, + 0.4688423264314845, + -0.30663812160491943 + ], + [ + 0.06777678920258437, + 0.997675359249115, + 0.007080462140174424, + 0.11730317026376724 + ], + [ + -0.46819977899330656, + 0.025538600981235504, + 0.8832534929684988, + -0.6107824444770813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.8825782994547903, + -0.06078362464904785, + 0.4662198188490236, + -0.3076212704181671 + ], + [ + 0.06552493152244293, + 0.9978325963020325, + 0.0060507947506106205, + 0.11501336097717285 + ], + [ + -0.4655771234207254, + 0.025208720937371254, + 0.884648240577963, + -0.6048493385314941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.8843543284488871, + -0.057625461369752884, + 0.463245910964453, + -0.30730900168418884 + ], + [ + 0.06256335694671357, + 0.998029887676239, + 0.004714037593284425, + 0.11314085870981216 + ], + [ + -0.4626049102579914, + 0.02481333538889885, + 0.8862172413869878, + -0.5967026352882385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.8865100657819229, + -0.056453440338373184, + 0.45925251033557984, + -0.30475693941116333 + ], + [ + 0.06127340008802832, + 0.9981112480163574, + 0.004414409170403092, + 0.1093662828207016 + ], + [ + -0.458634326917691, + 0.024226544424891472, + 0.8882948005448846, + -0.5905756950378418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.8885521396616666, + -0.05667605251073837, + 0.45526139758807355, + -0.3042992651462555 + ], + [ + 0.06175607942487419, + 0.998084306716919, + 0.0037208996249077863, + 0.10619944334030151 + ], + [ + -0.45460014601048826, + 0.024808945134282112, + 0.8903500434895859, + -0.5795159339904785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.8906761258146423, + -0.05486844480037689, + 0.45131525334438694, + -0.3053537607192993 + ], + [ + 0.06087103484612136, + 0.9981448650360107, + 0.0012192815179832483, + 0.10414360463619232 + ], + [ + -0.45054491630770377, + 0.026386041194200516, + 0.8923637595315412, + -0.5686957240104675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.8931578514753832, + -0.055416181683540344, + 0.4463161053349948, + -0.3051481246948242 + ], + [ + 0.06236580463149326, + 0.9980529546737671, + -0.0008832837463901613, + 0.1010608896613121 + ], + [ + -0.44539816662877185, + 0.028623774647712708, + 0.8948749205876142, + -0.5567207932472229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.8959037535050849, + -0.05504675209522249, + 0.44082463563952873, + -0.3033793568611145 + ], + [ + 0.06261837728242488, + 0.9980340600013735, + -0.0026348416288816444, + 0.09712290018796921 + ], + [ + -0.4398129498663705, + 0.029964286834001548, + 0.8975893810848518, + -0.5477976202964783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.8988657009297965, + -0.05603126063942909, + 0.4346273694640464, + -0.3002304434776306 + ], + [ + 0.06454481248493057, + 0.997903048992157, + -0.004839429590012672, + 0.09426513314247131 + ], + [ + -0.4334448444392529, + 0.03240294009447098, + 0.9005973943266694, + -0.5354964137077332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9015093507568425, + -0.05850693583488466, + 0.42878648945623676, + -0.2973634600639343 + ], + [ + 0.06807790527895306, + 0.9976554512977602, + -0.007003725261148374, + 0.09265470504760742 + ], + [ + -0.42737139610599745, + 0.035504806786775596, + 0.9033787445191714, + -0.5198204517364502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9036110786536017, + -0.06167621910572052, + 0.4238903778604277, + -0.29701176285743713 + ], + [ + 0.07180431799284877, + 0.9973871111869812, + -0.007945717722574656, + 0.08927006274461746 + ], + [ + -0.42229272455318995, + 0.037616997957229614, + 0.905678641424039, + -0.5089948177337646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9058419649728819, + -0.06127142533659935, + 0.41916122819005747, + -0.2954917848110199 + ], + [ + 0.07213624629141556, + 0.9973435997962952, + -0.010104413058352973, + 0.08721057325601578 + ], + [ + -0.41742866372763787, + 0.039389718323946, + 0.9078555991009762, + -0.5017483234405518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9068391169220328, + -0.06143096834421158, + 0.416976108950709, + -0.2964349389076233 + ], + [ + 0.07234956052127595, + 0.9973249435424805, + -0.010414919325170878, + 0.08481941372156143 + ], + [ + -0.41522089103506693, + 0.03961269184947014, + 0.9088577862273318, + -0.4928009510040283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9078970144062685, + -0.06407173722982407, + 0.41426787770056805, + -0.296049565076828 + ], + [ + 0.07427652620227544, + 0.9972010254859924, + -0.00855253021512223, + 0.08179393410682678 + ], + [ + -0.412560360108713, + 0.03853519633412361, + 0.9101148389871573, + -0.48268407583236694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9091984790276094, + -0.0670481100678444, + 0.410929112531568, + -0.2961023449897766 + ], + [ + 0.07651501389566266, + 0.9970465302467348, + -0.00661244660934159, + 0.07863600552082062 + ], + [ + -0.40927208610102517, + 0.03745426982641221, + 0.911643347399438, + -0.472401887178421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9104372485513335, + -0.07001052796840669, + 0.40767945655189897, + -0.29636314511299133 + ], + [ + 0.07905183877686582, + 0.9968561530113222, + -0.005350563385369945, + 0.07569024711847305 + ], + [ + -0.4060231868160617, + 0.03709916397929192, + 0.9131094283028569, + -0.46252143383026123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9125562536517435, + -0.07105452567338943, + 0.40273104742356913, + -0.2916332185268402 + ], + [ + 0.07974359739690169, + 0.9968037605285645, + -0.0048248108840664135, + 0.07258491963148117 + ], + [ + -0.4011009931867754, + 0.03651813417673111, + 0.9153056301476578, + -0.4518032968044281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9138665205656692, + -0.07088378071784973, + 0.3997792603748459, + -0.2919120490550995 + ], + [ + 0.07943098540111332, + 0.9968286752700806, + -0.0048284894371065055, + 0.07043454796075821 + ], + [ + -0.3981691740608652, + 0.0361674539744854, + 0.9165987390836542, + -0.4426356852054596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.915282899726659, + -0.07116293162107468, + 0.3964758445845732, + -0.2915739417076111 + ], + [ + 0.0791912894837235, + 0.9968518614768982, + -0.0038931350998127447, + 0.0664430558681488 + ], + [ + -0.39495061920482427, + 0.034960754215717316, + 0.9180368913868711, + -0.4335187077522278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9173060958768705, + -0.07160152494907379, + 0.391692094200458, + -0.288053959608078 + ], + [ + 0.0792935130297556, + 0.9968452453613281, + -0.0034741268394328575, + 0.064140185713768 + ], + [ + -0.39020766444560423, + 0.034245479851961136, + 0.92008980442618, + -0.4232581555843353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9191450861540239, + -0.07226753234863281, + 0.38723337896409005, + -0.2881898581981659 + ], + [ + 0.07977332390483359, + 0.9968075156211853, + -0.0033221388077457462, + 0.06273321062326431 + ], + [ + -0.3857570683992939, + 0.033944420516490936, + 0.9219757386001703, + -0.4140482246875763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9217023842535561, + -0.07463228702545166, + 0.38065037289669834, + -0.28143537044525146 + ], + [ + 0.08183884353332672, + 0.9966417551040649, + -0.002756852157164106, + 0.060226261615753174 + ], + [ + -0.37916632994493776, + 0.03369298204779625, + 0.9247149472451015, + -0.4037158191204071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9235708426157048, + -0.07416535168886185, + 0.3761866125246995, + -0.2786514163017273 + ], + [ + 0.08141665859135575, + 0.9966743588447571, + -0.0033902169822141183, + 0.057947076857089996 + ], + [ + -0.3746841275956101, + 0.03375896438956261, + 0.9265377282142025, + -0.39296290278434753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9253227620532205, + -0.0721406564116478, + 0.37225461831675494, + -0.27468031644821167 + ], + [ + 0.08012250736684935, + 0.996766984462738, + -0.005995244343606639, + 0.057565655559301376 + ], + [ + -0.3706186263388488, + 0.0353735089302063, + 0.9281113083712373, + -0.38378065824508667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9267052619080828, + -0.07030858844518661, + 0.3691531081610461, + -0.2700888216495514 + ], + [ + 0.07908573391257906, + 0.9968300461769104, + -0.008677859922434356, + 0.05638621374964714 + ], + [ + -0.36737277251300565, + 0.03723656386137009, + 0.9293280759946181, + -0.37630581855773926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9275157002715572, + -0.06810837239027023, + 0.3675266696233904, + -0.2676678001880646 + ], + [ + 0.07751719102496926, + 0.9969316124916077, + -0.010880894497250998, + 0.05404125526547432 + ], + [ + -0.36565787761317337, + 0.038581833243370056, + 0.9299493257713599, + -0.36865755915641785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9283440253451701, + -0.06671242415904999, + 0.3656868642173487, + -0.26419156789779663 + ], + [ + 0.07683042330910965, + 0.9969571828842163, + -0.013168731455122368, + 0.05278080701828003 + ], + [ + -0.3636956243106725, + 0.040320985019207, + 0.9306447519694009, + -0.3607424199581146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9294130015808071, + -0.06756186485290529, + 0.36280422457462513, + -0.2588995099067688 + ], + [ + 0.07803272559563343, + 0.9968487024307253, + -0.014265735790005368, + 0.050595734268426895 + ], + [ + -0.36069710039560965, + 0.04156935960054398, + 0.9317561935068295, + -0.3531424105167389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9304954858312179, + -0.06700506806373596, + 0.36012287794966263, + -0.2531353235244751 + ], + [ + 0.07802332984747026, + 0.9968210458755493, + -0.016128657141304004, + 0.04985423758625984 + ], + [ + -0.35789736461078053, + 0.04310562461614609, + 0.932765432976853, + -0.3437807559967041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9313624258476606, + -0.06589843332767487, + 0.35808017808410625, + -0.2469257265329361 + ], + [ + 0.07739641992957523, + 0.9968404769897461, + -0.017856011015008076, + 0.04901052638888359 + ], + [ + -0.3557721344547763, + 0.044344544410705566, + 0.9335200806871409, + -0.33474594354629517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9321509674738268, + -0.06596160680055618, + 0.3560106762926825, + -0.240135058760643 + ], + [ + 0.0775585193630819, + 0.9968183040618896, + -0.01838290612744507, + 0.04583720490336418 + ], + [ + -0.3536653919879062, + 0.04474730044603348, + 0.9343010361550272, + -0.3260098099708557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9330416994887298, + -0.0655379518866539, + 0.35374848075049337, + -0.23201408982276917 + ], + [ + 0.07741079020471187, + 0.9968085289001465, + -0.019501738665261777, + 0.04381607472896576 + ], + [ + -0.3513414014602229, + 0.04557988792657852, + 0.9351372763609747, + -0.31635531783103943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.933951771042353, + -0.06405828148126604, + 0.3516115540927732, + -0.22445575892925262 + ], + [ + 0.07616066630817077, + 0.9968810677528384, + -0.02068163260394108, + 0.04092654213309288 + ], + [ + -0.34919005644276824, + 0.04609461873769761, + 0.935917505774168, + -0.3061060607433319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9349047896286016, + -0.06165022403001785, + 0.3495028264198105, + -0.2168220430612564 + ], + [ + 0.07396934826356917, + 0.9970179200172424, + -0.021996740713376876, + 0.03753003850579262 + ], + [ + -0.3471044641715709, + 0.04641735553741455, + 0.9366770341982263, + -0.29730579257011414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.936208370364612, + -0.056755911558866515, + 0.3468322705769042, + -0.20839181542396545 + ], + [ + 0.06926299287949939, + 0.9973154067993166, + -0.023760903935060158, + 0.03364059329032898 + ], + [ + -0.34455261982381613, + 0.04626779630780221, + 0.9376261729099049, + -0.28800883889198303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9375989941128791, + -0.051533833146095276, + 0.3438784638537547, + -0.20027364790439606 + ], + [ + 0.06423087776188502, + 0.9976059794425964, + -0.025626344040404744, + 0.02892955206334591 + ], + [ + -0.34173458980876587, + 0.04611485078930855, + 0.9386644162773076, + -0.27893534302711487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9391085963549101, + -0.046724021434783936, + 0.3404289930461356, + -0.19140730798244476 + ], + [ + 0.05947758861776694, + 0.9978612065315247, + -0.027118218354373943, + 0.023989137262105942 + ], + [ + -0.33843382773480934, + 0.0457148477435112, + 0.9398791061781486, + -0.2693444490432739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/a2556aad-e6da-4818-871f-46de6e0df909/pull_out/transforms.json b/dynpose_eval/camera_controls/a2556aad-e6da-4818-871f-46de6e0df909/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..3a0bbda2ed5c56e45aae366a2a8a708c814a84f3 --- /dev/null +++ b/dynpose_eval/camera_controls/a2556aad-e6da-4818-871f-46de6e0df909/pull_out/transforms.json @@ -0,0 +1,7188 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 205, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 6.97937430231832e-05, + 5.229944144957699e-05, + -0.0001302181917708367 + ], + [ + -6.979006138863042e-05, + 1.0, + -7.033456495264545e-05, + 0.00015771843027323484 + ], + [ + -5.230435272096656e-05, + 7.033091242192313e-05, + 1.0, + -8.678555605001748e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999999403953552, + 0.0002837729116436094, + -0.0002859134692698717, + -0.000170574242856317 + ], + [ + -0.0002837154606822878, + 0.9999999403953552, + 0.00020099488028790802, + 0.0002134126448486224 + ], + [ + 0.0002859705127775669, + -0.00020091373880859464, + 0.9999999403953552, + -0.0003874729372910224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999998211860657, + 0.00025605392875149846, + -0.0005882792174816132, + 6.027368826656968e-05 + ], + [ + -0.00025583646493032575, + 0.9999998807907104, + 0.0003696829080581665, + 0.0001858842982591002 + ], + [ + 0.0005883738631382585, + -0.00036953232483938336, + 0.9999997615814209, + -0.0005524108412346858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999998211860657, + 4.4314456317806616e-05, + -0.0005895099020563066, + 9.546748658655868e-05 + ], + [ + -4.40534895460587e-05, + 0.9999998807907104, + 0.00044269373756833375, + 9.306502371841549e-05 + ], + [ + 0.0005895294598303735, + -0.0004426677187439054, + 0.9999997019767761, + -0.000937994509962771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999998211860657, + -0.00011699614697135985, + -0.0006327012670226395, + 0.0001867625359605596 + ], + [ + 0.00011730048572644591, + 0.9999998807907104, + 0.000481003982713446, + 7.057040150838849e-05 + ], + [ + 0.0006326449220068753, + -0.00048107808106578887, + 0.9999997019767761, + -0.001337841733395323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999997019767761, + -0.0005319613846950233, + -0.0005915404763072729, + 0.00031609261664105394 + ], + [ + 0.0005322561482898891, + 0.9999997615814209, + 0.0004982849350199103, + 9.382654859698104e-05 + ], + [ + 0.0005912752822041512, + -0.0004985996056348085, + 0.9999997019767761, + -0.0017060086224684676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999999463558197, + -0.0008804386598058045, + -0.0005736188613809645, + 0.0005690159394255127 + ], + [ + 0.0008807412232272327, + 0.999999463558197, + 0.000527509895619005, + 0.00013388400479658123 + ], + [ + 0.0005731541314162314, + -0.0005280147888697684, + 0.9999997019767761, + -0.0021295606247697246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999989867210388, + -0.001365739619359374, + -0.00046193701564334333, + 0.0007113607386475219 + ], + [ + 0.0013660104013979435, + 0.9999988675117493, + 0.0005863537080585957, + 0.0003355017186407292 + ], + [ + 0.0004611356707755476, + -0.0005869840970262885, + 0.9999997019767761, + -0.002477782542415548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999986886978149, + -0.0015857677208259702, + -0.00029334271675907075, + 0.0010373427704953608 + ], + [ + 0.0015859693521633744, + 0.9999985098838806, + 0.0006882752641104162, + 0.00022359468823517946 + ], + [ + 0.00029225085745565593, + -0.0006887396448291838, + 0.9999997019767761, + -0.0028747131545827087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999994039535522, + -0.001075500389561057, + -5.2751620387425646e-05, + 0.0011352455611385642 + ], + [ + 0.0010755332186818123, + 0.9999992251396179, + 0.0006269499426707625, + 0.0005900112006416106 + ], + [ + 5.207729191170074e-05, + -0.0006270062876865268, + 0.9999998211860657, + -0.0032025279340279454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999999403953552, + -0.00038851378485560417, + 0.00015193287981674075, + 0.0012598613373519779 + ], + [ + 0.00038839998887851834, + 0.9999996423721313, + 0.0007484423695132136, + 0.0007269696735402606 + ], + [ + -0.00015222359797917306, + -0.0007483833469450474, + 0.9999997019767761, + -0.00348113069319915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999998807907104, + -5.467627488542348e-05, + 0.0004938338533975184, + 0.0011580423996658247 + ], + [ + 5.4190932132769376e-05, + 0.9999995231628418, + 0.0009827656904235482, + 0.000927532614293216 + ], + [ + -0.0004938874044455588, + -0.000982738914899528, + 0.9999994039535522, + -0.0038478628444649724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999995231628418, + -0.00021750877203885466, + 0.0009240994695574045, + 0.0014909443157889387 + ], + [ + 0.00021641903731506318, + 0.9999992847442627, + 0.0011791718425229192, + 0.001038178987116279 + ], + [ + -0.0009243552340194583, + -0.0011789713753387332, + 0.9999988675117493, + -0.0040131320464698705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999995231628418, + -0.00019485139637254179, + 0.0009827553294599056, + 0.0015083517867834398 + ], + [ + 0.0001936146873049438, + 0.9999991655349731, + 0.0012583447387441993, + 0.0009663847725331674 + ], + [ + -0.0009829998016357422, + -0.001258153817616403, + 0.9999987483024597, + -0.004541006491647339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999988675117493, + -0.000559321022592485, + 0.0014007317367941141, + 0.0016155879850974124 + ], + [ + 0.0005572098307311535, + 0.9999986886978149, + 0.001507116132415831, + 0.0009031648168970338 + ], + [ + -0.0014015729539096355, + -0.001506333821453154, + 0.9999978542327881, + -0.0047434718603743065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999983310699463, + -0.0008178612915799022, + 0.001619419432245195, + 0.00177341494589414 + ], + [ + 0.0008152223890647292, + 0.9999983310699463, + 0.0016295254463329911, + 0.0009686393990277258 + ], + [ + -0.0016207493608817458, + -0.0016282025026157498, + 0.9999973773956299, + -0.005237043383257355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999980330467224, + -0.0010243115248158574, + 0.0017145954770967364, + 0.001972814813694533 + ], + [ + 0.001021448872052133, + 0.9999980926513672, + 0.0016696375096216798, + 0.0009920925509148077 + ], + [ + -0.001716302358545363, + -0.0016678828978911042, + 0.9999971389770508, + -0.005633460970449389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999969005584717, + -0.0013215726939961314, + 0.0021000702399760485, + 0.0017548106979423514 + ], + [ + 0.0013180429814383388, + 0.9999977350234985, + 0.0016812592511996627, + 0.001122560675139539 + ], + [ + -0.0021022872533649206, + -0.0016784860054031014, + 0.9999963641166687, + -0.006311869015917182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999966025352478, + -0.001526239444501698, + 0.0021004111040383577, + 0.001971109817489324 + ], + [ + 0.0015225884271785617, + 0.9999973177909851, + 0.0017387032276019454, + 0.0011472540821962278 + ], + [ + -0.002103059319779277, + -0.0017354992451146245, + 0.9999963045120239, + -0.0064949333229485685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999964833259583, + -0.0014453823678195477, + 0.0022327930200845003, + 0.0020777682044461152 + ], + [ + 0.0014413725584745407, + 0.9999973773956299, + 0.001796447904780507, + 0.0013090790547293557 + ], + [ + -0.0022353834938257933, + -0.001793223200365901, + 0.9999958872795105, + -0.006996815061817567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999959468841553, + -0.0016274151857942343, + 0.0023412660229951143, + 0.002140549963394947 + ], + [ + 0.0016228831373155117, + 0.9999967813491821, + 0.0019362978637218475, + 0.0013162417556433117 + ], + [ + -0.002344409702345729, + -0.0019324903842061758, + 0.9999954104423523, + -0.007409090934065627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999948740005493, + -0.0020642653107643127, + 0.0024569269735366106, + 0.002356612621053286 + ], + [ + 0.0020594503730535507, + 0.9999959468841553, + 0.001960654743015766, + 0.001576769577941912 + ], + [ + -0.0024609642568975687, + -0.0019555846229195595, + 0.9999950528144836, + -0.007888487751102622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999943971633911, + -0.002301930682733655, + 0.0024415331427007914, + 0.0026768386357135195 + ], + [ + 0.0022968535777181387, + 0.9999951720237732, + 0.002080162288621068, + 0.0015927336578184337 + ], + [ + -0.002446309896185994, + -0.002074542688205838, + 0.9999948740005493, + -0.008249190015097461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999945759773254, + -0.001920277951285243, + 0.002673517446964979, + 0.0025137328832665934 + ], + [ + 0.001914765452966094, + 0.9999960660934448, + 0.0020628925412893295, + 0.0017211296855855515 + ], + [ + -0.002677468117326498, + -0.00205776235088706, + 0.9999942779541016, + -0.008832017845455923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999947547912598, + -0.0017213894752785563, + 0.0027508982457220554, + 0.0024481124217238495 + ], + [ + 0.0017156883841380477, + 0.9999963641166687, + 0.002073467243462801, + 0.0016829742159804 + ], + [ + -0.002754457760602236, + -0.0020687365904450417, + 0.9999940395355225, + -0.009478335928938845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999942183494568, + -0.0019017234444618225, + 0.00281855883076787, + 0.002082097772097982 + ], + [ + 0.001895219786092639, + 0.9999955296516418, + 0.0023083470296114683, + 0.0015657242694550066 + ], + [ + -0.0028229360468685627, + -0.0023029919248074293, + 0.9999933838844299, + -0.010117642092975039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999938011169434, + -0.0022737726103514433, + 0.002695554867386818, + 0.0021364257953987984 + ], + [ + 0.002267075004056096, + 0.9999943375587463, + 0.0024851954076439142, + 0.001677607407784272 + ], + [ + -0.002701190300285816, + -0.0024790687020868063, + 0.9999932646751404, + -0.01048281592609105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999939203262329, + -0.001997763989493251, + 0.0028648003935813904, + 0.0019621711635195156 + ], + [ + 0.001990021439269185, + 0.9999943375587463, + 0.002703031525015831, + 0.0015467488563016933 + ], + [ + -0.0028701843693852425, + -0.0026973141357302666, + 0.9999922513961792, + -0.010819144993472626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.999994695186615, + -0.0015417226823046803, + 0.002875565318390727, + 0.0018880985202450378 + ], + [ + 0.001533699338324368, + 0.9999949336051941, + 0.0027903285808861256, + 0.0016228958608253913 + ], + [ + -0.0028798526618629694, + -0.00278590340167284, + 0.9999919533729553, + -0.011276252838034257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999949932098389, + -0.0011982294963672757, + 0.002935572527348995, + 0.00178826657470827 + ], + [ + 0.0011891665635630488, + 0.9999945163726807, + 0.0030870630871504545, + 0.0015976439605640503 + ], + [ + -0.002939255442470312, + -0.0030835566576570272, + 0.9999909400939941, + -0.011765609839565906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999956488609314, + -0.0006279692752286792, + 0.0028795567341148853, + 0.0019391964888200164 + ], + [ + 0.0006181616336107254, + 0.9999940395355225, + 0.0034055798314511776, + 0.002098429996027228 + ], + [ + -0.0028816782869398594, + -0.0034037851728498936, + 0.9999900460243225, + -0.012190923341276015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999959468841553, + -0.0005203551845625043, + 0.002804323099553585, + 0.002152345422198813 + ], + [ + 0.000509489793330431, + 0.9999923706054688, + 0.0038738246075809, + 0.00237532667975471 + ], + [ + -0.002806317526847124, + -0.0038723801262676716, + 0.9999885559082031, + -0.012262444005475617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9999957084655762, + 9.047434286912903e-05, + 0.002934876596555114, + 0.0018428109791677665 + ], + [ + -0.00010373548866482452, + 0.9999898076057434, + 0.004518632777035236, + 0.0025748567445678452 + ], + [ + -0.00293443794362247, + -0.004518917761743069, + 0.9999854564666748, + -0.01285320617915953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9999957084655762, + 0.0006192305590957403, + 0.0028601211961358786, + 0.0018256729657022174 + ], + [ + -0.0006335877114906907, + 0.9999871850013733, + 0.005021599121391773, + 0.0026704136487644384 + ], + [ + -0.0028569751884788275, + -0.005023390054702759, + 0.9999833106994629, + -0.012940669109058733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999951124191284, + 0.0012230672873556614, + 0.0028743583243340254, + 0.0017146351553189259 + ], + [ + -0.0012392164207994938, + 0.9999834299087524, + 0.005623305216431618, + 0.002757794487600525 + ], + [ + -0.0028674330096691847, + -0.0056268395856022835, + 0.9999800324440002, + -0.013327573177715143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999940991401672, + 0.0018557795556262136, + 0.002894832519814372, + 0.0016381992272548743 + ], + [ + -0.00187316641677171, + 0.9999801516532898, + 0.006015091203153133, + 0.0028436439974671777 + ], + [ + -0.002883612411096692, + -0.006020477972924709, + 0.999977707862854, + -0.013671337795790797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999933838844299, + 0.002255101455375552, + 0.0028478773310780525, + 0.001446562771247152 + ], + [ + -0.0022752766963094473, + 0.9999722242355347, + 0.00710105849429965, + 0.0024274516932885435 + ], + [ + -0.0028317845426499844, + -0.007107491139322519, + 0.9999707341194153, + -0.013955585973556426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9999926686286926, + 0.002436597365885973, + 0.002949671819806099, + 0.0012121531788223223 + ], + [ + -0.00245897239074111, + 0.9999680519104004, + 0.0076058125123381615, + 0.0020911217306503185 + ], + [ + -0.0029310453683137894, + -0.00761300977319479, + 0.9999667406082153, + -0.014390209171117524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9999927282333374, + 0.0025942260399460793, + 0.002801734721288085, + 0.0015037277934835383 + ], + [ + -0.0026174988597631454, + 0.9999618530273438, + 0.008335091173648834, + 0.0017216144887474822 + ], + [ + -0.0027800046373158693, + -0.008342364802956581, + 0.9999613165855408, + -0.01399753753315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9999905824661255, + 0.0033158964943140745, + 0.002807680983096361, + 0.0013590062139829731 + ], + [ + -0.0033412657212466, + 0.9999532103538513, + 0.009079729206860065, + 0.0015344440334421746 + ], + [ + -0.0027774423360824585, + -0.009089023806154728, + 0.9999548196792603, + -0.014581651695291787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9999873042106628, + 0.004118083044886589, + 0.002909161616116762, + 0.0012560081257320503 + ], + [ + -0.0041471971198916435, + 0.9999406337738037, + 0.010073535144329071, + 0.0013341054516643578 + ], + [ + -0.002867505419999361, + -0.010085472837090492, + 0.9999450445175171, + -0.015337512116221821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9999817609786987, + 0.005196367856115103, + 0.0030771594028919935, + 0.0009823857816894921 + ], + [ + -0.005229214671999216, + 0.9999284148216248, + 0.010764294303953648, + 0.0009965619729722247 + ], + [ + -0.0030210039112716913, + -0.010780188255012035, + 0.9999373555183411, + -0.016332767355967972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9999747276306152, + 0.006336743477731943, + 0.003226475790143013, + 0.0006291101583937073 + ], + [ + -0.0063743325881659985, + 0.9999103546142578, + 0.011776442639529705, + 0.0005908573327093002 + ], + [ + -0.003151562064886093, + -0.011796711944043636, + 0.999925434589386, + -0.017521553152405164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9999735951423645, + 0.006302732974290848, + 0.003615729045122862, + -0.00033866729194700137 + ], + [ + -0.006350083276629448, + 0.9998922348022461, + 0.013237271457910538, + 0.0007564917398507104 + ], + [ + -0.0035319081507623196, + -0.013259882107377052, + 0.9999058246612549, + -0.019541834269686805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9999802112579346, + 0.004889429546892643, + 0.003965490963310003, + -0.0008123007486574352 + ], + [ + -0.0049576302990317345, + 0.9998367428779602, + 0.01737496256828308, + 0.0009549226191844425 + ], + [ + -0.003879890078678727, + -0.017394278198480606, + 0.9998411536216736, + -0.02075840330011595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9999873042106628, + 0.003230123780667782, + 0.003874172456562519, + -0.00040510824970517526 + ], + [ + -0.003319503739476204, + 0.9997232556343079, + 0.023290526121854782, + 0.0003811321118572617 + ], + [ + -0.0037978687323629856, + -0.023303091526031494, + 0.9997212290763855, + -0.021001181996646613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9999893307685852, + 0.0024712844751775265, + 0.0039014474023133516, + -0.0013037964594367819 + ], + [ + -0.0025806650519371033, + 0.9995965957641602, + 0.028284355998039246, + -4.876650888107584e-05 + ], + [ + -0.003829974913969636, + -0.028294123709201813, + 0.9995923042297363, + -0.022034656090488405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9999926686286926, + 0.0018433056538924575, + 0.0033518762793391943, + -0.0008649617395884193 + ], + [ + -0.0019534395541995764, + 0.9994482398033142, + 0.03315657004714012, + 0.0007012328374948279 + ], + [ + -0.0032889090944081545, + -0.03316287323832512, + 0.9994445443153381, + -0.023113935263673367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9999940991401672, + 0.0017137096729129553, + 0.0029760238248854876, + -0.0015011488405220648 + ], + [ + -0.0018237924668937922, + 0.9992991089820862, + 0.03738987818360329, + 0.00016940575339557495 + ], + [ + -0.002909862669184804, + -0.037395086139440536, + 0.9992963075637817, + -0.023426821168173132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.999994695186615, + 0.001981552457436919, + 0.002586192451417446, + -0.002110258090382844 + ], + [ + -0.002081330632790923, + 0.9992305636405945, + 0.0391664132475853, + 6.78119162901067e-05 + ], + [ + -0.002506592310965061, + -0.03917159140110016, + 0.999229371547699, + -0.02538643450814062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9999933242797852, + 0.002655438845977187, + 0.0025118112098425627, + -0.0037761843687964276 + ], + [ + -0.0027545925695449114, + 0.9991825222969055, + 0.0403318852186203, + 0.0006286543999415111 + ], + [ + -0.002402659272775054, + -0.040338531136512756, + 0.999183177947998, + -0.02760159699063675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9999880790710449, + 0.003778306534513831, + 0.003100029192864895, + -0.007106368220411241 + ], + [ + -0.003904572920873761, + 0.9991188049316406, + 0.041789647191762924, + 0.0019880274310708048 + ], + [ + -0.002939403522759676, + -0.04180125519633293, + 0.9991216063499451, + -0.031150492280721667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.999979555606842, + 0.005216371268033981, + 0.003699443070217967, + -0.009845954690621618 + ], + [ + -0.005379468202590942, + 0.9989480376243591, + 0.04554050788283348, + 0.0037722697718908975 + ], + [ + -0.0034579948987811804, + -0.04555947706103325, + 0.9989556670188904, + -0.03464473630575573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.999957799911499, + 0.008263494819402695, + 0.0040146298706531525, + -0.011753189426792019 + ], + [ + -0.008451156318187714, + 0.9987519979476929, + 0.049224548041820526, + 0.003942482644582496 + ], + [ + -0.0036028525792062283, + -0.049256399273872375, + 0.9987796545028687, + -0.03729177882858352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9999012351036072, + 0.01186646893620491, + 0.007529034279286861, + -0.014503758923862787 + ], + [ + -0.012246912345290184, + 0.9985365271568298, + 0.05267605558037758, + 0.0055226094253799495 + ], + [ + -0.006892937235534191, + -0.052763063460588455, + 0.9985832571983337, + -0.041656236361493085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9998235106468201, + 0.014500614255666733, + 0.011945638805627823, + -0.0183589284892614 + ], + [ + -0.015151485800743103, + 0.9982972741127014, + 0.05632919445633888, + 0.006051599102861741 + ], + [ + -0.011108491569757462, + -0.05650024488568306, + 0.9983407855033875, + -0.045972089520564266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9997400641441345, + 0.017316173762083054, + 0.01483236439526081, + -0.02113969240556745 + ], + [ + -0.01815749704837799, + 0.9981161952018738, + 0.05860314518213272, + 0.00651704494056164 + ], + [ + -0.013789640739560127, + -0.058857232332229614, + 0.9981711506843567, + -0.04986220033583688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9996517300605774, + 0.018884917721152306, + 0.018432999029755592, + -0.02408931743737091 + ], + [ + -0.01996445097029209, + 0.9979833960533142, + 0.06025400012731552, + 0.006653389893472195 + ], + [ + -0.01725793443620205, + -0.060601018369197845, + 0.9980128407478333, + -0.054267672646571605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9995655417442322, + 0.02024076133966446, + 0.021426524966955185, + -0.025694478270323836 + ], + [ + -0.02151092141866684, + 0.9979174733161926, + 0.06081094965338707, + 0.006709318735874167 + ], + [ + -0.0201510451734066, + -0.06124543026089668, + 0.9979193210601807, + -0.05880153453817555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9994807839393616, + 0.02069070190191269, + 0.024700021371245384, + -0.028743192386429976 + ], + [ + -0.022152893245220184, + 0.9979240894317627, + 0.0604713000357151, + 0.006366916221803894 + ], + [ + -0.023397551849484444, + -0.06098708137869835, + 0.997864305973053, + -0.06428576574898233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9994181394577026, + 0.019488245248794556, + 0.027993135154247284, + -0.03128256199552732 + ], + [ + -0.021115019917488098, + 0.9980320334434509, + 0.05904451385140419, + 0.006722110652310006 + ], + [ + -0.026787370443344116, + -0.05960123613476753, + 0.9978627562522888, + -0.07068734835175908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9992804527282715, + 0.017825081944465637, + 0.03347849100828171, + -0.03563106939123542 + ], + [ + -0.019777849316596985, + 0.9980659484863281, + 0.058933746069669724, + 0.006498713088313154 + ], + [ + -0.03236324340105057, + -0.059553470462560654, + 0.9977003335952759, + -0.07772837444847705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9991061687469482, + 0.016690701246261597, + 0.03883712366223335, + -0.03949675026404507 + ], + [ + -0.018906112760305405, + 0.9981725811958313, + 0.057393938302993774, + 0.006907179648531418 + ], + [ + -0.03780820593237877, + -0.0580768957734108, + 0.9975959062576294, + -0.08480777997596592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9988521337509155, + 0.016250377520918846, + 0.04505981132388115, + -0.044753235441577784 + ], + [ + -0.018744604662060738, + 0.9982829689979553, + 0.055495403707027435, + 0.00677817268844913 + ], + [ + -0.044080618768930435, + -0.05627632886171341, + 0.9974416494369507, + -0.09409360578831505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9985718131065369, + 0.015502371825277805, + 0.05112734064459801, + -0.04906553078223677 + ], + [ + -0.018209826201200485, + 0.9984326362609863, + 0.052921686321496964, + 0.007881675028771747 + ], + [ + -0.05022679641842842, + -0.05377712473273277, + 0.9972889423370361, + -0.10307275249677546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.998223066329956, + 0.015391716733574867, + 0.057565562427043915, + -0.05408866504462911 + ], + [ + -0.01836765743792057, + 0.9985025525093079, + 0.05152997374534607, + 0.009351245949373525 + ], + [ + -0.056686222553253174, + -0.05249575525522232, + 0.9970109462738037, + -0.11218004250058941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9977707266807556, + 0.015368946827948093, + 0.06494168192148209, + -0.060773564502596855 + ], + [ + -0.018690872937440872, + 0.998530924320221, + 0.05085848644375801, + 0.011322733935187845 + ], + [ + -0.0640646442770958, + -0.051958922296762466, + 0.9965921640396118, + -0.12190901698435055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9973674416542053, + 0.013319186866283417, + 0.0712796151638031, + -0.06646023616194725 + ], + [ + -0.016974426805973053, + 0.9985583424568176, + 0.05092277377843857, + 0.012846131652009254 + ], + [ + -0.07049860060214996, + -0.051998645067214966, + 0.9961556792259216, + -0.131933979631639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9969456195831299, + 0.01043558306992054, + 0.07739841938018799, + -0.0736014371116956 + ], + [ + -0.014423130080103874, + 0.9985873103141785, + 0.05114104226231575, + 0.014488824456930161 + ], + [ + -0.07675538957118988, + -0.052101168781518936, + 0.99568772315979, + -0.14264014710982642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9965060353279114, + 0.008235763758420944, + 0.08311360329389572, + -0.080011995585964 + ], + [ + -0.01250196062028408, + 0.9986234307289124, + 0.05094055458903313, + 0.016612729315152938 + ], + [ + -0.08257966488599777, + -0.0518016554415226, + 0.9952372312545776, + -0.15279219781651215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9959263801574707, + 0.007386547978967428, + 0.08986678719520569, + -0.08878445187035729 + ], + [ + -0.011968353763222694, + 0.9986496567726135, + 0.05055290460586548, + 0.01941952540301809 + ], + [ + -0.08937202394008636, + -0.05142252892255783, + 0.9946699738502502, + -0.16396292138333415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9953166246414185, + 0.006203466095030308, + 0.09646919369697571, + -0.09671999410379167 + ], + [ + -0.011115300469100475, + 0.9986640810966492, + 0.050462380051612854, + 0.02153038731684872 + ], + [ + -0.09602728486061096, + -0.05129832774400711, + 0.9940559267997742, + -0.17517133585962597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9946955442428589, + 0.005355997942388058, + 0.10272334516048431, + -0.10592613649718902 + ], + [ + -0.010568615980446339, + 0.9986798763275146, + 0.05026732757687569, + 0.024168918500928317 + ], + [ + -0.10231851041316986, + -0.05108633264899254, + 0.9934390187263489, + -0.18734373362625345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9940670132637024, + 0.004649905487895012, + 0.10867007821798325, + -0.11500191207536879 + ], + [ + -0.010138427838683128, + 0.9986973404884338, + 0.05000850930809975, + 0.026836392778318886 + ], + [ + -0.1082959845662117, + -0.05081355199217796, + 0.9928191900253296, + -0.19908530005052977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9934788942337036, + 0.0027197187300771475, + 0.11398357897996902, + -0.12386174375081764 + ], + [ + -0.008416739292442799, + 0.9987372159957886, + 0.049529675394296646, + 0.029791211683814434 + ], + [ + -0.11370492726564407, + -0.0501660592854023, + 0.9922472238540649, + -0.21079865460302316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9928701519966125, + 0.0006222643423825502, + 0.11919933557510376, + -0.133186833385159 + ], + [ + -0.006505225785076618, + 0.9987789988517761, + 0.048971254378557205, + 0.032611631267868424 + ], + [ + -0.11902332305908203, + -0.04939751699566841, + 0.9916619062423706, + -0.22304286939256332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9923328757286072, + 0.00021539442241191864, + 0.12359370291233063, + -0.1411769067832068 + ], + [ + -0.006217550486326218, + 0.9988192915916443, + 0.04817996546626091, + 0.035645944968450305 + ], + [ + -0.12343740463256836, + -0.04857901111245155, + 0.9911625981330872, + -0.23463477878009573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.99174964427948, + -0.00018633645959198475, + 0.12818986177444458, + -0.148845923677379 + ], + [ + -0.005873357877135277, + 0.9988827109336853, + 0.04689161852002144, + 0.039788117155651836 + ], + [ + -0.1280553638935089, + -0.04725765064358711, + 0.9906404614448547, + -0.2462897845050868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9910829067230225, + -0.0012436754768714309, + 0.13324104249477386, + -0.156910267603748 + ], + [ + -0.004898299928754568, + 0.9989405274391174, + 0.045759014785289764, + 0.0432277053813724 + ], + [ + -0.13315679132938385, + -0.04600363224744797, + 0.9900267124176025, + -0.2576670858789893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9903432130813599, + -0.002160356380045414, + 0.13862061500549316, + -0.16472574373086293 + ], + [ + -0.004026984330266714, + 0.9990084171295166, + 0.04433908313512802, + 0.047581297038670846 + ], + [ + -0.13857895135879517, + -0.04446913301944733, + 0.9893525242805481, + -0.2692687771191784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9895128607749939, + -0.004190757405012846, + 0.14438408613204956, + -0.17230262621945025 + ], + [ + -0.0020193131640553474, + 0.9990800023078918, + 0.042837392538785934, + 0.0518831494538223 + ], + [ + -0.14443078637123108, + -0.04267970845103264, + 0.9885940551757812, + -0.2809745952779171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9886541962623596, + -0.008174290880560875, + 0.14998705685138702, + -0.17944279328426893 + ], + [ + 0.0018947734497487545, + 0.999117374420166, + 0.041962288320064545, + 0.05538151543587446 + ], + [ + -0.15019769966602325, + -0.04120200127363205, + 0.9877970814704895, + -0.29281703470384374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9878119826316833, + -0.012456805445253849, + 0.15515244007110596, + -0.18727863951056611 + ], + [ + 0.006095255725085735, + 0.9991236329078674, + 0.04141038656234741, + 0.05902610253177437 + ], + [ + -0.15553230047225952, + -0.03995998203754425, + 0.9870222210884094, + -0.30423980103988274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9869824647903442, + -0.017347119748592377, + 0.15988954901695251, + -0.19502775325786834 + ], + [ + 0.010847899131476879, + 0.9990824460983276, + 0.04143183305859566, + 0.062256986240618956 + ], + [ + -0.16046157479286194, + -0.03915802761912346, + 0.9862650632858276, + -0.31608756868278276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9862534999847412, + -0.024029091000556946, + 0.16348294913768768, + -0.20178133906687007 + ], + [ + 0.017445534467697144, + 0.9989825487136841, + 0.041587959975004196, + 0.06541931977605119 + ], + [ + -0.16431592404842377, + -0.03816422447562218, + 0.9856691956520081, + -0.32691514141419353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9857112169265747, + -0.029014229774475098, + 0.1659265160560608, + -0.2077539140979449 + ], + [ + 0.022287629544734955, + 0.9988580346107483, + 0.042259249836206436, + 0.06852442879850666 + ], + [ + -0.16696316003799438, + -0.03795730695128441, + 0.9852322340011597, + -0.3379083126783371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9852312207221985, + -0.031308457255363464, + 0.16834251582622528, + -0.21347750233961088 + ], + [ + 0.024345312267541885, + 0.9987667798995972, + 0.04326942563056946, + 0.07090096926572276 + ], + [ + -0.16948960721492767, + -0.038532041013240814, + 0.9847784042358398, + -0.3477229440913481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9847077131271362, + -0.03199430927634239, + 0.1712513566017151, + -0.21937246085966336 + ], + [ + 0.02482367306947708, + 0.9987295866012573, + 0.043851349502801895, + 0.07340420227607383 + ], + [ + -0.17243680357933044, + -0.03892967477440834, + 0.9842510223388672, + -0.358329417775659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9842290282249451, + -0.032017845660448074, + 0.1739771068096161, + -0.22473998315194074 + ], + [ + 0.02468012645840645, + 0.998718798160553, + 0.04417780414223671, + 0.07593885839861982 + ], + [ + -0.1751686930656433, + -0.03918730095028877, + 0.983758270740509, + -0.3678193705923417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9836355447769165, + -0.03142516687512398, + 0.17740783095359802, + -0.23064174709074636 + ], + [ + 0.023973125964403152, + 0.9987441301345825, + 0.04399401694536209, + 0.0788262086427387 + ], + [ + -0.1785675585269928, + -0.03902105987071991, + 0.9831535816192627, + -0.37773170950366003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9830870628356934, + -0.029712233692407608, + 0.18071241676807404, + -0.23568538685931878 + ], + [ + 0.02219414710998535, + 0.9988076090812683, + 0.04348360747098923, + 0.08149399202974404 + ], + [ + -0.18178893625736237, + -0.03873741626739502, + 0.9825742840766907, + -0.3869289624340394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.982450544834137, + -0.02757636271417141, + 0.1844734400510788, + -0.24063337311586913 + ], + [ + 0.020016176626086235, + 0.9988865256309509, + 0.042720261961221695, + 0.0838169590606555 + ], + [ + -0.185446098446846, + -0.038278091698884964, + 0.9819086194038391, + -0.3962489314815577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9817735552787781, + -0.025717778131365776, + 0.1883063018321991, + -0.24497949948497846 + ], + [ + 0.018275020644068718, + 0.9989856481552124, + 0.041155073791742325, + 0.08625222097570989 + ], + [ + -0.18917369842529297, + -0.03696366026997566, + 0.9812476634979248, + -0.40537888770009955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9809156656265259, + -0.024484872817993164, + 0.19288581609725952, + -0.25029528114725563 + ], + [ + 0.01734204962849617, + 0.9991029500961304, + 0.038633331656455994, + 0.08921982591204783 + ], + [ + -0.193658709526062, + -0.03455100208520889, + 0.9804603457450867, + -0.4147425824228455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9801012873649597, + -0.0234035924077034, + 0.19711340963840485, + -0.2544854151705901 + ], + [ + 0.016611989587545395, + 0.9992123246192932, + 0.03603878244757652, + 0.09168575423240077 + ], + [ + -0.19780157506465912, + -0.03204721584916115, + 0.9797180891036987, + -0.4243873360110264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9792217016220093, + -0.02256373129785061, + 0.2015334516763687, + -0.25905264662030864 + ], + [ + 0.01618211530148983, + 0.9993157982826233, + 0.03325708582997322, + 0.0945264030996637 + ], + [ + -0.20214597880840302, + -0.02930482104420662, + 0.9789168834686279, + -0.4323699088657604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9783368706703186, + -0.021836984902620316, + 0.2058643102645874, + -0.2637755379957311 + ], + [ + 0.015807360410690308, + 0.9993978142738342, + 0.03088884986937046, + 0.0966710974188412 + ], + [ + -0.2064148485660553, + -0.026965530589222908, + 0.9780929088592529, + -0.44042581600301406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9776622653007507, + -0.022091170772910118, + 0.2090177834033966, + -0.26708944932210676 + ], + [ + 0.01644599623978138, + 0.999452531337738, + 0.0287078358232975, + 0.09790873414855085 + ], + [ + -0.209537535905838, + -0.02462906390428543, + 0.9774903655052185, + -0.44799195723790747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.977091372013092, + -0.022954296320676804, + 0.21157881617546082, + -0.27051827144973417 + ], + [ + 0.017720751464366913, + 0.9994891285896301, + 0.02659895457327366, + 0.09945007814459648 + ], + [ + -0.21208128333091736, + -0.022240271791815758, + 0.9769989252090454, + -0.4556126447284923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9766486883163452, + -0.022828450426459312, + 0.213626429438591, + -0.2748407522326007 + ], + [ + 0.018104402348399162, + 0.9995469450950623, + 0.024044157937169075, + 0.10146588980877662 + ], + [ + -0.21407853066921234, + -0.019615115597844124, + 0.9766194820404053, + -0.4618344173711889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9763950705528259, + -0.021766049787402153, + 0.21489281952381134, + -0.2790520817917936 + ], + [ + 0.01751772128045559, + 0.999612033367157, + 0.021654458716511726, + 0.10318956383522235 + ], + [ + -0.21528078615665436, + -0.017378875985741615, + 0.9763975739479065, + -0.4683074425248539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9762238264083862, + -0.021267374977469444, + 0.21571913361549377, + -0.28248570703116116 + ], + [ + 0.01741793565452099, + 0.9996535778045654, + 0.019730309024453163, + 0.10404486398249134 + ], + [ + -0.21606403589248657, + -0.01550381537526846, + 0.9762560725212097, + -0.47391591057473537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9760749340057373, + -0.02073247916996479, + 0.2164437472820282, + -0.2852802976965904 + ], + [ + 0.017352530732750893, + 0.9996961951255798, + 0.017504829913377762, + 0.10528687443584203 + ], + [ + -0.2167409062385559, + -0.013330180197954178, + 0.976138174533844, + -0.4792667657136917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9758886098861694, + -0.021503882482647896, + 0.21720737218856812, + -0.2879360372237131 + ], + [ + 0.018592694774270058, + 0.9997079372406006, + 0.015437796711921692, + 0.10677014292016918 + ], + [ + -0.21747592091560364, + -0.011027099564671516, + 0.9760034084320068, + -0.4839593037670734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9757009148597717, + -0.022653697058558464, + 0.21793232858181, + -0.2905400391302857 + ], + [ + 0.020299693569540977, + 0.9997089505195618, + 0.013034665957093239, + 0.10849664105358077 + ], + [ + -0.21816419064998627, + -0.00829397700726986, + 0.9758768081665039, + -0.48840086261431376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.975489616394043, + -0.023147279396653175, + 0.21882474422454834, + -0.2928994552177541 + ], + [ + 0.021207956597208977, + 0.9997122883796692, + 0.011207502335309982, + 0.10884339063811828 + ], + [ + -0.21902120113372803, + -0.006291976198554039, + 0.9756998419761658, + -0.49228401087662754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9751903414726257, + -0.022257033735513687, + 0.220246359705925, + -0.29643826915645133 + ], + [ + 0.020718075335025787, + 0.9997421503067017, + 0.009295179508626461, + 0.1099509364003133 + ], + [ + -0.22039644420146942, + -0.004501489922404289, + 0.9753999710083008, + -0.49599257392041823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9749468564987183, + -0.022334039211273193, + 0.2213139533996582, + -0.299002299823013 + ], + [ + 0.021122321486473083, + 0.9997461438179016, + 0.00784057192504406, + 0.11091350420268581 + ], + [ + -0.2214328944683075, + -0.002969476394355297, + 0.9751710891723633, + -0.49943115991704606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.974751889705658, + -0.02435809001326561, + 0.2219582349061966, + -0.30165043692378435 + ], + [ + 0.0233447328209877, + 0.9997016191482544, + 0.007188284303992987, + 0.11114750510245999 + ], + [ + -0.22206710278987885, + -0.001825238112360239, + 0.975029706954956, + -0.5022833526134491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9747517704963684, + -0.027853067964315414, + 0.22154726088047028, + -0.302701743830945 + ], + [ + 0.027000144124031067, + 0.9996117949485779, + 0.006878064014017582, + 0.11057864423320793 + ], + [ + -0.2216528207063675, + -0.0007225980516523123, + 0.9751253724098206, + -0.504516114236093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9746463298797607, + -0.0315457321703434, + 0.2215161919593811, + -0.3036874512247011 + ], + [ + 0.030985800549387932, + 0.9995018243789673, + 0.006003253161907196, + 0.11138369197792866 + ], + [ + -0.22159519791603088, + 0.0010128072462975979, + 0.9751381874084473, + -0.5065571946256301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9746111631393433, + -0.033691491931676865, + 0.22135485708713531, + -0.3038557150127257 + ], + [ + 0.03337759152054787, + 0.9994295239448547, + 0.005159574095159769, + 0.11168062321444536 + ], + [ + -0.22140242159366608, + 0.0023597129620611668, + 0.9751796722412109, + -0.507838785648346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9744858145713806, + -0.03643481060862541, + 0.22147215902805328, + -0.30477642779256786 + ], + [ + 0.03638235107064247, + 0.99932861328125, + 0.004317775834351778, + 0.1123119227770789 + ], + [ + -0.22148077189922333, + 0.0038500665687024593, + 0.9751571416854858, + -0.5095136014854207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9743601679801941, + -0.03925063833594322, + 0.22154375910758972, + -0.30619164797313075 + ], + [ + 0.03956862911581993, + 0.9992123246192932, + 0.0030045011080801487, + 0.11387317409880422 + ], + [ + -0.22148719429969788, + 0.005838715936988592, + 0.9751458168029785, + -0.5102425835880579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9742578268051147, + -0.040864378213882446, + 0.22170203924179077, + -0.30760138122474445 + ], + [ + 0.04136017709970474, + 0.9991413950920105, + 0.0024078029673546553, + 0.11437614641138627 + ], + [ + -0.22161006927490234, + 0.006823813542723656, + 0.9751114845275879, + -0.5106422347180983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9741857051849365, + -0.04245569929480553, + 0.22171993553638458, + -0.30793518101906076 + ], + [ + 0.04299730435013771, + 0.9990723133087158, + 0.0023856826592236757, + 0.1142378707134448 + ], + [ + -0.22161553800106049, + 0.007209261879324913, + 0.9751074910163879, + -0.5108391185309372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9740447402000427, + -0.04409264773130417, + 0.22201961278915405, + -0.3086583846924352 + ], + [ + 0.044558085501194, + 0.9990025162696838, + 0.0029146026354283094, + 0.11376860578608353 + ], + [ + -0.22192665934562683, + 0.0070538148283958435, + 0.9750378727912903, + -0.5112517311292536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9739847183227539, + -0.044803179800510406, + 0.22214066982269287, + -0.3090663129792494 + ], + [ + 0.045222990214824677, + 0.9989718198776245, + 0.0031989377457648516, + 0.1145627742732519 + ], + [ + -0.222055584192276, + 0.006930147297680378, + 0.9750093817710876, + -0.5118267919210827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9739570617675781, + -0.046244774013757706, + 0.22196641564369202, + -0.3091994285291316 + ], + [ + 0.046522025018930435, + 0.9989093542098999, + 0.003982037305831909, + 0.11456277338313121 + ], + [ + -0.22190847992897034, + 0.006447995081543922, + 0.9750461578369141, + -0.5118882913215488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9738994240760803, + -0.047885436564683914, + 0.22187133133411407, + -0.30920905011395616 + ], + [ + 0.04801560565829277, + 0.998835027217865, + 0.004810351878404617, + 0.11455579837784172 + ], + [ + -0.2218431979417801, + 0.005968485958874226, + 0.9750640988349915, + -0.5116482610503833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9738293886184692, + -0.04928126186132431, + 0.2218732386827469, + -0.3108203174436794 + ], + [ + 0.049240268766880035, + 0.9987705945968628, + 0.005719739478081465, + 0.11422704710789464 + ], + [ + -0.22188232839107513, + 0.005355047527700663, + 0.9750587344169617, + -0.5127376405631795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9737997055053711, + -0.049882929772138596, + 0.2218688726425171, + -0.3117878122072594 + ], + [ + 0.0498436875641346, + 0.9987403154373169, + 0.005779660306870937, + 0.11476169819532729 + ], + [ + -0.22187769412994385, + 0.00543053075671196, + 0.9750593900680542, + -0.5127818468154646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.973879873752594, + -0.0491807721555233, + 0.2216736227273941, + -0.31246890105745373 + ], + [ + 0.049199704080820084, + 0.9987741708755493, + 0.00543988635763526, + 0.11532225766283113 + ], + [ + -0.22166942059993744, + 0.005608479958027601, + 0.9751057624816895, + -0.5129261817417893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9740517139434814, + -0.047391023486852646, + 0.2213083803653717, + -0.31327616278739534 + ], + [ + 0.04737541452050209, + 0.9988626837730408, + 0.005381734576076269, + 0.11520357504829436 + ], + [ + -0.22131171822547913, + 0.005242487881332636, + 0.9751890301704407, + -0.5135644654140753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9741417169570923, + -0.04748069867491722, + 0.22089244425296783, + -0.31452070179523206 + ], + [ + 0.047466013580560684, + 0.9988583922386169, + 0.005377605557441711, + 0.11491632242413129 + ], + [ + -0.22089560329914093, + 0.0052463337779045105, + 0.9752833247184753, + -0.5149411680651645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9743256568908691, + -0.04873392730951309, + 0.21980571746826172, + -0.3148029282981274 + ], + [ + 0.04872202128171921, + 0.9987973570823669, + 0.0054784794338047504, + 0.11410793138772943 + ], + [ + -0.21980836987495422, + 0.005371555220335722, + 0.9755282998085022, + -0.5158869859342482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9748038649559021, + -0.04703512787818909, + 0.2180483490228653, + -0.31429287076872936 + ], + [ + 0.04687952250242233, + 0.9988831877708435, + 0.0058897752314805984, + 0.11337255867855514 + ], + [ + -0.21808184683322906, + 0.004480626434087753, + 0.9759202003479004, + -0.5175433674279382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9753535985946655, + -0.044518373906612396, + 0.2161097377538681, + -0.3145768539651352 + ], + [ + 0.04399261623620987, + 0.9990055561065674, + 0.007245144806802273, + 0.11182781055743131 + ], + [ + -0.21621738374233246, + 0.0024406537413597107, + 0.9763422012329102, + -0.5195148122076895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9759193658828735, + -0.04384411498904228, + 0.21367990970611572, + -0.3143751496193456 + ], + [ + 0.042941223829984665, + 0.9990382194519043, + 0.008867371827363968, + 0.10996214589651893 + ], + [ + -0.21386319398880005, + 0.0005218363367021084, + 0.9768635034561157, + -0.5221700995576148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9766877293586731, + -0.041749075055122375, + 0.21056605875492096, + -0.31398943651686695 + ], + [ + 0.040668100118637085, + 0.9991279244422913, + 0.009463214315474033, + 0.10953931424575036 + ], + [ + -0.21077750623226166, + -0.0006792843341827393, + 0.9775338172912598, + -0.5242046440348905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9774497747421265, + -0.03997514396905899, + 0.20734989643096924, + -0.3154880585623722 + ], + [ + 0.038591332733631134, + 0.9991976022720337, + 0.010716104879975319, + 0.10751009125299021 + ], + [ + -0.20761188864707947, + -0.0024725464172661304, + 0.9782081246376038, + -0.5275938408631904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9782249927520752, + -0.03859778866171837, + 0.20392674207687378, + -0.31623727705548793 + ], + [ + 0.03698503598570824, + 0.999247133731842, + 0.011715222150087357, + 0.10554727811329798 + ], + [ + -0.20422539114952087, + -0.003917887341231108, + 0.9789160490036011, + -0.5315093949144962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9788795113563538, + -0.03728622570633888, + 0.20100918412208557, + -0.3158468584803974 + ], + [ + 0.03566518798470497, + 0.9992955327033997, + 0.011681252159178257, + 0.10575059133527033 + ], + [ + -0.2013031244277954, + -0.0042655086144804955, + 0.9795197248458862, + -0.5370593961547403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9791070222854614, + -0.03727620095014572, + 0.1998998522758484, + -0.31618432376314615 + ], + [ + 0.03566841781139374, + 0.9992958903312683, + 0.01163961086422205, + 0.10547815218485673 + ], + [ + -0.20019298791885376, + -0.004266313277184963, + 0.9797471761703491, + -0.5419070408040402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9791802763938904, + -0.03888498246669769, + 0.1992335319519043, + -0.31475570143437853 + ], + [ + 0.03750359266996384, + 0.9992391467094421, + 0.01070411130785942, + 0.1058363075897682 + ], + [ + -0.19949817657470703, + -0.00300928158685565, + 0.9798935651779175, + -0.547436050457113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9790499210357666, + -0.04107796773314476, + 0.19943390786647797, + -0.3127103972741786 + ], + [ + 0.03981037810444832, + 0.9991534948348999, + 0.010363566689193249, + 0.10495089162278044 + ], + [ + -0.1996908038854599, + -0.002206910401582718, + 0.9798564910888672, + -0.5552477521054885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9787784814834595, + -0.041072290390729904, + 0.20076298713684082, + -0.310493266582489 + ], + [ + 0.04021238908171654, + 0.9991561770439148, + 0.008361157029867172, + 0.10842037672797838 + ], + [ + -0.20093700289726257, + -0.00011056242510676384, + 0.979604184627533, + -0.5601962347825369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9782047271728516, + -0.041952650994062424, + 0.2033604383468628, + -0.3087403036215726 + ], + [ + 0.04143237695097923, + 0.9991180300712585, + 0.006816963665187359, + 0.1108068401601129 + ], + [ + -0.20346707105636597, + 0.0017573211807757616, + 0.9790802001953125, + -0.5660174933134341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9770103693008423, + -0.04402269423007965, + 0.2085970640182495, + -0.31193658253725837 + ], + [ + 0.043398626148700714, + 0.9990291595458984, + 0.007569853216409683, + 0.10912178466644357 + ], + [ + -0.20872780680656433, + 0.0016569998115301132, + 0.9779723882675171, + -0.5759693107184242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9760836362838745, + -0.04484368860721588, + 0.2127199023962021, + -0.3118068271188759 + ], + [ + 0.04427201300859451, + 0.9989917278289795, + 0.007452457677572966, + 0.11010609998381422 + ], + [ + -0.21283961832523346, + 0.002143316436558962, + 0.9770848155021667, + -0.5829701942848224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9759872555732727, + -0.04553968831896782, + 0.21301418542861938, + -0.302071318322537 + ], + [ + 0.04568611457943916, + 0.9989468455314636, + 0.004237587098032236, + 0.1171346492928398 + ], + [ + -0.21298283338546753, + 0.005595958326011896, + 0.9770399332046509, + -0.5881839312759101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9747538566589355, + -0.04772258922457695, + 0.2181227207183838, + -0.3036158368867986 + ], + [ + 0.047839682549238205, + 0.9988437294960022, + 0.004747308325022459, + 0.11663878042839797 + ], + [ + -0.21809706091880798, + 0.005807462614029646, + 0.9759098291397095, + -0.596604090403108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9741184711456299, + -0.047462768852710724, + 0.22099873423576355, + -0.3017113821471439 + ], + [ + 0.04807931184768677, + 0.9988401532173157, + 0.0025917491875588894, + 0.12126310398464328 + ], + [ + -0.2208654284477234, + 0.008100796490907669, + 0.9752706289291382, + -0.5982139838676827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.973479151725769, + -0.049823544919490814, + 0.22328458726406097, + -0.2963083879109107 + ], + [ + 0.05059315264225006, + 0.9987167716026306, + 0.002276170300319791, + 0.12375771910210104 + ], + [ + -0.22311146557331085, + 0.009080865420401096, + 0.9747506380081177, + -0.608929302353485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9722096920013428, + -0.050323713570833206, + 0.22863909602165222, + -0.2993665547931896 + ], + [ + 0.051086824387311935, + 0.9986909031867981, + 0.0025836615823209286, + 0.12387774059658542 + ], + [ + -0.22846978902816772, + 0.009168582037091255, + 0.973507821559906, + -0.6167630595319411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.971245527267456, + -0.050978053361177444, + 0.23255836963653564, + -0.298915769831807 + ], + [ + 0.05163928493857384, + 0.9986605048179626, + 0.003247986314818263, + 0.12505969596974204 + ], + [ + -0.2324124276638031, + 0.00885455496609211, + 0.9725770354270935, + -0.6256656265434097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9706275463104248, + -0.05201864242553711, + 0.23489612340927124, + -0.29264158121511047 + ], + [ + 0.052947305142879486, + 0.9985945224761963, + 0.002356006298214197, + 0.13106559757280217 + ], + [ + -0.23468855023384094, + 0.010150309652090073, + 0.9720176458358765, + -0.6292913129516676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9692384004592896, + -0.054066941142082214, + 0.24011193215847015, + -0.29245585008140873 + ], + [ + 0.05447998642921448, + 0.9985027313232422, + 0.004922259133309126, + 0.12979729487355252 + ], + [ + -0.2400185614824295, + 0.008310453966259956, + 0.9707327485084534, + -0.638870352944907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.966953456401825, + -0.05609850957989693, + 0.24870456755161285, + -0.30149277334704117 + ], + [ + 0.05615408346056938, + 0.9983984231948853, + 0.006876754574477673, + 0.12778203586919928 + ], + [ + -0.24869202077388763, + 0.00731627456843853, + 0.9685549736022949, + -0.6447682149270002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9648348689079285, + -0.05956374108791351, + 0.2560192346572876, + -0.3077257342782675 + ], + [ + 0.059370093047618866, + 0.9981999397277832, + 0.00849226489663124, + 0.12723613522179864 + ], + [ + -0.256064236164093, + 0.007006252184510231, + 0.9666343927383423, + -0.6545622742059184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9626888036727905, + -0.06317547708749771, + 0.26313337683677673, + -0.31431721370009813 + ], + [ + 0.06255822628736496, + 0.9979836344718933, + 0.010732177644968033, + 0.12370963893173371 + ], + [ + -0.2632807791233063, + 0.0061294082552194595, + 0.9646997451782227, + -0.6646389820996452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9611198902130127, + -0.06636720150709152, + 0.26803717017173767, + -0.3168122810037697 + ], + [ + 0.06574397534132004, + 0.9977723956108093, + 0.011310094967484474, + 0.12317655314873976 + ], + [ + -0.2681907117366791, + 0.0067514702677726746, + 0.9633421897888184, + -0.6721823636223289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9598362445831299, + -0.0686873197555542, + 0.27202290296554565, + -0.3183299228256824 + ], + [ + 0.06822198629379272, + 0.9976075291633606, + 0.011179378256201744, + 0.12278039171269127 + ], + [ + -0.2721399664878845, + 0.00782756693661213, + 0.9622258543968201, + -0.6790212308659274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9585754871368408, + -0.07001800090074539, + 0.27609872817993164, + -0.3205749154090881 + ], + [ + 0.07010994106531143, + 0.99749356508255, + 0.009550334885716438, + 0.1237747906241566 + ], + [ + -0.27607542276382446, + 0.010202549397945404, + 0.9610818028450012, + -0.685147450864315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.957547664642334, + -0.07139366865158081, + 0.27929461002349854, + -0.32180952453145795 + ], + [ + 0.07189235091209412, + 0.9973764419555664, + 0.008471392095088959, + 0.12363193792601426 + ], + [ + -0.27916663885116577, + 0.011967379599809647, + 0.9601681232452393, + -0.6900895621262345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9566403031349182, + -0.07247509062290192, + 0.28211110830307007, + -0.3241925930567816 + ], + [ + 0.0735538899898529, + 0.9972681999206543, + 0.006779215764254332, + 0.12380984522215109 + ], + [ + -0.2818317413330078, + 0.014265093952417374, + 0.9593577980995178, + -0.6954656978156053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9561019539833069, + -0.07349596917629242, + 0.28366783261299133, + -0.3246800003682866 + ], + [ + 0.07493829727172852, + 0.9971714019775391, + 0.005779385566711426, + 0.12332042359253939 + ], + [ + -0.28329023718833923, + 0.01573190465569496, + 0.9589051604270935, + -0.6989973422359018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9557282328605652, + -0.07291580736637115, + 0.2850733995437622, + -0.3256137828616535 + ], + [ + 0.07470183074474335, + 0.9971952438354492, + 0.004618620499968529, + 0.12378353589835266 + ], + [ + -0.2846106290817261, + 0.01688135601580143, + 0.9584945440292358, + -0.7023073057917988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.955498993396759, + -0.07165828347206116, + 0.28615862131118774, + -0.32600029689424176 + ], + [ + 0.07375863194465637, + 0.9972701668739319, + 0.003446926362812519, + 0.12366020072196775 + ], + [ + -0.2856244444847107, + 0.01781313121318817, + 0.9581760764122009, + -0.7048312620205037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9552366733551025, + -0.0702124685049057, + 0.2873901426792145, + -0.326780836766257 + ], + [ + 0.07274627685546875, + 0.9973487257957458, + 0.0018664570525288582, + 0.12343653164228753 + ], + [ + -0.28675922751426697, + 0.019123651087284088, + 0.9578117728233337, + -0.7070336407598328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9549208283424377, + -0.06874336302280426, + 0.2887914776802063, + -0.32826591589871573 + ], + [ + 0.07163280248641968, + 0.9974309206008911, + 0.0005647456273436546, + 0.12319128208008467 + ], + [ + -0.2880883812904358, + 0.020147655159235, + 0.9573918581008911, + -0.7093568876677868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9547303915023804, + -0.06849163770675659, + 0.2894800901412964, + -0.3287549921694924 + ], + [ + 0.07185466587543488, + 0.9974146485328674, + -0.0009923875331878662, + 0.12294850526194946 + ], + [ + -0.28866368532180786, + 0.021747956052422523, + 0.9571835398674011, + -0.710198855721483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9548672437667847, + -0.06897549331188202, + 0.2889133095741272, + -0.32945079260012683 + ], + [ + 0.07276058197021484, + 0.9973466396331787, + -0.0023682406172156334, + 0.12319563190343187 + ], + [ + -0.28798335790634155, + 0.02328285574913025, + 0.957352340221405, + -0.7107047138845219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9554368853569031, + -0.06918323785066605, + 0.2869739532470703, + -0.32968940723176093 + ], + [ + 0.07327785342931747, + 0.9973052740097046, + -0.0035388339310884476, + 0.12299330066067769 + ], + [ + -0.2859557867050171, + 0.024409962818026543, + 0.9579318761825562, + -0.7093431812291052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9562063813209534, + -0.06928880512714386, + 0.28437376022338867, + -0.32924088718844396 + ], + [ + 0.07351161539554596, + 0.9972855448722839, + -0.004190095700323582, + 0.12183559949089791 + ], + [ + -0.28331154584884644, + 0.024911370128393173, + 0.9587043523788452, + -0.7073860051585179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9570200443267822, + -0.06823056191205978, + 0.2818816304206848, + -0.3305942078723627 + ], + [ + 0.07250537723302841, + 0.9973567128181458, + -0.004749827086925507, + 0.12035188369233818 + ], + [ + -0.28081244230270386, + 0.024983610957860947, + 0.9594374299049377, + -0.7050592947532149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9581565260887146, + -0.06751136481761932, + 0.27816954255104065, + -0.33079343458601074 + ], + [ + 0.0718654990196228, + 0.9973993301391602, + -0.005473646335303783, + 0.11930543323887476 + ], + [ + -0.2770765721797943, + 0.025235403329133987, + 0.9605163931846619, + -0.7015658390872619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9594470858573914, + -0.06542050838470459, + 0.27419233322143555, + -0.330483805548911 + ], + [ + 0.06992265582084656, + 0.9975301623344421, + -0.006667448207736015, + 0.11878281929712815 + ], + [ + -0.27307891845703125, + 0.02556932158768177, + 0.9616517424583435, + -0.6971547215884807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9609232544898987, + -0.06317915767431259, + 0.26950863003730774, + -0.32883294996093304 + ], + [ + 0.067722387611866, + 0.997675359249115, + -0.007583159953355789, + 0.11792766578933772 + ], + [ + -0.268403023481369, + 0.025538600981235504, + 0.962968111038208, + -0.6900857006802279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9622263312339783, + -0.06078362464904785, + 0.2653787136077881, + -0.32960607561410643 + ], + [ + 0.06529192626476288, + 0.9978325963020325, + -0.00819103978574276, + 0.1156919324104035 + ], + [ + -0.26430565118789673, + 0.025208720937371254, + 0.964109480381012, + -0.6847191925434505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9636563658714294, + -0.057625461369752884, + 0.2608558237552643, + -0.32904698699712753 + ], + [ + 0.06210066005587578, + 0.998029887676239, + -0.008938892744481564, + 0.11388576643851896 + ], + [ + -0.25982680916786194, + 0.02481333538889885, + 0.9653363823890686, + -0.677147333820661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9652250409126282, + -0.056453440338373184, + 0.25525200366973877, + -0.32615306324818555 + ], + [ + 0.06076489016413689, + 0.9981112480163574, + -0.009030209854245186, + 0.11012322688201333 + ], + [ + -0.2542601227760315, + 0.024226544424891472, + 0.9668323993682861, + -0.6716189991025364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9666705131530762, + -0.05667605251073837, + 0.24967171251773834, + -0.32535001737814323 + ], + [ + 0.06107237935066223, + 0.998084306716919, + -0.009890547022223473, + 0.10703335220688114 + ], + [ + -0.24863286316394806, + 0.024808945134282112, + 0.968280017375946, + -0.6611552295731563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9681930541992188, + -0.05486844480037689, + 0.2441139668226242, + -0.3260555824155317 + ], + [ + 0.05964546650648117, + 0.9981448650360107, + -0.012214248068630695, + 0.10517942077142424 + ], + [ + -0.24299092590808868, + 0.026386041194200516, + 0.9696696400642395, + -0.6509275121139545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9698185920715332, + -0.055416181683540344, + 0.2374466508626938, + -0.3254009272684069 + ], + [ + 0.06062179058790207, + 0.9980529546737671, + -0.014672160148620605, + 0.10231233861516503 + ], + [ + -0.23617126047611237, + 0.028623774647712708, + 0.9712897539138794, + -0.6395660957869361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9715765118598938, + -0.05504675209522247, + 0.23023678362369537, + -0.32313006133863736 + ], + [ + 0.06045906990766525, + 0.9980340600013733, + -0.01651376485824585, + 0.09853952217335794 + ], + [ + -0.22887511551380157, + 0.02996428683400154, + 0.9729945063591003, + -0.6312652862831658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9733700156211853, + -0.05603126063942909, + 0.22228655219078064, + -0.31940810680389403 + ], + [ + 0.06182161346077919, + 0.997903048992157, + -0.01917135901749134, + 0.09591913274398037 + ], + [ + -0.220746248960495, + 0.03240294009447098, + 0.9747928977012634, + -0.6195961931172539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9749148488044739, + -0.058506935834884644, + 0.21475102007389069, + -0.3159962691585807 + ], + [ + 0.06475189328193665, + 0.99765545129776, + -0.02215503714978695, + 0.09457698032972128 + ], + [ + -0.21295128762722015, + 0.03550480678677559, + 0.9764175415039062, + -0.6045390325434068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9761280417442322, + -0.06167621910572052, + 0.2082548439502716, + -0.31518301884917654 + ], + [ + 0.0681397020816803, + 0.9973871111869812, + -0.023999489843845367, + 0.09136413587805103 + ], + [ + -0.20623049139976501, + 0.037616997957229614, + 0.9777801036834717, + -0.5943109248198715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9774899482727051, + -0.06127142533659935, + 0.20188908278942108, + -0.31320656217342496 + ], + [ + 0.06794051826000214, + 0.9973435997962952, + -0.026264484971761703, + 0.08951515306481252 + ], + [ + -0.19974352419376373, + 0.039389718323946, + 0.979056179523468, + -0.5876557038987384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9782186150550842, + -0.06143096834421158, + 0.19827909767627716, + -0.3139301534084713 + ], + [ + 0.0680433139204979, + 0.9973249435424805, + -0.026702750474214554, + 0.08717553876340389 + ], + [ + -0.19610832631587982, + 0.03961269184947014, + 0.9797818064689636, + -0.5792522868689369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9788783192634583, + -0.06407173722982407, + 0.19414453208446503, + -0.31327513385491046 + ], + [ + 0.07031292468309402, + 0.9972010254859924, + -0.02542126551270485, + 0.08404944835084618 + ], + [ + -0.19197233021259308, + 0.03853519633412361, + 0.9806435108184814, + -0.56969215203734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9796200394630432, + -0.06704811006784439, + 0.189338818192482, + -0.31299433759322354 + ], + [ + 0.0729069784283638, + 0.9970465302467346, + -0.02414216846227646, + 0.08078986564833744 + ], + [ + -0.187160924077034, + 0.0374542698264122, + 0.9816150069236755, + -0.5599773436784744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9803107976913452, + -0.07001052796840668, + 0.1846327781677246, + -0.3129257913898019 + ], + [ + 0.07563675940036774, + 0.996856153011322, + -0.02359877899289131, + 0.07780719641048242 + ], + [ + -0.1824001669883728, + 0.037099163979291916, + 0.9825242161750793, + -0.5506596355753787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9814494848251343, + -0.07105452567338943, + 0.17806774377822876, + -0.3076942307107589 + ], + [ + 0.0764019712805748, + 0.9968037605285645, + -0.023346496745944023, + 0.07469068208307612 + ], + [ + -0.17583972215652466, + 0.03651813417673111, + 0.9837412238121033, + -0.540532897383559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9822564721107483, + -0.07088378071784973, + 0.17363092303276062, + -0.30765799060463905 + ], + [ + 0.0760672390460968, + 0.9968286752700806, + -0.02337457798421383, + 0.07255430135638545 + ], + [ + -0.17142340540885925, + 0.0361674539744854, + 0.9845333695411682, + -0.5319193486197322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9830736517906189, + -0.07116293162107468, + 0.16882558166980743, + -0.30696686238927 + ], + [ + 0.07602543383836746, + 0.9968518614768982, + -0.022506671026349068, + 0.0684951346970218 + ], + [ + -0.16669245064258575, + 0.034960754215717316, + 0.9853889346122742, + -0.5233629929668763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9841176867485046, + -0.07160152494907379, + 0.16243629157543182, + -0.3029439530024926 + ], + [ + 0.0761953741312027, + 0.9968452453613281, + -0.022221514955163002, + 0.06617715791799128 + ], + [ + -0.16033275425434113, + 0.034245479851961136, + 0.9864687919616699, + -0.513684461514155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9850457310676575, + -0.07226753234863281, + 0.15640424191951752, + -0.302603582453494 + ], + [ + 0.07666902244091034, + 0.9968075156211853, + -0.02228633686900139, + 0.0647870495111919 + ], + [ + -0.15429435670375824, + 0.033944420516490936, + 0.9874416589736938, + -0.5050477501224069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9861469864845276, + -0.07463228702545166, + 0.1481354534626007, + -0.29515968451605124 + ], + [ + 0.07878118753433228, + 0.9966417551040649, + -0.02233206294476986, + 0.06229526156504803 + ], + [ + -0.14597129821777344, + 0.03369298204779625, + 0.9887149333953857, + -0.49531734971439134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9870718121528625, + -0.07416535168886185, + 0.1420869678258896, + -0.29188500644237386 + ], + [ + 0.07818985730409622, + 0.9966743588447571, + -0.02294585108757019, + 0.060084190438775456 + ], + [ + -0.1399126499891281, + 0.03375896438956261, + 0.98958820104599, + -0.4851304313131407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9879987239837646, + -0.0721406564116478, + 0.13658051192760468, + -0.2874680016335903 + ], + [ + 0.07627271860837936, + 0.996766984462738, + -0.025259286165237427, + 0.05993061813653684 + ], + [ + -0.13431672751903534, + 0.0353735089302063, + 0.9903069138526917, + -0.476500570277373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9887574315071106, + -0.07030858844518661, + 0.1319674253463745, + -0.2825092852115631 + ], + [ + 0.07458045333623886, + 0.9968300461769104, + -0.027705857530236244, + 0.05899382387013996 + ], + [ + -0.1296011209487915, + 0.03723656386137009, + 0.9908667802810669, + -0.4695638684665455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9893129467964172, + -0.06810837239027023, + 0.12892292439937592, + -0.2798649199964369 + ], + [ + 0.07248406857252121, + 0.9969316124916077, + -0.02955280989408493, + 0.05683718286819902 + ], + [ + -0.12651453912258148, + 0.038581833243370056, + 0.9912141561508179, + -0.4624341925569609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.989827036857605, + -0.06671242415904999, + 0.12566602230072021, + -0.27614216021462984 + ], + [ + 0.07121676206588745, + 0.9969571828842163, + -0.03169388324022293, + 0.055794833169556135 + ], + [ + -0.12316927313804626, + 0.040320985019207, + 0.9915661811828613, + -0.4550384195411906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9903092980384827, + -0.06756186485290527, + 0.12133806943893433, + -0.27049800183843165 + ], + [ + 0.0720692127943039, + 0.9968487024307251, + -0.033145830035209656, + 0.053764085668851345 + ], + [ + -0.118716299533844, + 0.041569359600543976, + 0.9920576810836792, + -0.44797145356150236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.990845263004303, + -0.06700506806373596, + 0.11720068752765656, + -0.2643957817379166 + ], + [ + 0.07155385613441467, + 0.9968210458755493, + -0.03504025191068649, + 0.053220850024737566 + ], + [ + -0.11448024213314056, + 0.04310562461614609, + 0.9924898743629456, + -0.4391376262786342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9913232922554016, + -0.06589843332767487, + 0.11373439431190491, + -0.25790890088560536 + ], + [ + 0.07046978175640106, + 0.9968404769897461, + -0.03664768487215042, + 0.05254954301624321 + ], + [ + -0.11096002161502838, + 0.044344544410705566, + 0.9928350448608398, + -0.43062266111373904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.991711437702179, + -0.06596160680055618, + 0.11026083678007126, + -0.2508368458598852 + ], + [ + 0.07044713944196701, + 0.9968183040618896, + -0.037288814783096313, + 0.049456413397017646 + ], + [ + -0.10745038837194443, + 0.04474730044603348, + 0.9932029247283936, + -0.42240891737096453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9921424984931946, + -0.0655379518866539, + 0.10657421499490738, + -0.24241030001099786 + ], + [ + 0.0699736550450325, + 0.9968085289001465, + -0.03842441737651825, + 0.04756433897304769 + ], + [ + -0.10371582955121994, + 0.04557988792657852, + 0.9935620427131653, + -0.4132763210172747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9926162362098694, + -0.06405828148126602, + 0.10300292819738388, + -0.2345540852231138 + ], + [ + 0.06841558963060379, + 0.9968810677528381, + -0.03933807462453842, + 0.04478321611589076 + ], + [ + -0.10016173869371414, + 0.0460946187376976, + 0.993902862071991, + -0.4035475178092134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.993131160736084, + -0.06165022403001785, + 0.09944691509008408, + -0.22662048910689706 + ], + [ + 0.06591074913740158, + 0.9970179200172424, + -0.04013843834400177, + 0.04148485522498103 + ], + [ + -0.096675805747509, + 0.04641735553741455, + 0.9942329525947571, + -0.3952669805463622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9938334226608276, + -0.0567559115588665, + 0.09525683522224426, + -0.21782410989205042 + ], + [ + 0.0608578585088253, + 0.9973154067993164, + -0.04072178527712822, + 0.03767284849914265 + ], + [ + -0.09268991649150848, + 0.0462677963078022, + 0.9946194887161255, + -0.38649567061779544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9945377111434937, + -0.051533833146095276, + 0.09076900780200958, + -0.20930605407292938 + ], + [ + 0.055462732911109924, + 0.9976059794425964, + -0.04130617901682854, + 0.03303992183805973 + ], + [ + -0.08842304348945618, + 0.04611485078930855, + 0.9950149655342102, + -0.3779490871464505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9952187538146973, + -0.046724021434783936, + 0.08576996624469757, + -0.19998430460691452 + ], + [ + 0.0504322275519371, + 0.9978612065315247, + -0.04158812016248703, + 0.028147949278354643 + ], + [ + -0.0836433619260788, + 0.0457148477435112, + 0.9954466223716736, + -0.3688891112804413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/a2556aad-e6da-4818-871f-46de6e0df909/tilt_down/transforms.json b/dynpose_eval/camera_controls/a2556aad-e6da-4818-871f-46de6e0df909/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..e8169e264ead9f055bdd0dcd5bf7de50670fa87e --- /dev/null +++ b/dynpose_eval/camera_controls/a2556aad-e6da-4818-871f-46de6e0df909/tilt_down/transforms.json @@ -0,0 +1,7188 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 205, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 6.97937430231832e-05, + 5.229944144957699e-05, + -0.0001302181917708367 + ], + [ + -6.979006138863042e-05, + 1.0, + -7.033456495264545e-05, + 0.00015771843027323484 + ], + [ + -5.230435272096656e-05, + 7.033091242192313e-05, + 1.0, + -8.678555605001748e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999999403953552, + 0.0002841395992924492, + -0.0002855490595441561, + -0.0001707143965177238 + ], + [ + -0.0002837154606822878, + 0.9999988589843906, + 0.001484324618370731, + 0.00021351117175072432 + ], + [ + 0.0002859705127775669, + -0.001484243476958235, + 0.9999988590885218, + 0.00010272311192238703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999998211860657, + 0.0002575629968122639, + -0.0005876200769399752, + 5.969694393570535e-05 + ], + [ + -0.00025583646493032575, + 0.9999956380698909, + 0.002936339231013951, + 0.00018624673248268664 + ], + [ + 0.0005883738631382585, + -0.0029361883423217115, + 0.9999955192474895, + 0.00042798108188435435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999998211860659, + 4.658373010297374e-05, + -0.0005893349232404885, + 9.46005602600053e-05 + ], + [ + -4.4053489546058706e-05, + 0.9999907652227161, + 0.004292671483736131, + 9.371604392072186e-05 + ], + [ + 0.0005895294598303736, + -0.004292644776674196, + 0.9999905865102791, + 0.0005325932870618999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999998211860657, + -0.00011374676084760697, + -0.0006332935070683061, + 0.00018552194524090737 + ], + [ + 0.00011730048572644591, + 0.999984236190118, + 0.005614295818068848, + 7.15135465725325e-05 + ], + [ + 0.0006326449220068753, + -0.0056143689975395586, + 0.9999840569981707, + 0.0006229419959709048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999997019767763, + -0.0005281547502649413, + -0.0005949416859567496, + 0.0003146427625324577 + ], + [ + 0.0005322561482898892, + 0.9999759776487749, + 0.00691488077642329, + 9.504783520242199e-05 + ], + [ + 0.0005912752822041513, + -0.00691519505810056, + 0.9999759160262394, + 0.0007449710392393172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999999463558197, + -0.0008759957481942096, + -0.000580381151449892, + 0.0005673288251273334 + ], + [ + 0.0008807412232272327, + 0.9999657570826536, + 0.008227396033205787, + 0.0001354355044895783 + ], + [ + 0.0005731541314162314, + -0.008227902747289758, + 0.9999659916065343, + 0.0008116149692796171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999989867210388, + -0.0013615348435312064, + -0.0004741870771750531, + 0.0007097756606526673 + ], + [ + 0.0013660104013979435, + 0.9999532505509728, + 0.0095695113770433, + 0.0003375137166585773 + ], + [ + 0.0004611356707755476, + -0.009570149236734138, + 0.9999540793194245, + 0.0009535889839753509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999986886978152, + -0.0015826725565248325, + -0.00030960748168016883, + 0.001036192406900227 + ], + [ + 0.0015859693521633749, + 0.9999387422975327, + 0.010954685995031696, + 0.0002262938069179654 + ], + [ + 0.000292250857455656, + -0.01095516258985367, + 0.999939929560056, + 0.001046854304149747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999994039535522, + -0.001074819387229392, + -6.51698261108485e-05, + 0.0011350128334015608 + ], + [ + 0.0010755332186818123, + 0.9999252839008461, + 0.012176615370409682, + 0.0005927771562710404 + ], + [ + 5.207729191170074e-05, + -0.012176678595834533, + 0.9999258792567686, + 0.0012092359829694033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999999403953552, + -0.0003904315396253016, + 0.00014693459040692714, + 0.0012606061063706875 + ], + [ + 0.00038839998887851834, + 0.9999076919703415, + 0.013581327214818658, + 0.0007306385086849332 + ], + [ + -0.00015222359797917306, + -0.013581268962014238, + 0.9999077523275117, + 0.0014208286302164197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999998807907107, + -6.1641867108913e-05, + 0.0004930128294640164, + 0.001160705229267478 + ], + [ + 5.419093213276939e-05, + 0.9998860123096855, + 0.015098825840074126, + 0.0009328318410553038 + ], + [ + -0.0004938874044455589, + -0.01509879738443999, + 0.9998858934902415, + 0.0015442908043041825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999995231628418, + -0.00023171351653312067, + 0.000920640397661314, + 0.0014963801950216293 + ], + [ + 0.00021641903731506318, + 0.9998625492410028, + 0.01657837629427277, + 0.0010451152920722961 + ], + [ + -0.0009243552340194583, + -0.01657816942574769, + 0.9998621351450291, + 0.0018692142330110073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999995231628418, + -0.00021121911612825676, + 0.0009793679539540669, + 0.001514614443294704 + ], + [ + 0.0001936146873049438, + 0.999839010362454, + 0.017940676117492386, + 0.0009744036360643804 + ], + [ + -0.0009829998016357422, + -0.01794047826244381, + 0.9998385963730495, + 0.0018315345514565706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999988675117493, + -0.000584395818143672, + 0.0013904570948117553, + 0.0016252008499577641 + ], + [ + 0.0005572098307311535, + 0.9998102171172474, + 0.019472507397579882, + 0.0009135077707469463 + ], + [ + -0.0014015729539096355, + -0.019471710221165305, + 0.9998093968416306, + 0.002119258511811495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999983310699463, + -0.0008488815885192304, + 0.0016033765741307194, + 0.0017853224417194724 + ], + [ + 0.0008152223890647292, + 0.9997816903628739, + 0.02087795753929083, + 0.0009806212037801743 + ], + [ + -0.0016207493608817458, + -0.020876616483627663, + 0.9997807623302835, + 0.0021158785093575716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999980330467224, + -0.001059299403705006, + 0.0016932030366324622, + 0.001986262621358037 + ], + [ + 0.001021448872052133, + 0.9997530118226683, + 0.02220108887621452, + 0.0010051877470687032 + ], + [ + -0.001716302358545363, + -0.022199315053666117, + 0.9997520943747986, + 0.0022096538450568914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999969005584717, + -0.0013670709863326093, + 0.002070740523744304, + 0.001772311283275485 + ], + [ + 0.0013180429814383388, + 0.9997230861651324, + 0.023495694781385357, + 0.0011365711688995361 + ], + [ + -0.0021022872533649206, + -0.02349289228937131, + 0.9997217760825795, + 0.0020214340183883905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999966025352478, + -0.0015743473243060443, + 0.002064597818067937, + 0.001989642856642604 + ], + [ + 0.0015225884271785617, + 0.9996903662394462, + 0.024836069055312427, + 0.0011625955812633038 + ], + [ + -0.002103059319779277, + -0.024832842523013984, + 0.99968942723606, + 0.00232856348156929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999964833259583, + -0.0014993901318284342, + 0.002196889640450156, + 0.002098563825711608 + ], + [ + 0.0014413725584745407, + 0.9996563218761789, + 0.02617671018675944, + 0.0013258106773719192 + ], + [ + -0.0022353834938257933, + -0.026173450110599104, + 0.9996549108240752, + 0.0023168721236288548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999959468841553, + -0.0016869649216472427, + 0.0022987292425417907, + 0.0021635035518556833 + ], + [ + 0.0016228831373155117, + 0.9996177204040484, + 0.0275993661585708, + 0.0013352250680327415 + ], + [ + -0.002344409702345729, + -0.027595524750458716, + 0.9996164476631028, + 0.002394785638898611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999948740005493, + -0.002129721731305559, + 0.002400409709554081, + 0.0023819045163691044 + ], + [ + 0.0020594503730535507, + 0.9995799876576476, + 0.028906508369172468, + 0.0015969527885317802 + ], + [ + -0.0024609642568975687, + -0.028901415997971962, + 0.9995792305355147, + 0.0024055789690464735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999943971633911, + -0.0023699365895507693, + 0.002375577722686737, + 0.0027031688950955868 + ], + [ + 0.0022968535777181387, + 0.99953791975463, + 0.030308713575301727, + 0.001615166780538857 + ], + [ + -0.002446309896185994, + -0.030303087801426768, + 0.9995377804887812, + 0.002535068430006504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999945759773254, + -0.0019983431912800977, + 0.002615681066048165, + 0.0025438754819333553 + ], + [ + 0.001914765452966094, + 0.9994996039364906, + 0.031574189756836284, + 0.0017443877877667546 + ], + [ + -0.002677468117326498, + -0.03156900902893249, + 0.9994979679798097, + 0.002442427445203066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999947547912598, + -0.0018052871267438893, + 0.0026965832592243943, + 0.0024804759304970503 + ], + [ + 0.0017156883841380477, + 0.9994582330092856, + 0.0328674304277545, + 0.001707367948256433 + ], + [ + -0.002754457760602236, + -0.0328626304327797, + 0.999456055211379, + 0.002286299830302596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.999994218349457, + -0.0019911578109946767, + 0.002756105316099182, + 0.002116638934239745 + ], + [ + 0.0018952197860926394, + 0.9994068617766062, + 0.0343847702204421, + 0.0015940128359943628 + ], + [ + -0.002822936046868563, + -0.034379349040107414, + 0.9994048888933941, + 0.002137178787961602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999938011169436, + -0.00236243178128525, + 0.0026182005281205232, + 0.0021707809064537287 + ], + [ + 0.0022670750040560965, + 0.9993548206287199, + 0.035844020866936624, + 0.0017092814669013023 + ], + [ + -0.0027011903002858166, + -0.035837861779759596, + 0.9993539527316286, + 0.002262196270748973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999939203262329, + -0.0020958100743675, + 0.002793872292170809, + 0.0020000876393169165 + ], + [ + 0.001990021439269185, + 0.9993004514916307, + 0.03734419871417633, + 0.00158252427354455 + ], + [ + -0.0028701843693852425, + -0.03733841248584416, + 0.9992985646487155, + 0.002416046569123864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.999994695186615, + -0.0016440336251341595, + 0.0028183218710595382, + 0.001927567063830793 + ], + [ + 0.001533699338324368, + 0.9992491631394558, + 0.03871386230723026, + 0.0016611944884061813 + ], + [ + -0.0028798526618629694, + -0.03870933291821786, + 0.9992463438078966, + 0.0024491269141435623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999949932098389, + -0.0013066265241560926, + 0.0028889560598358895, + 0.0018299977527931333 + ], + [ + 0.0011891665635630488, + 0.9991871997915166, + 0.04029271034223309, + 0.0016415286809206009 + ], + [ + -0.002939255442470312, + -0.040289073274653364, + 0.9991837564564391, + 0.002449947642162442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999956488609314, + -0.0007383392206359038, + 0.00285325210783912, + 0.0019815429113805294 + ], + [ + 0.0006181616336107254, + 0.9991219318288257, + 0.041893226411864444, + 0.002148512052372098 + ], + [ + -0.0028816782869398594, + -0.04189127937131697, + 0.9991180103540641, + 0.0025148126296699047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999959468841553, + -0.0006314790871463416, + 0.002781408227371115, + 0.0021949601359665394 + ], + [ + 0.000509489793330431, + 0.9990470552597119, + 0.04364320294311125, + 0.0024341936223208904 + ], + [ + -0.002806317526847124, + -0.04364160788375305, + 0.9990433010318104, + 0.002933460520580411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9999957084655762, + -3.0093380230918052e-05, + 0.002936116590360609, + 0.001888848259113729 + ], + [ + -0.00010373548866482452, + 0.9989611904886598, + 0.04556943334105715, + 0.0026457372587174177 + ], + [ + -0.00293443794362247, + -0.04556953944935117, + 0.9989568313180383, + 0.002832840196788311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9999957084655762, + 0.0004975856968742814, + 0.002883773260187057, + 0.0018719396321102977 + ], + [ + -0.0006335877114906907, + 0.9988779727946662, + 0.04735379700008193, + 0.0027516453992575407 + ], + [ + -0.0028569751884788275, + -0.04735542230033976, + 0.9988740261433655, + 0.0032355315051972866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999951124191284, + 0.0010965254491317167, + 0.0029249720178959543, + 0.0017625411273911595 + ], + [ + -0.0012392164207994938, + 0.9987863821331564, + 0.04923661766399518, + 0.002851516241207719 + ], + [ + -0.0028674330096691847, + -0.04924000047389846, + 0.9987828337350199, + 0.003338760696351528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999940991401672, + 0.0017239256484834072, + 0.002975240063483301, + 0.0016878654714673758 + ], + [ + -0.00187316641677171, + 0.9987015061248218, + 0.05090959326817836, + 0.0029468440916389227 + ], + [ + -0.002883612411096692, + -0.050914864875207695, + 0.9986988229253148, + 0.0034851424861699343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999933838844302, + 0.002121170380351478, + 0.0029489869590123246, + 0.0014968194300308824 + ], + [ + -0.0022752766963094477, + 0.9985772772340354, + 0.053275657350826455, + 0.0025527644902467728 + ], + [ + -0.002831784542649985, + -0.05328201431333882, + 0.998575491626112, + 0.0036909563932567835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9999926686286928, + 0.0022938437395353794, + 0.0030620012192347406, + 0.001265652128495276 + ], + [ + -0.0024589723907411103, + 0.9984799587247155, + 0.0550611046978244, + 0.0022290702909231186 + ], + [ + -0.0029310453683137902, + -0.05506823160507211, + 0.9984783072797901, + 0.003746442496776581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9999927282333376, + 0.0024545650925790093, + 0.002924865193662461, + 0.0015559169696643949 + ], + [ + -0.002617498859763146, + 0.9983667331167824, + 0.057070548100361274, + 0.0018768759910017252 + ], + [ + -0.0027800046373158698, + -0.05707778693234561, + 0.9983658427434804, + 0.004629192873835564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9999905824661255, + 0.0031712787727798462, + 0.002970056061619254, + 0.00141268246807158 + ], + [ + -0.0033412657212466, + 0.9982467853086773, + 0.059095008252264276, + 0.0017080270918086171 + ], + [ + -0.0027774423360824585, + -0.059104371725470596, + 0.9982479276194207, + 0.004535131622105837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9999873042106628, + 0.003963387422152819, + 0.0031166311002732297, + 0.0013130505103617907 + ], + [ + -0.0041471971198916435, + 0.9981065720248772, + 0.061367891140309765, + 0.0015316257486119866 + ], + [ + -0.002867505419999361, + -0.06138003942624698, + 0.9981103644274611, + 0.004269253462553024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9999817609786987, + 0.005027341646984468, + 0.0033461896018259886, + 0.0010442306520417333 + ], + [ + -0.005229214671999216, + 0.9979784642278693, + 0.0633379012671921, + 0.0012129031820222735 + ], + [ + -0.0030210039112716913, + -0.06335424343364411, + 0.9979865566523314, + 0.0037640128284692764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9999747276306152, + 0.006153718518611631, + 0.003563174472384643, + 0.0006955376011319458 + ], + [ + -0.0063743325881659985, + 0.9978237967610029, + 0.06562829026806868, + 0.0008333135046996176 + ], + [ + -0.003151562064886093, + -0.06564934255180908, + 0.9978377628522477, + 0.0030651469714939594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9999735951423645, + 0.00609371264850784, + 0.00395785366459825, + -0.0002624533954076469 + ], + [ + -0.006350083276629448, + 0.9976400877947814, + 0.06836637915160503, + 0.0010355126578360796 + ], + [ + -0.0035319081507623196, + -0.06838970493440018, + 0.9976524098722918, + 0.0015346120344474912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9999802112579348, + 0.0046578381598765695, + 0.004235113168560878, + -0.0007267705514095724 + ], + [ + -0.004957630299031735, + 0.9972626092266462, + 0.07377458892816346, + 0.0013296767137944698 + ], + [ + -0.003879890078678728, + -0.07379412269997362, + 0.9972659228332766, + 0.000806798052508384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9999873042106628, + 0.003001130373367817, + 0.004054149521622548, + -0.000319648563163355 + ], + [ + -0.003319503739476204, + 0.9967123796773035, + 0.0809534969047001, + 0.0008948937174864113 + ], + [ + -0.0037978687323629856, + -0.08096592439318816, + 0.9967096312506597, + 0.0010514921741560102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9999893307685852, + 0.002236798455232755, + 0.004040454363179891, + -0.0012158226454630494 + ], + [ + -0.0025806650519371033, + 0.9961865990946351, + 0.08721019918442045, + 0.0005890179891139269 + ], + [ + -0.003829974913969636, + -0.08721969668481948, + 0.9961817387515158, + 0.0005051703774370253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9999926686286928, + 0.00163790265418191, + 0.003456895315321614, + -0.0007877371390350163 + ], + [ + -0.001953439554199577, + 0.9956320762607954, + 0.09334297458219352, + 0.0014651342062279582 + ], + [ + -0.0032889090944081554, + -0.09334904354722146, + 0.9956280075369186, + -8.751684072194621e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9999940991401672, + 0.001527252605687139, + 0.0030758768063339796, + -0.0014311247505247593 + ], + [ + -0.0018237924668937922, + 0.995102012297762, + 0.09883672052390594, + 0.00104916759300977 + ], + [ + -0.002909862669184804, + -0.09884174614411373, + 0.9950988955863468, + 8.603312744526193e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.999994695186615, + 0.0018151150636664408, + 0.002705605078904541, + -0.0020481387618929148 + ], + [ + -0.002081330632790923, + 0.994794302299587, + 0.10188239962063506, + 0.0010085738031193614 + ], + [ + -0.002506592310965061, + -0.10188749262634421, + 0.9947927871586227, + -0.0013853368582203984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9999933242797852, + 0.0024889104496755173, + 0.0026769153501953386, + -0.003714620368555188 + ], + [ + -0.0027545925695449114, + 0.9945400589354567, + 0.10431895801604034, + 0.0016171809984371066 + ], + [ + -0.002402659272775054, + -0.10432563229885122, + 0.9945402870844183, + -0.0031118132174015045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9999880790710449, + 0.0035674652802771926, + 0.0033405048629483033, + -0.007028867490589619 + ], + [ + -0.003904572920873761, + 0.9942464411807623, + 0.10704566866450388, + 0.0030327686108648777 + ], + [ + -0.002939403522759676, + -0.10705743503696845, + 0.9942484774011922, + -0.006172452121973038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.999979555606842, + 0.0049580681053984325, + 0.004039055446262775, + -0.009751655161380768 + ], + [ + -0.005379468202590942, + 0.9936877392164454, + 0.1120526512970312, + 0.004933106247335672 + ], + [ + -0.0034579948987811804, + -0.11207208700895507, + 0.9936940866950393, + -0.009181160479784012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9999577999114992, + 0.007971537099632338, + 0.004566967910750086, + -0.011648887768387794 + ], + [ + -0.008451156318187715, + 0.9930971516455135, + 0.11698998644327743, + 0.005221355706453323 + ], + [ + -0.003602852579206229, + -0.11702364368014641, + 0.9931225795127806, + -0.0113430917263031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9999012351036072, + 0.011316642839509661, + 0.008332648860690546, + -0.01430446095764637 + ], + [ + -0.012246912345290184, + 0.9924922459928419, + 0.12169266429006179, + 0.006916975602507591 + ], + [ + -0.006892937235534191, + -0.1217826991204991, + 0.9925328390625198, + -0.01522315014153719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9998235106468201, + 0.013622047231817879, + 0.012938544333899755, + -0.018036864697933197 + ], + [ + -0.015151485800743103, + 0.9918389634798889, + 0.12659342862917386, + 0.007570278365164995 + ], + [ + -0.011108491569757462, + -0.12676712177252183, + 0.9918703032701269, + -0.019056038931012154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9997400641441345, + 0.016206443009702677, + 0.016037459658116475, + -0.02073252946138382 + ], + [ + -0.01815749704837799, + 0.9913317938548064, + 0.13012125976224986, + 0.008125758729875088 + ], + [ + -0.013789640739560127, + -0.13037863710015424, + 0.9913683628421119, + -0.02246142365038395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9996517300605774, + 0.017487246068940338, + 0.01976390132261325, + -0.023574277758598328 + ], + [ + -0.01996445097029209, + 0.9909108929110464, + 0.1330300929853154, + 0.008336957544088364 + ], + [ + -0.01725793443620205, + -0.13337833516562217, + 0.9909148971699794, + -0.026382019743323326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9995655417442322, + 0.018591345622969085, + 0.022872390773509395, + -0.025085292756557465 + ], + [ + -0.02151092141866684, + 0.9906321979710025, + 0.13485215419362553, + 0.00843825750052929 + ], + [ + -0.0201510451734066, + -0.13528556918776247, + 0.990601730688271, + -0.03042931854724884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9994807839393618, + 0.01876300801853541, + 0.026194383577976564, + -0.028028829023241997 + ], + [ + -0.022152893245220188, + 0.9904906120752329, + 0.13578517513724728, + 0.008115841075778008 + ], + [ + -0.023397551849484447, + -0.13629495643290487, + 0.9903919840553677, + -0.03542596474289894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9994181394577026, + 0.01727716410693301, + 0.02940929987373423, + -0.03045923449099064 + ], + [ + -0.021115019917488098, + 0.9905329171725148, + 0.1356419344927147, + 0.008458714000880718 + ], + [ + -0.026787370443344116, + -0.13618398575881197, + 0.9903213163852682, + -0.041338443756103516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9992804527282715, + 0.015152365797503406, + 0.03476993985121578, + -0.03462999686598778 + ], + [ + -0.019777849316596985, + 0.9904005017120016, + 0.13680522710164955, + 0.008260947652161121 + ], + [ + -0.03236324340105057, + -0.13739446128945063, + 0.989987542096991, + -0.04789517819881439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9991061687469482, + 0.013551022397207497, + 0.04004087254840914, + -0.038316406309604645 + ], + [ + -0.018906112760305405, + 0.9904528031036399, + 0.13654966433213334, + 0.00865150522440672 + ], + [ + -0.03780820593237877, + -0.1371846255040861, + 0.9898236694128708, + -0.054488688707351685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9988521337509155, + 0.012558185012306208, + 0.04622502953284984, + -0.04336168244481087 + ], + [ + -0.018744604662060738, + 0.990540105423871, + 0.13593721186946964, + 0.008492001332342625 + ], + [ + -0.044080618768930435, + -0.13664763963380333, + 0.9896384652003816, + -0.06329026073217392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9985718131065371, + 0.01125558342152028, + 0.05222681624835205, + -0.04746153578162193 + ], + [ + -0.01820982620120049, + 0.9907251500851595, + 0.1346555272646185, + 0.00954196322709322 + ], + [ + -0.050226796418428435, + -0.13541425236855228, + 0.9895151307118606, + -0.07178525626659393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.998223066329956, + 0.010541848454777032, + 0.058647833316372515, + -0.05225446820259094 + ], + [ + -0.01836765743792057, + 0.9907371570850071, + 0.1345457956716495, + 0.01099313236773014 + ], + [ + -0.056686222553253174, + -0.1353839387449638, + 0.9891702686795139, + -0.08041253685951233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9977707266807556, + 0.009819877850486535, + 0.06600906435022977, + -0.05867251008749008 + ], + [ + -0.018690872937440872, + 0.9906487515543285, + 0.13515044769069418, + 0.012968155555427074 + ], + [ + -0.0640646442770958, + -0.13608292227142027, + 0.9886238462112211, + -0.08966632932424545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9973674416542055, + 0.007148686647787426, + 0.0721601036299879, + -0.06411918997764587 + ], + [ + -0.016974426805973056, + 0.9904962891938373, + 0.136488070074405, + 0.014518595300614834 + ], + [ + -0.07049860060214998, + -0.13735363275171694, + 0.9880101092158876, + -0.09921710193157196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9969456195831301, + 0.0036501557971758006, + 0.0780134160206885, + -0.07102148979902267 + ], + [ + -0.014423130080103878, + 0.9903301485934198, + 0.13797905388542328, + 0.01619352586567402 + ], + [ + -0.0767553895711899, + -0.13868281116124848, + 0.9873579147036503, + -0.1094505563378334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9965060353279114, + 0.0008534181085757006, + 0.08351628903819631, + -0.07720080018043518 + ], + [ + -0.01250196062028408, + 0.9902059692779253, + 0.13905335274269962, + 0.018335718661546707 + ], + [ + -0.08257966488599777, + -0.1396116242641235, + 0.9867568861437417, + -0.11912976205348969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9959263801574707, + -0.0007053970283546207, + 0.0901670834998358, + -0.08570078760385513 + ], + [ + -0.011968353763222694, + 0.9900875998208777, + 0.13994026517440253, + 0.021154183894395828 + ], + [ + -0.08937202394008636, + -0.14044935622671265, + 0.9860459480650741, + -0.12983208894729614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9953166246414185, + -0.0026000405468667833, + 0.09663347304785985, + -0.0933624878525734 + ], + [ + -0.011115300469100475, + 0.9899297963339594, + 0.14112192247589922, + 0.02328667603433132 + ], + [ + -0.09602728486061096, + -0.14153510453097573, + 0.985264694496101, + -0.14057429134845734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9946955442428589, + -0.0041449643371387354, + 0.10277933462307833, + -0.10230060666799545 + ], + [ + -0.010568615980446339, + 0.9897816001872819, + 0.14219944983706606, + 0.025943059474229813 + ], + [ + -0.10231851041316986, + -0.14253139584489144, + 0.9844875309063092, + -0.15228118002414703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9940670132637026, + -0.005536150843223147, + 0.10862853471712686, + -0.11111322790384293 + ], + [ + -0.01013842783868313, + 0.989639895345795, + 0.1432134995098333, + 0.028625912964344025 + ], + [ + -0.10829598456621173, + -0.14346513375763031, + 0.9837122122574868, + -0.16355794668197632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9934788942337038, + -0.008100888165863303, + 0.11372787150904456, + -0.11972704529762268 + ], + [ + -0.0084167392924428, + 0.9895403908968635, + 0.14401052094678948, + 0.0315878763794899 + ], + [ + -0.1137049272656441, + -0.14402863185359283, + 0.9830192978556972, + -0.17480537295341492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9928701519966125, + -0.010835818982918412, + 0.11870742959658177, + -0.1288045048713684 + ], + [ + -0.006505225785076618, + 0.9894500174381315, + 0.1447284881923615, + 0.034412045031785965 + ], + [ + -0.11902332305908203, + -0.1444688165000121, + 0.9823249014642127, + -0.1865847110748291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9923328757286072, + -0.01182100419642724, + 0.12302728824991106, + -0.1365724354982376 + ], + [ + -0.006217550486326218, + 0.989380624057629, + 0.14521455528734387, + 0.03744088485836983 + ], + [ + -0.12343740463256836, + -0.14486610676843048, + 0.9817214611937305, + -0.1977091133594513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.99174964427948, + -0.012832087407828511, + 0.12754612073985327, + -0.1440073847770691 + ], + [ + -0.005873357877135277, + 0.9893836638646198, + 0.14520833229355837, + 0.04155804589390755 + ], + [ + -0.1280553638935089, + -0.1447594339204785, + 0.9811455119843583, + -0.20889796316623688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9910829067230225, + -0.014552584836630524, + 0.13244978070332386, + -0.1518157571554184 + ], + [ + -0.004898299928754568, + 0.9893672101507105, + 0.145356762047944, + 0.04497731477022171 + ], + [ + -0.13315679132938385, + -0.1447093735473569, + 0.9804735706218176, + -0.21981312334537506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9903432130813601, + -0.016178987380459937, + 0.13769016817308666, + -0.15935759246349335 + ], + [ + -0.004026984330266715, + 0.9893911064162846, + 0.14522055754350552, + 0.049298349767923355 + ], + [ + -0.1385789513587952, + -0.14437267148179703, + 0.9797716329946501, + -0.23095561563968658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9895128607749939, + -0.018966061832563146, + 0.14319432696297074, + -0.166640505194664 + ], + [ + -0.0020193131640553474, + 0.9894290365394799, + 0.14500370637889148, + 0.05356304720044136 + ], + [ + -0.14443078637123108, + -0.14377218808853673, + 0.9790144643336968, + -0.24220620095729828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9886541962623596, + -0.023693221599376806, + 0.14832925370466893, + -0.17348742485046387 + ], + [ + 0.0018947734497487545, + 0.9893701076880904, + 0.14540684826567998, + 0.05704766511917114 + ], + [ + -0.15019769966602325, + -0.1434760415612506, + 0.9781898100923375, + -0.2535956799983978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9878119826316833, + -0.02868494814782161, + 0.15298570329176456, + -0.1810421198606491 + ], + [ + 0.006095255725085735, + 0.9892468830638425, + 0.14612822553747287, + 0.060690637677907944 + ], + [ + -0.15553230047225952, + -0.14341472466876642, + 0.9773647639622168, + -0.2645653784275055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9869824647903442, + -0.03424748033077893, + 0.15713911206128595, + -0.18852244317531586 + ], + [ + 0.010847899131476879, + 0.9890153042481771, + 0.14741458155589285, + 0.06394269317388535 + ], + [ + -0.16046157479286194, + -0.14379098142436486, + 0.9765123039912174, + -0.27596011757850647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9862534999847412, + -0.041478915230457825, + 0.1599486525869265, + -0.1950496882200241 + ], + [ + 0.017445534467697144, + 0.9887091929059685, + 0.14882816572342367, + 0.06713176518678665 + ], + [ + -0.16431592404842377, + -0.14399190614211357, + 0.9758414841830936, + -0.2863287627696991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9857112169265747, + -0.046905680264053375, + 0.16178161644289077, + -0.2008403092622757 + ], + [ + 0.022287629544734955, + 0.9883205278258472, + 0.15075062779704917, + 0.07028523087501526 + ], + [ + -0.16696316003799438, + -0.1449908558759001, + 0.9752440534442052, + -0.29685696959495544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9852312207221985, + -0.049659634021129787, + 0.1638698961960411, + -0.2063807100057602 + ], + [ + 0.024345312267541885, + 0.9879242884003631, + 0.15301282369150074, + 0.0727250725030899 + ], + [ + -0.16948960721492767, + -0.14676354774226544, + 0.9745428080325858, + -0.3062077760696411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9847077131271362, + -0.05087557092315362, + 0.16662034463786587, + -0.2120690941810608 + ], + [ + 0.02482367306947708, + 0.9876253104658972, + 0.1548546871524248, + 0.07527433335781097 + ], + [ + -0.17243680357933044, + -0.14835048504640458, + 0.9737852577132409, + -0.31635400652885437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9842290282249453, + -0.05141991778783028, + 0.16926065162722737, + -0.21723508834838867 + ], + [ + 0.024680126458406455, + 0.9873782586016184, + 0.1564451680906922, + 0.07784456759691238 + ], + [ + -0.17516869306564334, + -0.1498005060167457, + 0.9730754278077587, + -0.3253827393054962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9836355447769167, + -0.051439269143207865, + 0.17267044097587297, + -0.22290189564228058 + ], + [ + 0.02397312596440316, + 0.9872227875746834, + 0.15753246871214968, + 0.08074555546045303 + ], + [ + -0.17856755852699283, + -0.1508150862637921, + 0.9723005800262919, + -0.33483922481536865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9830870628356936, + -0.05034013020850799, + 0.17608425737623679, + -0.22771278023719788 + ], + [ + 0.022194147109985355, + 0.9871416856664593, + 0.15829957832196603, + 0.08341238647699356 + ], + [ + -0.1817889362573624, + -0.15171423073374438, + 0.9715634839477877, + -0.34358009696006775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.982450544834137, + -0.048882966356936876, + 0.18000378180740836, + -0.2324044108390808 + ], + [ + 0.020016176626086235, + 0.9871050445399314, + 0.15881732560689898, + 0.08572261780500412 + ], + [ + -0.185446098446846, + -0.15242718464586014, + 0.9707603733901577, + -0.35244810581207275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9817735552787783, + -0.047719766289900205, + 0.18396600590046722, + -0.2364872545003891 + ], + [ + 0.01827502064406872, + 0.9871832161975979, + 0.1585413604604827, + 0.08810823410749435 + ], + [ + -0.18917369842529302, + -0.15228972881975955, + 0.9700624349992609, + -0.36112654209136963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9809156656265259, + -0.04727694842271818, + 0.18859834886937576, + -0.24150195717811584 + ], + [ + 0.01734204962849617, + 0.987395665099431, + 0.15731827531638137, + 0.09098105132579803 + ], + [ + -0.193658709526062, + -0.15104527519635516, + 0.9693717481774081, + -0.37004512548446655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9801012873649599, + -0.0469542725266011, + 0.19286451381309416, + -0.2454027384519577 + ], + [ + 0.0166119895875454, + 0.9876137702331338, + 0.1560227687143467, + 0.09334636479616165 + ], + [ + -0.19780157506465917, + -0.14971426061864931, + 0.9687415539389734, + -0.3792434632778168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9792217016220093, + -0.04690565710291424, + 0.19729347035930175, + -0.24966751039028168 + ], + [ + 0.01618211530148983, + 0.9878537287713094, + 0.15454160930881686, + 0.096075139939785 + ], + [ + -0.20214597880840302, + -0.14813787501920722, + 0.9680868800170561, + -0.38678309321403503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9783368706703186, + -0.046969784884042326, + 0.2016204539680892, + -0.25408780574798584 + ], + [ + 0.015807360410690308, + 0.9880270102456112, + 0.15346901722070344, + 0.09812469035387039 + ], + [ + -0.2064148485660553, + -0.14695731129192235, + 0.9673657151556294, + -0.39439791440963745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.977662265300751, + -0.04787225163301237, + 0.20465752155386974, + -0.2571508586406708 + ], + [ + 0.016445996239781383, + 0.9881543375217731, + 0.15257951196663216, + 0.09927376359701157 + ], + [ + -0.20953753590583807, + -0.14580543976480914, + 0.9668685428636707, + -0.4015132486820221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.977091372013092, + -0.04931240715469862, + 0.20702845619478522, + -0.2603541910648346 + ], + [ + 0.017720751464366913, + 0.9882585498554318, + 0.15175988004373267, + 0.1007278710603714 + ], + [ + -0.21208128333091736, + -0.14461456220599306, + 0.96649270972262, + -0.4086783826351166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9766486883163454, + -0.04971267014204168, + 0.20901205690319202, + -0.2644735872745514 + ], + [ + 0.018104402348399166, + 0.9884440421919036, + 0.1505011376538706, + 0.10263273864984512 + ], + [ + -0.2140785306692124, + -0.14320269610474662, + 0.9662625695374514, + -0.4144396483898163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9763950705528259, + -0.04908927048663689, + 0.21034003025893772, + -0.2685181200504303 + ], + [ + 0.01751772128045559, + 0.9886204748890208, + 0.14940779586398545, + 0.10425105690956116 + ], + [ + -0.21528078615665436, + -0.1421963617269617, + 0.9661441106033305, + -0.4204448163509369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9762238264083862, + -0.04897147820890196, + 0.21116069749905306, + -0.2718054950237274 + ], + [ + 0.01741793565452099, + 0.9887178207639823, + 0.1487737598348274, + 0.10502170771360397 + ], + [ + -0.21606403589248657, + -0.14155850498309577, + 0.9660628742958084, + -0.4255816638469696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9760749340057375, + -0.04880668809916345, + 0.2118859094579215, + -0.274458110332489 + ], + [ + 0.017352530732750896, + 0.9888588167981536, + 0.1478416113934566, + 0.10616211593151093 + ], + [ + -0.21674090623855596, + -0.1406277376609834, + 0.9660472394695454, + -0.4304598569869995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9758886098861697, + -0.04994388602072911, + 0.21247839359341722, + -0.27696919441223145 + ], + [ + 0.01859269477427006, + 0.9889523443576015, + 0.1470630678953071, + 0.10754960030317307 + ], + [ + -0.2174759209156037, + -0.13956662748762363, + 0.9660359241184746, + -0.434680700302124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.975700914859772, + -0.05145258385984626, + 0.212979626832372, + -0.27942976355552673 + ], + [ + 0.02029969356954098, + 0.9890835895300197, + 0.1459504751206663, + 0.10916115343570709 + ], + [ + -0.21816419064998632, + -0.13808059291686658, + 0.9660942421066215, + -0.4386502802371979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9754896163940432, + -0.05233486178241242, + 0.21373143772178563, + -0.28163641691207886 + ], + [ + 0.02120795659720898, + 0.9891442453403159, + 0.14540952360849044, + 0.10942024737596512 + ], + [ + -0.21902120113372808, + -0.1373126702251201, + 0.9660098349356728, + -0.44206416606903076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.975190341472626, + -0.05191987603824926, + 0.21519331073848078, + -0.28499409556388855 + ], + [ + 0.02071807533502579, + 0.9892457459369062, + 0.1447881956780307, + 0.1104339212179184 + ], + [ + -0.22039644420146948, + -0.13673765452695888, + 0.9657785360469459, + -0.4453100264072418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9749468564987183, + -0.05241841572304701, + 0.2161735066328957, + -0.2873941659927368 + ], + [ + 0.021122321486473083, + 0.9892621904879718, + 0.1446172365861554, + 0.1113247498869896 + ], + [ + -0.2214328944683075, + -0.1364280313820678, + 0.9655852438810794, + -0.44828248023986816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.974751889705658, + -0.05478944711152917, + 0.21646452613992356, + -0.28989970684051514 + ], + [ + 0.0233447328209877, + 0.9891218042094654, + 0.14523448349578877, + 0.11152806133031845 + ], + [ + -0.22206710278987885, + -0.13651428514801117, + 0.9654274239368601, + -0.45066413283348083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9747517704963686, + -0.058470736533689206, + 0.21549977997174813, + -0.29086416959762573 + ], + [ + 0.027000144124031074, + 0.9888889122734945, + 0.1461840194667114, + 0.11094614863395691 + ], + [ + -0.22165282070636755, + -0.13667460324220548, + 0.9654999051755114, + -0.4524138271808624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9746463298797607, + -0.062398806061674084, + 0.21487425513640765, + -0.2917429506778717 + ], + [ + 0.030985800549387932, + 0.9887147030639648, + 0.146571388512718, + 0.11170739680528641 + ], + [ + -0.22159519791603088, + -0.13619720624043863, + 0.9655805669818806, + -0.45397621393203735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9746111631393433, + -0.06477563057053747, + 0.21432966912874568, + -0.29181140661239624 + ], + [ + 0.03337759152054787, + 0.9885739970760438, + 0.14699471705669134, + 0.11196136474609375 + ], + [ + -0.22140242159366608, + -0.13610887894572388, + 0.9656372685796034, + -0.4547775387763977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9744858145713808, + -0.06778246516580316, + 0.21396950732447936, + -0.29261717200279236 + ], + [ + 0.03638235107064248, + 0.9884052482085617, + 0.14741569056431453, + 0.11254897713661194 + ], + [ + -0.22148077189922338, + -0.1358697855212786, + 0.9656529787533368, + -0.45597556233406067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9743601679801941, + -0.07085362118151833, + 0.2135462811073203, + -0.2939198613166809 + ], + [ + 0.03956862911581993, + 0.9882899627431461, + 0.147367724550362, + 0.1140395998954773 + ], + [ + -0.22148719429969788, + -0.13513951290933346, + 0.9657539886962773, + -0.4562271535396576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9742578268051147, + -0.07274718773944397, + 0.2133765176554765, + -0.29521214962005615 + ], + [ + 0.04136017709970474, + 0.9881168413481153, + 0.14803524156687298, + 0.11451070010662079 + ], + [ + -0.22161006927490234, + -0.13539920368831282, + 0.9656894052071987, + -0.45615071058273315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9741857051849365, + -0.07459761436697772, + 0.2130666847435919, + -0.2954362630844116 + ], + [ + 0.04299730435013771, + 0.9878609715231946, + 0.14927116145803054, + 0.1143723577260971 + ], + [ + -0.22161553800106049, + -0.13625654484396418, + 0.9655675773762832, + -0.4558698236942291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9740447402000427, + -0.07653427861306188, + 0.2130243512938861, + -0.29603374004364014 + ], + [ + 0.044558085501194, + 0.9875211209513249, + 0.15105150809151552, + 0.11393433809280396 + ], + [ + -0.22192665934562683, + -0.13763897667307698, + 0.9653000164619215, + -0.4558084011077881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9739847183227541, + -0.07752824223775989, + 0.21293936640516883, + -0.2963258922100067 + ], + [ + 0.04522299021482468, + 0.987253575232256, + 0.15259524338406735, + 0.11474624276161194 + ], + [ + -0.22205558419227606, + -0.13899567603275106, + 0.965075915939987, + -0.4559071362018585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9739570617675781, + -0.07920025927287935, + 0.21244996523511234, + -0.29636019468307495 + ], + [ + 0.046522025018930435, + 0.9868770470239736, + 0.15462680429468229, + 0.11479310691356659 + ], + [ + -0.22190847992897034, + -0.1407162547068546, + 0.9648603641016535, + -0.45548856258392334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9738994240760803, + -0.08107994063348953, + 0.21200458940747585, + -0.2962665557861328 + ], + [ + 0.04801560565829277, + 0.9864783291926481, + 0.15670053323390062, + 0.11483640223741531 + ], + [ + -0.2218431979417801, + -0.14243103066947996, + 0.964623771821929, + -0.4547695219516754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9738293886184692, + -0.0827315446467958, + 0.21168813933371616, + -0.2977689504623413 + ], + [ + 0.049240268766880035, + 0.9860732558066713, + 0.15885512341092153, + 0.11456350237131119 + ], + [ + -0.22188232839107513, + -0.1442741998079064, + 0.9643407942043204, + -0.45538124442100525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9737997055053711, + -0.08359689553122321, + 0.21148442587541838, + -0.29862794280052185 + ], + [ + 0.0498436875641346, + 0.9858293980937866, + 0.16017496685542565, + 0.11510451138019562 + ], + [ + -0.22187769412994385, + -0.1454371748575142, + 0.9641671706678517, + -0.45494744181632996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.973879873752594, + -0.08314421699289735, + 0.21129359323826777, + -0.29921194911003113 + ], + [ + 0.049199704080820084, + 0.985709450372897, + 0.16110964036110997, + 0.1156475841999054 + ], + [ + -0.22166942059993744, + -0.14650585784391337, + 0.9640532851921909, + -0.45461103320121765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9740517139434817, + -0.08159039589326815, + 0.21110735568675773, + -0.2999325692653656 + ], + [ + 0.047375414520502104, + 0.9855984354756995, + 0.16233098314611005, + 0.11552806198596954 + ], + [ + -0.22131171822547918, + -0.1481174668577937, + 0.9638891763349048, + -0.45476630330085754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9741417169570925, + -0.08188388110689847, + 0.2105775835400818, + -0.3010939061641693 + ], + [ + 0.0474660135805607, + 0.9853857166315191, + 0.16359094059768148, + 0.11524319648742676 + ], + [ + -0.22089560329914099, + -0.14936547758126198, + 0.9637920115870198, + -0.45565924048423767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9743256568908691, + -0.08321761051547236, + 0.20919937476685094, + -0.3013344407081604 + ], + [ + 0.04872202128171921, + 0.9850986000206089, + 0.16494521056721922, + 0.11444362252950668 + ], + [ + -0.21980836987495422, + -0.15051773372499738, + 0.9638613640804589, + -0.45611196756362915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9748038649559021, + -0.08152644599972249, + 0.20763146285852055, + -0.30082517862319946 + ], + [ + 0.04687952250242233, + 0.9849046037906337, + 0.1666290301704183, + 0.1137363389134407 + ], + [ + -0.21808184683322906, + -0.15269696302798216, + 0.9639107588062075, + -0.4572659432888031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9753535985946655, + -0.07899487385993569, + 0.20602212082974838, + -0.3011229634284973 + ], + [ + 0.04399261623620987, + 0.9845907739451337, + 0.16925011408322904, + 0.11227885633707047 + ], + [ + -0.21621738374233246, + -0.15601526598245152, + 0.9637994020953917, + -0.4587327241897583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9759193658828735, + -0.07819667450301931, + 0.20363371608811487, + -0.3009677827358246 + ], + [ + 0.042941223829984665, + 0.9841397026642225, + 0.17211926053969612, + 0.11051853001117706 + ], + [ + -0.21386319398880005, + -0.1592302454098296, + 0.963798892738752, + -0.4608767032623291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9766877293586731, + -0.0758783975910852, + 0.2008071690616355, + -0.3006742298603058 + ], + [ + 0.040668100118637085, + 0.9839082934490735, + 0.1739845737635191, + 0.11013772338628769 + ], + [ + -0.21077750623226166, + -0.1617621491717298, + 0.964056965365933, + -0.4623900055885315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9774497747421267, + -0.07385265954514776, + 0.1978326979126281, + -0.30227458477020264 + ], + [ + 0.03859133273363114, + 0.9835448588734031, + 0.1764941751834252, + 0.10819298028945923 + ], + [ + -0.20761188864707952, + -0.16487955849393524, + 0.9642157330098118, + -0.46525704860687256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9782249927520752, + -0.07217576546925068, + 0.19459333057068068, + -0.3031419813632965 + ], + [ + 0.03698503598570824, + 0.9831992040654056, + 0.17874956175185652, + 0.10629957914352417 + ], + [ + -0.20422539114952087, + -0.1676602475515743, + 0.9644594456113663, + -0.46864762902259827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9788795113563538, + -0.07064077124930372, + 0.19184586564780093, + -0.30284038186073303 + ], + [ + 0.03566518798470497, + 0.9830224329776232, + 0.1799858594327115, + 0.10650643706321716 + ], + [ + -0.2013031244277954, + -0.16934224874852738, + 0.9647799172426282, + -0.47367870807647705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9791070222854614, + -0.07068860953989921, + 0.1906635428667403, + -0.3031516373157501 + ], + [ + 0.03566841781139374, + 0.9827980676704019, + 0.18120627791927268, + 0.1062370091676712 + ], + [ + -0.20019298791885376, + -0.17061966709818757, + 0.9647858103444804, + -0.47803136706352234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9791802763938904, + -0.07240426719452969, + 0.18964088221554182, + -0.30166879296302795 + ], + [ + 0.03750359266996384, + 0.9826688868823654, + 0.18153597183169504, + 0.10653942078351974 + ], + [ + -0.19949817657470703, + -0.1706442245013103, + 0.964925387528541, + -0.4830704927444458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9790499210357666, + -0.07484227685992524, + 0.189367147716816, + -0.2995125651359558 + ], + [ + 0.03981037810444832, + 0.9824094419947383, + 0.18244669916143363, + 0.10563671588897705 + ], + [ + -0.1996908038854599, + -0.17108565115223484, + 0.9648073971276981, + -0.49040430784225464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9787784814834595, + -0.07531043687004141, + 0.19058081787129383, + -0.29710906744003296 + ], + [ + 0.04021238908171654, + 0.9825248499414623, + 0.1817357816154983, + 0.1089777871966362 + ], + [ + -0.20093700289726257, + -0.1702153642289072, + 0.9647025969407588, + -0.4948892891407013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9782047271728518, + -0.07687606702179212, + 0.19288743642165687, + -0.29508325457572937 + ], + [ + 0.04143237695097924, + 0.9825233527298664, + 0.1814694749745738, + 0.11126464605331421 + ], + [ + -0.20346707105636602, + -0.16952251624258455, + 0.9642941683319507, + -0.5002655386924744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9770103693008423, + -0.08008377119369281, + 0.1975786484307073, + -0.2978256046772003 + ], + [ + 0.043398626148700714, + 0.9820695374303019, + 0.18345568389160122, + 0.10963386297225952 + ], + [ + -0.20872780680656433, + -0.17066346742028665, + 0.9629676623595059, + -0.5098123550415039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9760836362838745, + -0.08187678038886131, + 0.20138745272857708, + -0.2973126769065857 + ], + [ + 0.04427201300859451, + 0.9818172872754146, + 0.18459367758217518, + 0.11061388999223709 + ], + [ + -0.21283961832523346, + -0.17126304296951608, + 0.9619606543944884, + -0.516394317150116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9759872555732727, + -0.08287254472896143, + 0.2014473820533622, + -0.28745269775390625 + ], + [ + 0.04568611457943916, + 0.9821099255723263, + 0.1826823785535841, + 0.11742546409368515 + ], + [ + -0.21298283338546753, + -0.16909232830819598, + 0.9623129066646922, + -0.5211321711540222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9747538566589355, + -0.0861976122265735, + 0.2059731498577546, + -0.28853970766067505 + ], + [ + 0.047839682549238205, + 0.9816815112451988, + 0.18442544121991009, + 0.11696690320968628 + ], + [ + -0.21809706091880798, + -0.16991572521934822, + 0.9610215229414445, + -0.5291514992713928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9741184711456299, + -0.08672756293367812, + 0.20873783746259422, + -0.28632813692092896 + ], + [ + 0.04807931184768677, + 0.9818311503704565, + 0.18356459627408558, + 0.12144351005554199 + ], + [ + -0.2208654284477234, + -0.16877769368992696, + 0.9605896692492238, + -0.5303274989128113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9734791517257693, + -0.0897336456863938, + 0.21044302167060647, + -0.2806565761566162 + ], + [ + 0.050593152642250075, + 0.9815310474353748, + 0.18449166309628626, + 0.12391727417707443 + ], + [ + -0.2231114655733109, + -0.16895180447167849, + 0.9600398721822859, + -0.5406011939048767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9722096920013428, + -0.09147918036432187, + 0.21549912282194897, + -0.2832273244857788 + ], + [ + 0.051086824387311935, + 0.9812115461616898, + 0.18604864174247748, + 0.12406011670827866 + ], + [ + -0.22846978902816772, + -0.16986912329758677, + 0.9586167234536409, + -0.5480448603630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.971245527267456, + -0.09312381322539444, + 0.21911210058520378, + -0.2823858857154846 + ], + [ + 0.05163928493857384, + 0.9808191954991202, + 0.18795493885191722, + 0.12529055774211884 + ], + [ + -0.2324124276638031, + -0.1712356053251586, + 0.9574251200238733, + -0.5565363764762878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9706275463104248, + -0.09486276435522516, + 0.22109541806963007, + -0.27583038806915283 + ], + [ + 0.052947305142879486, + 0.980678502867151, + 0.1883248393053427, + 0.13123421370983124 + ], + [ + -0.23468855023384094, + -0.17108688143594064, + 0.9568963431860721, + -0.5597253441810608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9692384004592896, + -0.09813651729492782, + 0.2257126448884898, + -0.27515366673469543 + ], + [ + 0.05447998642921448, + 0.9798645937418411, + 0.19208672787594466, + 0.13015198707580566 + ], + [ + -0.2400185614824295, + -0.17388100786993, + 0.9550688602263394, + -0.5689204931259155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9669534564018252, + -0.10204336418142866, + 0.23364108483881188, + -0.2834495007991791 + ], + [ + 0.056154083460569396, + 0.979145848811055, + 0.19524371423323644, + 0.12828093767166138 + ], + [ + -0.2486920207738877, + -0.1756716855242089, + 0.9525186211662147, + -0.5745005011558533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9648348689079285, + -0.10713536738733863, + 0.24003270781639585, + -0.28902629017829895 + ], + [ + 0.059370093047618866, + 0.9783925818079424, + 0.19804846401528384, + 0.12785640358924866 + ], + [ + -0.256064236164093, + -0.17683329610248102, + 0.9503478953435047, + -0.5839600563049316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9626888036727905, + -0.11234937130569918, + 0.24618678615630907, + -0.2949691712856293 + ], + [ + 0.06255822628736496, + 0.9774967805582964, + 0.20146105903846198, + 0.12449876964092255 + ], + [ + -0.2632807791233063, + -0.17854328529018287, + 0.9480535128727046, + -0.5937051773071289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9611198902130127, + -0.1167415368375159, + 0.2502397722312959, + -0.29697227478027344 + ], + [ + 0.06574397534132004, + 0.9769188586563591, + 0.20324176562080817, + 0.12401372194290161 + ], + [ + -0.2681907117366791, + -0.1788879574033852, + 0.9466112484404233, + -0.6008761525154114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9598362445831301, + -0.12011125826354803, + 0.2535501790008276, + -0.2980615496635437 + ], + [ + 0.06822198629379274, + 0.9765208252300376, + 0.20433511356021858, + 0.12361336499452591 + ], + [ + -0.2721399664878846, + -0.17883055541563117, + 0.9454943141677663, + -0.6073259711265564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9585754871368408, + -0.12253681443557755, + 0.2571337341942776, + -0.29986751079559326 + ], + [ + 0.07010994106531143, + 0.9764638280216906, + 0.20396816869980264, + 0.12449106574058533 + ], + [ + -0.27607542276382446, + -0.1774912481287807, + 0.9446053041412075, + -0.6130663156509399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.957547664642334, + -0.12484309777951962, + 0.25983982767952096, + -0.300725519657135 + ], + [ + 0.07189235091209412, + 0.976298271405358, + 0.20414018884796764, + 0.1242714449763298 + ], + [ + -0.27916663885116577, + -0.17679346614694447, + 0.9438273747876357, + -0.6176062822341919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9566403031349184, + -0.1267931128041645, + 0.2622266628972249, + -0.3027576804161072 + ], + [ + 0.07355388998985292, + 0.976263766506857, + 0.20371273535350123, + 0.12432493269443512 + ], + [ + -0.28183174133300787, + -0.17559203013433078, + 0.9432594111023388, + -0.6225733160972595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9561019539833069, + -0.12843959798908972, + 0.26338634439339415, + -0.3029877543449402 + ], + [ + 0.07493829727172852, + 0.9761054984478073, + 0.20396632594459624, + 0.12376237660646439 + ], + [ + -0.28329023718833923, + -0.17527487091207192, + 0.9428813918752255, + -0.6256693005561829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9557282328605654, + -0.12849036360525262, + 0.26471453407759316, + -0.3036743104457855 + ], + [ + 0.07470183074474336, + 0.9760985932224933, + 0.20408631088937265, + 0.12413898855447769 + ], + [ + -0.28461062908172613, + -0.17527638199629408, + 0.9424834009302415, + -0.6285408139228821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9554989933967593, + -0.1278167540990535, + 0.2658656493653592, + -0.30383703112602234 + ], + [ + 0.07375863194465639, + 0.9761452227856985, + 0.20420619743477442, + 0.12392716854810715 + ], + [ + -0.28562444448471075, + -0.1755089358064895, + 0.9421333846671457, + -0.6306195855140686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9552366733551025, + -0.1269915732449911, + 0.2672003464958339, + -0.3043813109397888 + ], + [ + 0.07274627685546875, + 0.9762795449247581, + 0.2039269836726721, + 0.12358200550079346 + ], + [ + -0.28675922751426697, + -0.17536070623088548, + 0.9418161863655194, + -0.6323806643486023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9549208283424377, + -0.12618185309288216, + 0.2687085921410933, + -0.3056156039237976 + ], + [ + 0.07163280248641968, + 0.9763629134201867, + 0.2039220969046999, + 0.12323557585477829 + ], + [ + -0.2880883812904358, + -0.17548111209373257, + 0.9413880588071208, + -0.6342673301696777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9547303915023804, + -0.1264214880025144, + 0.2692720453281342, + -0.30590876936912537 + ], + [ + 0.07185466587543488, + 0.976403928780727, + 0.20364757254266577, + 0.12287018448114395 + ], + [ + -0.28866368532180786, + -0.17508007916305635, + 0.9412864964854242, + -0.6346564292907715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9548672437667847, + -0.12712339894717994, + 0.26845513697228646, + -0.3065076768398285 + ], + [ + 0.07276058197021484, + 0.9763592163642834, + 0.20354018957379688, + 0.12300756573677063 + ], + [ + -0.28798335790634155, + -0.17482090930070618, + 0.9415430124909376, + -0.6346796751022339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9554368853569031, + -0.12726829874199586, + 0.26635155411048683, + -0.30675962567329407 + ], + [ + 0.07327785342931747, + 0.9762998253857165, + 0.20363934753623375, + 0.12271054089069366 + ], + [ + -0.2859557867050171, + -0.1750468853318842, + 0.9421188426239099, + -0.6328025460243225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9562063813209534, + -0.12717002723273002, + 0.2636231366803061, + -0.3063794672489166 + ], + [ + 0.07351161539554596, + 0.97615445004722, + 0.20425108216652224, + 0.12149874866008759 + ], + [ + -0.28331154584884644, + -0.17592682996130962, + 0.942753606268138, + -0.6303136944770813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9570200443267824, + -0.12594985839414904, + 0.2612456627734761, + -0.3077949583530426 + ], + [ + 0.07250537723302843, + 0.9760787421766408, + 0.2049713700291824, + 0.11996770650148392 + ], + [ + -0.2808124423027039, + -0.17721999312783293, + 0.9432589446990987, + -0.6274577379226685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9581565260887148, + -0.12479725129660782, + 0.2576076956369981, + -0.3081580698490143 + ], + [ + 0.07186549901962282, + 0.9760095800128442, + 0.2055253859974511, + 0.11886002868413925 + ], + [ + -0.27707657217979437, + -0.178412379239802, + 0.9441385439074339, + -0.623406171798706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9594470858573914, + -0.1222388522141824, + 0.25400579033574655, + -0.308037668466568 + ], + [ + 0.06992265582084656, + 0.9761267553672052, + 0.20563909426194668, + 0.11823700368404388 + ], + [ + -0.27307891845703125, + -0.17953906000043507, + 0.9450891968030227, + -0.6184312701225281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9609232544898987, + -0.11937326606626132, + 0.24975293987798355, + -0.30663812160491943 + ], + [ + 0.067722387611866, + 0.9761997851419728, + 0.20602816859957554, + 0.11730317026376724 + ], + [ + -0.268403023481369, + -0.18106339761748702, + 0.9461373309725102, + -0.6107824444770813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9622263312339783, + -0.11646556804022029, + 0.24608186061282442, + -0.3076212704181671 + ], + [ + 0.06529192626476288, + 0.9762189401513772, + 0.20672098167662606, + 0.11501336097717285 + ], + [ + -0.26430565118789673, + -0.18284521415620825, + 0.9469478324765379, + -0.6048493385314941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9636563658714294, + -0.11271904163082892, + 0.24220006655437123, + -0.30730900168418884 + ], + [ + 0.06210066005587578, + 0.9763073248193175, + 0.20728619829282263, + 0.11314085870981216 + ], + [ + -0.25982680916786194, + -0.18471187366118516, + 0.9478246443861389, + -0.5967026352882385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9652250409126282, + -0.11066594971153708, + 0.23684092525975772, + -0.30475693941116333 + ], + [ + 0.06076489016413689, + 0.9761397924151772, + 0.20846753649054633, + 0.1093662828207016 + ], + [ + -0.2542601227760315, + -0.18682648299849874, + 0.948919216357968, + -0.5905756950378418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9666705131530762, + -0.10996523935651886, + 0.23120507151229114, + -0.3042992651462555 + ], + [ + 0.06107237935066223, + 0.9760335346050968, + 0.20887471259411172, + 0.10619944334030151 + ], + [ + -0.24863286316394806, + -0.18779278387424922, + 0.9502186833213697, + -0.5795159339904785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9681930541992188, + -0.10727482291503873, + 0.2260404552314394, + -0.3053537607192993 + ], + [ + 0.05964546650648117, + 0.9763354190113095, + 0.20787378150610766, + 0.10414360463619232 + ], + [ + -0.24299092590808868, + -0.1877796767316616, + 0.951679687205084, + -0.5686957240104675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9698185920715332, + -0.10662249046697775, + 0.21927952418069588, + -0.3051481246948242 + ], + [ + 0.06062179058790207, + 0.9765225166053428, + 0.2067093301697608, + 0.1010608896613121 + ], + [ + -0.23617126047611237, + -0.18717743754532548, + 0.9535133525059485, + -0.5567207932472229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.971576511859894, + -0.1049380234837657, + 0.2121959770517289, + -0.3033793568611145 + ], + [ + 0.06045906990766527, + 0.9766481407719028, + 0.2061627960603085, + 0.09712290018796921 + ], + [ + -0.22887511551380163, + -0.18747375544516043, + 0.9552328296859087, + -0.5477976202964783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9733700156211853, + -0.10438929806891724, + 0.20409235140589427, + -0.3002304434776306 + ], + [ + 0.06182161346077919, + 0.9768502480078092, + 0.20479655554110832, + 0.09426513314247131 + ], + [ + -0.220746248960495, + -0.18672551809992313, + 0.9572903033176022, + -0.5354964137077332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9749148488044741, + -0.10536620034021622, + 0.19605873096964935, + -0.2973634600639343 + ], + [ + 0.06475189328193666, + 0.977017312265995, + 0.2030872145354731, + 0.09265470504760742 + ], + [ + -0.2129512876272202, + -0.18529756845408987, + 0.9593313388952228, + -0.5198204517364502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9761280417442322, + -0.10723360717592753, + 0.18887823994300587, + -0.29701176285743713 + ], + [ + 0.0681397020816803, + 0.9769121892456157, + 0.20248357853913748, + 0.08927006274461746 + ], + [ + -0.20623049139976501, + -0.1847797868364803, + 0.960898225657244, + -0.5089948177337646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9774899482727051, + -0.10563226076892467, + 0.18263410086065002, + -0.2954917848110199 + ], + [ + 0.06794051826000214, + 0.9771249050750894, + 0.2015217087746676, + 0.08721057325601578 + ], + [ + -0.19974352419376373, + -0.1845771951711047, + 0.962306506054852, + -0.5017483234405518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9782186150550842, + -0.10519535075908264, + 0.1789477650760125, + -0.2964349389076233 + ], + [ + 0.0680433139204979, + 0.9769476620136327, + 0.20234462083533883, + 0.08481941372156143 + ], + [ + -0.19610832631587982, + -0.18576108174026715, + 0.9628262429710942, + -0.4928009510040283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9788783192634583, + -0.10704298470616835, + 0.174181188063288, + -0.296049565076828 + ], + [ + 0.07031292468309402, + 0.9762715952368024, + 0.20481674322274424, + 0.08179393410682678 + ], + [ + -0.19197233021259308, + -0.18824347424041873, + 0.9631775802378311, + -0.48268407583236694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9796200394630434, + -0.10904971030642624, + 0.1686795714373263, + -0.2961023449897766 + ], + [ + 0.07290697842836381, + 0.9755615987686018, + 0.20727806150956624, + 0.07863600552082062 + ], + [ + -0.18716092407703402, + -0.19075582133113977, + 0.9636301472942199, + -0.472401887178421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9803107976913454, + -0.11105211038497023, + 0.16327328495314739, + -0.29636314511299133 + ], + [ + 0.07563675940036775, + 0.9749831931443035, + 0.20901403123385226, + 0.07569024711847305 + ], + [ + -0.18240016698837283, + -0.19254924755631417, + 0.9641861700957518, + -0.46252143383026123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9814494848251343, + -0.1107407255944214, + 0.15650354209333522, + -0.2916332185268402 + ], + [ + 0.0764019712805748, + 0.9746041976753974, + 0.21049810875086458, + 0.07258491963148117 + ], + [ + -0.17583972215652466, + -0.19463607643830233, + 0.9649855788040501, + -0.4518032968044281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9822564721107483, + -0.10973201993951003, + 0.15208909100280538, + -0.2919120490550995 + ], + [ + 0.0760672390460968, + 0.9743640769251686, + 0.2117272404165504, + 0.07043454796075821 + ], + [ + -0.17142340540885925, + -0.1964014606757888, + 0.9654224498692267, + -0.4426356852054596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9830736517906189, + -0.10906217521144199, + 0.1472130490180925, + -0.2915739417076111 + ], + [ + 0.07602543383836746, + 0.9739088802657397, + 0.2138262774080362, + 0.0664430558681488 + ], + [ + -0.16669245064258575, + -0.19901502894707157, + 0.9657156025688106, + -0.4335187077522278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9841176867485046, + -0.10815838835508015, + 0.14076253132223507, + -0.288053959608078 + ], + [ + 0.0761953741312027, + 0.9735594645237383, + 0.21535135932387584, + 0.064140185713768 + ], + [ + -0.16033275425434113, + -0.20120563978817924, + 0.9663383056269875, + -0.4232581555843353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9850457310676575, + -0.10754441019766248, + 0.13460714304009486, + -0.2881898581981659 + ], + [ + 0.07666902244091034, + 0.9732611470733828, + 0.2165286207579061, + 0.06273321062326431 + ], + [ + -0.15429435670375824, + -0.2029703938486857, + 0.9669520529901316, + -0.4140482246875763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9861469864845276, + -0.10802661969014674, + 0.1258743034838332, + -0.28143537044525146 + ], + [ + 0.07878118753433228, + 0.9728325418504263, + 0.21769325797809774, + 0.060226261615753174 + ], + [ + -0.14597129821777344, + -0.20476103660811718, + 0.9678663928691215, + -0.4037158191204071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9870718121528625, + -0.10627469744791623, + 0.11997872519510203, + -0.2786514163017273 + ], + [ + 0.07818985730409622, + 0.972732190837719, + 0.21835378304208938, + 0.057947076857089996 + ], + [ + -0.1399126499891281, + -0.2061497569596619, + 0.9684661857966785, + -0.39296290278434753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9879987239837646, + -0.10312816092622701, + 0.11499170826578849, + -0.27468031644821167 + ], + [ + 0.07627271860837936, + 0.9731024256886351, + 0.2173801324210928, + 0.057565655559301376 + ], + [ + -0.13431672751903534, + -0.20600057372794475, + 0.9692898598366927, + -0.38378065824508667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9887574315071106, + -0.10037371930044718, + 0.1108323753941085, + -0.2700888216495514 + ], + [ + 0.07458045333623886, + 0.9734805633089972, + 0.21627146913576994, + 0.05638621374964714 + ], + [ + -0.1296011209487915, + -0.20557409696893628, + 0.9700220763509335, + -0.37630581855773926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9893129467964172, + -0.09763641480664255, + 0.10829128002311246, + -0.2676678001880646 + ], + [ + 0.07248406857252121, + 0.9737534761571989, + 0.21575489850644047, + 0.05404125526547432 + ], + [ + -0.12651453912258148, + -0.20559973214957464, + 0.9704240368778075, + -0.36865755915641785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.989827036857605, + -0.09561989255230083, + 0.10535337130983778, + -0.26419156789779663 + ], + [ + 0.07121676206588745, + 0.9740281364404763, + 0.2149356093381701, + 0.05278080701828003 + ], + [ + -0.12316927313804626, + -0.20524614707138264, + 0.9709290873234947, + -0.3607424199581146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9903092980384829, + -0.09550619961264589, + 0.10082707232246373, + -0.2588995099067688 + ], + [ + 0.07206921279430391, + 0.9740059679398558, + 0.21475184749866102, + 0.050595734268426895 + ], + [ + -0.11871629953384402, + -0.20540422968934038, + 0.9714502337641674, + -0.3531424105167389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.990845263004303, + -0.09406649195109686, + 0.09683581669607332, + -0.2531353235244751 + ], + [ + 0.07155385613441467, + 0.9741742824506964, + 0.21415994995810805, + 0.04985423758625984 + ], + [ + -0.11448024213314056, + -0.2052703978600324, + 0.9719867845546604, + -0.3437807559967041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9913232922554016, + -0.09225220076762752, + 0.09363571657261571, + -0.2469257265329361 + ], + [ + 0.07046978175640106, + 0.9743195254263437, + 0.21385848532292875, + 0.04901052638888359 + ], + [ + -0.11096002161502838, + -0.20540440976920468, + 0.9723666455458988, + -0.33474594354629517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.991711437702179, + -0.09156027382432234, + 0.09013934743699784, + -0.240135058760643 + ], + [ + 0.07044713944196701, + 0.9741839744267811, + 0.21448256570358082, + 0.04583720490336418 + ], + [ + -0.10745038837194443, + -0.20635475969717407, + 0.9725595527969298, + -0.3260098099708557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9921424984931946, + -0.09033466384848164, + 0.08656174066329723, + -0.23201408982276917 + ], + [ + 0.0699736550450325, + 0.9741853332903018, + 0.21463134799199887, + 0.04381607472896576 + ], + [ + -0.10371582955121994, + -0.20688783955560539, + 0.9728517259828299, + -0.31635531783103943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9926162362098696, + -0.08810788078392642, + 0.08336706776260003, + -0.22445575892925262 + ], + [ + 0.0684155896306038, + 0.9742111893545748, + 0.21501605962241396, + 0.04092654213309288 + ], + [ + -0.10016173869371417, + -0.20772480933871892, + 0.9730457423454778, + -0.3061060607433319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.993131160736084, + -0.08497927553060819, + 0.0804298562362184, + -0.2168220430612564 + ], + [ + 0.06591074913740158, + 0.9742709465387435, + 0.2155271439951465, + 0.03753003850579262 + ], + [ + -0.096675805747509, + -0.2087455235081346, + 0.973179860732686, + -0.29730579257011414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9938334226608279, + -0.07927756421377186, + 0.07752526017864729, + -0.20839181542396545 + ], + [ + 0.060857858508825316, + 0.9744306332163957, + 0.2162896795617791, + 0.03364059329032898 + ], + [ + -0.0926899164915085, + -0.2102379087824279, + 0.973246452867874, + -0.28800883889198303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9945377111434937, + -0.07317514752202432, + 0.07443216053038394, + -0.20027364790439606 + ], + [ + 0.055462732911109924, + 0.9745835553664641, + 0.21705018832946132, + 0.02892955206334591 + ], + [ + -0.08842304348945618, + -0.21173638332917183, + 0.9733185835455151, + -0.27893534302711487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9952187538146973, + -0.06733083977386986, + 0.0707543589045945, + -0.19140730798244476 + ], + [ + 0.0504322275519371, + 0.9746237079888332, + 0.21809444528757913, + 0.023989137262105942 + ], + [ + -0.0836433619260788, + -0.21348339217243611, + 0.9733594744810036, + -0.2693444490432739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/a2556aad-e6da-4818-871f-46de6e0df909/tilt_up/transforms.json b/dynpose_eval/camera_controls/a2556aad-e6da-4818-871f-46de6e0df909/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..1aa0f5196656799cfab49983e4321ced938e02a7 --- /dev/null +++ b/dynpose_eval/camera_controls/a2556aad-e6da-4818-871f-46de6e0df909/tilt_up/transforms.json @@ -0,0 +1,7188 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 205, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 6.97937430231832e-05, + 5.229944144957699e-05, + -0.0001302181917708367 + ], + [ + -6.979006138863042e-05, + 1.0, + -7.033456495264545e-05, + 0.00015771843027323484 + ], + [ + -5.230435272096656e-05, + 7.033091242192313e-05, + 1.0, + -8.678555605001748e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999999403953552, + 0.00028340575663879917, + -0.0002862774081142544, + -0.0001707143965177238 + ], + [ + -0.0002837154606822878, + 0.999999374869902, + -0.0010823351888207228, + 0.00021351117175072432 + ], + [ + 0.0002859705127775669, + 0.0010824163302332187, + 0.9999993747657707, + 0.00010272311192238703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999998211860657, + 0.00025454317387316644, + -0.0005889344825907476, + 5.969694393570535e-05 + ], + [ + -0.00025583646493032575, + 0.9999975357689643, + -0.0021969758502737376, + 0.00018624673248268664 + ], + [ + 0.0005883738631382585, + 0.0021971261270270605, + 0.9999974161735719, + 0.00042798108188435435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999998211860659, + 4.204452568549406e-05, + -0.0005896761429132612, + 9.46005602600053e-05 + ], + [ + -4.4053489546058706e-05, + 0.9999941739481034, + -0.003407290570388594, + 9.371604392072186e-05 + ], + [ + 0.0005895294598303736, + 0.003407315900589855, + 0.9999939950353223, + 0.0005325932870618999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999998211860657, + -0.00012024245013783288, + -0.0006320923547101706, + 0.00018552194524090737 + ], + [ + 0.00011730048572644591, + 0.9999891744644379, + -0.004652300527544236, + 7.15135465725325e-05 + ], + [ + 0.0006326449220068753, + 0.004652225512262823, + 0.9999889960332285, + 0.0006229419959709048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999997019767763, + -0.0005357461165315126, + -0.0005881149109977446, + 0.0003146427625324577 + ], + [ + 0.0005322561482898892, + 0.9999823722466061, + -0.005918331422407263, + 9.504783520242199e-05 + ], + [ + 0.0005912752822041513, + 0.0059180163758107565, + 0.9999823146623062, + 0.0007449710392393172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999999463558197, + -0.0008848293707113114, + -0.0005668225617768401, + 0.0005673288251273334 + ], + [ + 0.0008807412232272327, + 0.9999738806357751, + -0.007172407517728686, + 0.0001354355044895783 + ], + [ + 0.0005731541314162314, + 0.007171904475245964, + 0.9999741229349169, + 0.0008116149692796171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999989867210388, + -0.0013698341808775429, + -0.00044964967609119653, + 0.0007097756606526673 + ], + [ + 0.0013660104013979435, + 0.9999637852062672, + -0.008396851279293705, + 0.0003375137166585773 + ], + [ + 0.0004611356707755476, + 0.008396228411921142, + 0.9999646253005284, + 0.0009535889839753509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999986886978152, + -0.0015886957404113492, + -0.0002770470326280728, + 0.001036192406900227 + ], + [ + 0.0015859693521633749, + 0.9999528746016378, + -0.009578208013106182, + 0.0002262938069179654 + ], + [ + 0.000292250857455656, + 0.009577755895437755, + 0.9999540713992554, + 0.001046854304149747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999994039535522, + -0.0010760379197179777, + -4.032637757710658e-05, + 0.0011350128334015608 + ], + [ + 0.0010755332186818123, + 0.9999397660886586, + -0.010922799120436961, + 0.0005927771562710404 + ], + [ + 5.207729191170074e-05, + 0.010922749663346732, + 0.9999403627461189, + 0.0012092359829694033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999999403953552, + -0.0003865320452013705, + 0.00015690614718576383, + 0.0012606061063706875 + ], + [ + 0.00038839998887851834, + 0.9999269014189484, + -0.012084565737824267, + 0.0007306385086849332 + ], + [ + -0.00015222359797917306, + 0.012084625520435668, + 0.9999269602612513, + 0.0014208286302164197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999998807907107, + -4.7699786990587504e-05, + 0.0004945564680780555, + 0.001160705229267478 + ], + [ + 5.419093213276939e-05, + 0.9999137580745803, + -0.013133490300878568, + 0.0009328318410553038 + ], + [ + -0.0004938874044455589, + 0.013133515390956751, + 0.9999136384992008, + 0.0015442908043041825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999995231628418, + -0.00020325244442492623, + 0.0009273393873795178, + 0.0014963801950216293 + ], + [ + 0.00021641903731506318, + 0.9998988662133025, + -0.014220312254786444, + 0.0010451152920722961 + ], + [ + -0.0009243552340194583, + 0.0142205062730881, + 0.9998984459431979, + 0.0018692142330110073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999995231628418, + -0.00017842944443558563, + 0.0009858691787496886, + 0.001514614443294704 + ], + [ + 0.0001936146873049438, + 0.9998809950860396, + -0.015424336869877655, + 0.0009744036360643804 + ], + [ + -0.0009829998016357422, + 0.015424520803946382, + 0.9998805747265439, + 0.0018315345514565706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999988675117493, + -0.0005340656832948399, + 0.0014105542352929837, + 0.0016252008499577641 + ], + [ + 0.0005572098307311535, + 0.9998643697834466, + -0.016458761616148457, + 0.0009135077707469463 + ], + [ + -0.0014015729539096355, + 0.016459528809136356, + 0.9998635213983673, + 0.002119258511811495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999983310699463, + -0.000786537936691743, + 0.0016348622155835611, + 0.0017853224417194724 + ], + [ + 0.0008152223890647292, + 0.9998444230713047, + -0.01761951046617765, + 0.0009806212037801743 + ], + [ + -0.0016207493608817458, + 0.017620814807733063, + 0.9998434441086458, + 0.0021158785093575716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999980330467224, + -0.0009888917951708924, + 0.0017352650424055866, + 0.001986262621358037 + ], + [ + 0.001021448872052133, + 0.9998215732913889, + -0.01886251777780286, + 0.0010051877470687032 + ], + [ + -0.001716302358545363, + 0.018864252438969564, + 0.9998205837926958, + 0.0022096538450568914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999969005584717, + -0.0012754454046334481, + 0.002128400436512986, + 0.001772311283275485 + ], + [ + 0.0013180429814383388, + 0.9997964391196889, + -0.020133976467332906, + 0.0011365711688995361 + ], + [ + -0.0021022872533649206, + 0.020136719146997183, + 0.9997950080410595, + 0.0020214340183883905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999966025352478, + -0.0014773171880903674, + 0.00213510364471921, + 0.001989642856642604 + ], + [ + 0.0015225884271785617, + 0.9997706869969819, + -0.021359590343943326, + 0.0011625955812633038 + ], + [ + -0.002103059319779277, + 0.02136277006702645, + 0.999769599983115, + 0.00232856348156929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999964833259583, + -0.0013905153027349987, + 0.002267368971429551, + 0.002098563825711608 + ], + [ + 0.0014413725584745407, + 0.9997439197667353, + -0.022584882391899118, + 0.0013258106773719192 + ], + [ + -0.0022353834938257933, + 0.02258806980743379, + 0.9997423514724962, + 0.0023168721236288548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999959468841553, + -0.001566793408850419, + 0.002382260521304907, + 0.0021635035518556833 + ], + [ + 0.0016228831373155117, + 0.9997171058823424, + -0.0237280459451398, + 0.0013352250680327415 + ], + [ + -0.002344409702345729, + 0.02373181698792559, + 0.9997156377126976, + 0.002394785638898611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999948740005493, + -0.001997309706920366, + 0.0025116598816635857, + 0.0023819045163691044 + ], + [ + 0.0020594503730535507, + 0.9996856539092046, + -0.024986622818735725, + 0.0015969527885317802 + ], + [ + -0.0024609642568975687, + 0.024991667005526828, + 0.9996846235413168, + 0.0024055789690464735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999943971633911, + -0.0022320899888379074, + 0.002505542503480359, + 0.0027031688950955868 + ], + [ + 0.0022968535777181387, + 0.9996553637063023, + -0.02615004702143851, + 0.001615166780538857 + ], + [ + -0.002446309896185994, + 0.026155655969210382, + 0.999654907163247, + 0.002535068430006504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999945759773254, + -0.001840539829881578, + 0.002729024749619886, + 0.0025438754819333553 + ], + [ + 0.001914765452966094, + 0.9996213653925786, + -0.02745020179668898, + 0.0017443877877667546 + ], + [ + -0.002677468117326498, + 0.027455276980340816, + 0.9996194266283396, + 0.002442427445203066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999947547912598, + -0.0016358589816257351, + 0.0028026038386027513, + 0.0024804759304970503 + ], + [ + 0.0017156883841380477, + 0.999585938099639, + -0.028722462750106013, + 0.001707367948256433 + ], + [ + -0.002754457760602236, + 0.028727119573855788, + 0.9995834689402591, + 0.002286299830302596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.999994218349457, + -0.00181033173445099, + 0.0028781113517296294, + 0.002116638934239745 + ], + [ + 0.0018952197860926394, + 0.9995549549553292, + -0.0297704520208724, + 0.0015940128359943628 + ], + [ + -0.002822936046868563, + 0.029775735538419317, + 0.9995526385126423, + 0.002137178787961602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999938011169436, + -0.0021825822167444347, + 0.002769908445026322, + 0.0021707809064537287 + ], + [ + 0.0022670750040560965, + 0.9995206348428067, + -0.03087639663566627, + 0.0017092814669013023 + ], + [ + -0.0027011903002858166, + 0.030882484139195844, + 0.9995193581670481, + 0.002262196270748973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999939203262329, + -0.001897319595409858, + 0.002932289311383488, + 0.0020000876393169165 + ], + [ + 0.001990021439269185, + 0.9994877336573412, + -0.03194138064474956, + 0.00158252427354455 + ], + [ + -0.0028701843693852425, + 0.03194702233128117, + 0.9994854506795537, + 0.002416046569123864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.999994695186615, + -0.0014374212837924185, + 0.0029290962398604895, + 0.001927567063830793 + ], + [ + 0.001533699338324368, + 0.9994496511330766, + -0.03313680762562153, + 0.0016611944884061813 + ], + [ + -0.0028798526618629694, + 0.03314112288186614, + 0.9994465138478154, + 0.0024491269141435623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999949932098389, + -0.001088173023847751, + 0.002978123479552314, + 0.0018299977527931333 + ], + [ + 0.0011891665635630488, + 0.9994169266099747, + -0.03412285948462975, + 0.0016415286809206009 + ], + [ + -0.002939255442470312, + 0.034126230419933797, + 0.9994132223405174, + 0.002449947642162442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999956488609314, + -0.0005166686416838539, + 0.002901593684566841, + 0.0019815429113805294 + ], + [ + 0.0006181616336107254, + 0.9993840960862482, + -0.035087114022572134, + 0.002148512052372098 + ], + [ + -0.0028816782869398594, + 0.03508875363943552, + 0.9993800364572331, + 0.0025148126296699047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999959468841553, + -0.00040840782121381316, + 0.002822800137516344, + 0.0021949601359665394 + ], + [ + 0.000509489793330431, + 0.999355200551298, + -0.03590168404560344, + 0.0024341936223208904 + ], + [ + -0.002806317526847124, + 0.035902975662983665, + 0.9993513314214171, + 0.002933460520580411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9999957084655762, + 0.0002108895057596426, + 0.0029286877368686786, + 0.001888848259113729 + ], + [ + -0.00010373548866482452, + 0.9993322156856373, + -0.03653978722407136, + 0.0026457372587174177 + ], + [ + -0.00293443794362247, + 0.0365393238434984, + 0.9993278799151265, + 0.002832840196788311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9999957084655762, + 0.0007397649885505259, + 0.0028313402309893087, + 0.0018719396321102977 + ], + [ + -0.0006335877114906907, + 0.9993031741182827, + -0.03731960372018916, + 0.0027516453992575407 + ], + [ + -0.0028569751884788275, + 0.03731765036540914, + 0.9992993791133392, + 0.0032355315051972866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999951124191284, + 0.0013472809474835245, + 0.0028182731263338796, + 0.0017625411273911595 + ], + [ + -0.0012392164207994938, + 0.9992769523901746, + -0.0380007115122192, + 0.002851516241207719 + ], + [ + -0.0028674330096691847, + 0.037997032311653745, + 0.9992737123260739, + 0.003338760696351528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999940991401672, + 0.0019838900615605937, + 0.0028085856405842707, + 0.0016878654714673758 + ], + [ + -0.00187316641677171, + 0.9992416788786963, + -0.038891544253260316, + 0.0029468440916389227 + ], + [ + -0.002883612411096692, + 0.03888605318671407, + 0.9992394794268439, + 0.0034851424861699343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999933838844302, + 0.002384220030247443, + 0.0027406901893997563, + 0.0014968194300308824 + ], + [ + -0.0022752766963094477, + 0.9992331801166604, + -0.039088694378913644, + 0.0025527644902467728 + ], + [ + -0.002831784542649985, + 0.03908219977896893, + 0.9992319886723278, + 0.0036909563932567835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9999926686286928, + 0.0025738583345130952, + 0.0028306931733867173, + 0.001265652128495276 + ], + [ + -0.0024589723907411103, + 0.9992019843059405, + -0.03986662494524928, + 0.0022290702909231186 + ], + [ + -0.0029310453683137902, + 0.03985937355508528, + 0.9992010161024762, + 0.003746442496776581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9999927282333376, + 0.002727718682094933, + 0.0026719425491869815, + 0.0015559169696643949 + ], + [ + -0.002617498859763146, + 0.9991793582578158, + -0.04042018414420959, + 0.0018768759910017252 + ], + [ + -0.0027800046373158698, + 0.04041289301212598, + 0.9991791770230125, + 0.004629192873835564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9999905824661255, + 0.0034522096594747057, + 0.002638274157640721, + 0.00141268246807158 + ], + [ + -0.0033412657212466, + 0.9991552846689641, + -0.040958289729003526, + 0.0017080270918086171 + ], + [ + -0.0027774423360824585, + 0.04094908728164623, + 0.9991573569785347, + 0.004535131622105837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9999873042106628, + 0.004261929494684469, + 0.0026940278869395694, + 0.0013130505103617907 + ], + [ + -0.0041471971198916435, + 0.9991403317318139, + -0.041247359783398586, + 0.0015316257486119866 + ], + [ + -0.002867505419999361, + 0.0412356641339056, + 0.9991453491964634, + 0.004269253462553024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9999817609786987, + 0.00535101123608868, + 0.0027996120513609697, + 0.0010442306520417333 + ], + [ + -0.005229214671999216, + 0.999110701547484, + -0.041839106740507885, + 0.0012129031820222735 + ], + [ + -0.0030210039112716913, + 0.041823704997106366, + 0.9991204657698398, + 0.0037640128284692764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9999747276306152, + 0.006501363408931268, + 0.002880405831122916, + 0.0006955376011319458 + ], + [ + -0.0063743325881659985, + 0.9990926797082365, + -0.042109609585795, + 0.0008333135046996176 + ], + [ + -0.003151562064886093, + 0.042090182132563325, + 0.9991088297675638, + 0.0030651469714939594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9999735951423645, + 0.006492565175658557, + 0.003262596651868571, + -0.0002624533954076469 + ], + [ + -0.006350083276629448, + 0.9991002965404255, + -0.04193213596174244, + 0.0010355126578360796 + ], + [ + -0.0035319081507623196, + 0.04191030928176767, + 0.9991151128077845, + 0.0015346120344474912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9999802112579348, + 0.005105435278626988, + 0.003683228270128132, + -0.0007267705514095724 + ], + [ + -0.004957630299031735, + 0.9992237745037619, + -0.039080048611958254, + 0.0013296767137944698 + ], + [ + -0.003879890078678728, + 0.03906101269430939, + 0.9992292683247727, + 0.000806798052508384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9999873042106628, + 0.003448347567257014, + 0.003681278435138508, + -0.000319648563163355 + ], + [ + -0.003319503739476204, + 0.9994009341629911, + -0.03445009807290838, + 0.0008948937174864113 + ], + [ + -0.0037978687323629856, + 0.03443743664760997, + 0.9993996362305778, + 0.0010514921741560102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9999893307685852, + 0.0026971607717951873, + 0.0037488481646180674, + -0.0012158226454630494 + ], + [ + -0.0025806650519371033, + 0.9995240916472742, + -0.030740027231819202, + 0.0005890179891139269 + ], + [ + -0.003829974913969636, + 0.030730023339682656, + 0.9995203838728492, + 0.0005051703774370253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9999926686286928, + 0.0020420045870209506, + 0.003234666534938967, + -0.0007877371390350163 + ], + [ + -0.001953439554199577, + 0.9996294296610241, + -0.027150424284162863, + 0.0014651342062279582 + ], + [ + -0.0032889090944081554, + 0.027143909791403756, + 0.9996261208493662, + -8.751684072194621e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9999940991401672, + 0.0018936660523594447, + 0.002864881765703931, + -0.0014311247505247593 + ], + [ + -0.0018237924668937922, + 0.9997055218602028, + -0.024198796771651886, + 0.00104916759300977 + ], + [ + -0.002909862669184804, + 0.024193426235745528, + 0.9997030463617483, + 8.603312744526193e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.999994695186615, + 0.002140156789696978, + 0.0024565566252087085, + -0.0020481387618929148 + ], + [ + -0.002081330632790923, + 0.9997168743059522, + -0.02370439765355578, + 0.0010085738031193614 + ], + [ + -0.002506592310965061, + 0.023699154821435933, + 0.9997160099734593, + -0.0013853368582203984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9999933242797852, + 0.002811037643622055, + 0.0023363686320345897, + -0.003714620368555188 + ], + [ + -0.0027545925695449114, + 0.9997124209987913, + -0.02382119076850962, + 0.0016171809984371066 + ], + [ + -0.002402659272775054, + 0.023814600569664036, + 0.9997135014534012, + -0.0031118132174015045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9999880790710449, + 0.00397296850011351, + 0.0028462787218524995, + -0.007028867490589619 + ], + [ + -0.003904572920873761, + 0.9997127885722923, + -0.02364532396591651, + 0.0030327686108648777 + ], + [ + -0.002939403522759676, + 0.023633924036498718, + 0.9997163431923681, + -0.006172452121973038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.999979555606842, + 0.005451452895740361, + 0.0033433620146909346, + -0.009751655161380768 + ], + [ + -0.005379468202590942, + 0.9997613544897068, + -0.02117436659480939, + 0.004933106247335672 + ], + [ + -0.0034579948987811804, + 0.021155948394751416, + 0.9997702318366705, + -0.009181160479784012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9999577999114992, + 0.00851723832080729, + 0.0034437263269905087, + -0.011648887768387794 + ], + [ + -0.008451156318187715, + 0.9997881535170848, + -0.01876852741501508, + 0.005221355706453323 + ], + [ + -0.003602852579206229, + 0.018738629482594894, + 0.9998179108634788, + -0.0113430917263031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9999012351036072, + 0.012359329504426527, + 0.006689276223449338, + -0.01430446095764637 + ], + [ + -0.012246912345290184, + 0.9997872879167687, + -0.01659342695050606, + 0.006916975602507591 + ], + [ + -0.006892937235534191, + 0.016509863705841853, + 0.9998399306003908, + -0.01522315014153719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9998235106468201, + 0.015306969443779302, + 0.010893245003825693, + -0.018036864697933197 + ], + [ + -0.015151485800743103, + 0.999784148535766, + -0.014215554353015622, + 0.007570278365164995 + ], + [ + -0.011108491569757462, + 0.014047998454383738, + 0.9998396148438451, + -0.019056038931012154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9997400641441345, + 0.018336508536567223, + 0.013550695996916601, + -0.02073252946138382 + ], + [ + -0.01815749704837799, + 0.9997477507442004, + -0.013217512300552285, + 0.008125758729875088 + ], + [ + -0.013789640739560127, + 0.012968027081235992, + 0.9998208090102763, + -0.02246142365038395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9996517300605774, + 0.020181583166364467, + 0.017003507622393017, + -0.023574277758598328 + ], + [ + -0.01996445097029209, + 0.9997181731343654, + -0.012844361966870079, + 0.008336957544088364 + ], + [ + -0.01725793443620205, + 0.012500423694605444, + 0.9997729007791716, + -0.026382019743323326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9995655417442322, + 0.021778089027871112, + 0.019862004683891536, + -0.025085292756557465 + ], + [ + -0.02151092141866684, + 0.9996765433817786, + -0.01356700997934972, + 0.00843825750052929 + ], + [ + -0.0201510451734066, + 0.013133869798136345, + 0.9997106959201647, + -0.03042931854724884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9994807839393618, + 0.02249983292394862, + 0.023064121906723224, + -0.028028829023241997 + ], + [ + -0.022152893245220188, + 0.9996392138776281, + -0.015189090635721577, + 0.008115841075778008 + ], + [ + -0.023397551849484447, + 0.014670264800624902, + 0.9996186175541423, + -0.03542596474289894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9994181394577026, + 0.021583838202408452, + 0.026411081899334832, + -0.03045923449099064 + ], + [ + -0.021115019917488098, + 0.999616768512589, + -0.017902807144895113, + 0.008458714000880718 + ], + [ + -0.026787370443344116, + 0.01733471300471048, + 0.9994908180615024, + -0.041338443756103516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9992804527282715, + 0.02038861727856371, + 0.03198198230233341, + -0.03462999686598778 + ], + [ + -0.019777849316596985, + 0.999618118929737, + -0.019298711384245368, + 0.008260947652161121 + ], + [ + -0.03236324340105057, + 0.01865229267417009, + 0.9993020881986873, + -0.04789517819881439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9991061687469482, + 0.01972476992360206, + 0.03738763343551618, + -0.038316406309604645 + ], + [ + -0.018906112760305405, + 0.9995764366587356, + -0.02212494704402396, + 0.00865150522440672 + ], + [ + -0.03780820593237877, + 0.02139831467869905, + 0.9990558693754659, + -0.054488688707351685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9988521337509155, + 0.019836404167985707, + 0.043600211419217584, + -0.04336168244481087 + ], + [ + -0.018744604662060738, + 0.9995039181529001, + -0.025308963253744387, + 0.008492001332342625 + ], + [ + -0.044080618768930435, + 0.024462642595831117, + 0.9987284157061344, + -0.06329026073217392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9985718131065371, + 0.019644642284225886, + 0.04968316136401483, + -0.04746153578162193 + ], + [ + -0.01820982620120049, + 0.999408628162981, + -0.0291689558874253, + 0.00954196322709322 + ], + [ + -0.050226796418428435, + 0.02822257158729681, + 0.998338970543194, + -0.07178525626659393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.998223066329956, + 0.020134546799444892, + 0.05608296485323741, + -0.05225446820259094 + ], + [ + -0.01836765743792057, + 0.9993240877603432, + -0.031844201728998385, + 0.01099313236773014 + ], + [ + -0.056686222553253174, + 0.03075749809164286, + 0.9979181367330411, + -0.08041253685951233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9977707266807556, + 0.020807824013803596, + 0.06340868266414174, + -0.05867251008749008 + ], + [ + -0.018690872937440872, + 0.9992538614692128, + -0.03379811837975809, + 0.012968155555427074 + ], + [ + -0.0640646442770958, + 0.0325376111248449, + 0.9974151467135869, + -0.08966632932424545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9973674416542055, + 0.019391277668849488, + 0.06987247402982398, + -0.06411918997764587 + ], + [ + -0.016974426805973056, + 0.9992425021411832, + -0.03501876773995607, + 0.014518595300614834 + ], + [ + -0.07049860060214998, + 0.03374053696350237, + 0.9969411078435367, + -0.09921710193157196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9969456195831301, + 0.01714158925432585, + 0.07619437403376088, + -0.07102148979902267 + ], + [ + -0.014423130080103878, + 0.9992446196399428, + -0.03608618357221358, + 0.01619352586567402 + ], + [ + -0.0767553895711899, + 0.034876994952183805, + 0.996439746829999, + -0.1094505563378334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9965060353279114, + 0.015553574427613426, + 0.08205964403837177, + -0.07720080018043518 + ], + [ + -0.01250196062028408, + 0.9992157352579818, + -0.03757141087944165, + 0.018335718661546707 + ], + [ + -0.08257966488599777, + 0.036414228233636034, + 0.9959189535117347, + -0.11912976205348969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9959263801574707, + 0.015418923694171888, + 0.08884175439480739, + -0.08570078760385513 + ], + [ + -0.011968353763222694, + 0.9991580392208049, + -0.03924214311916662, + 0.021154183894395828 + ], + [ + -0.08937202394008636, + 0.038018998679426944, + 0.9952724195412342, + -0.12983208894729614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9953166246414185, + 0.014955505892522562, + 0.09550456097818329, + -0.0933624878525734 + ], + [ + -0.011115300469100475, + 0.9991129834477744, + -0.040615821783820234, + 0.02328667603433132 + ], + [ + -0.09602728486061096, + 0.03936404386556304, + 0.9946000080864867, + -0.14057429134845734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9946955442428589, + 0.014811264735942081, + 0.1017909563362124, + -0.10230060666799545 + ], + [ + -0.010568615980446339, + 0.9990577678875274, + -0.0420936577984401, + 0.025943059474229813 + ], + [ + -0.10231851041316986, + 0.04079458112453403, + 0.9939148351153474, + -0.15228118002414703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9940670132637026, + 0.014795181641859615, + 0.10775857330687584, + -0.11111322790384293 + ], + [ + -0.01013842783868313, + 0.9989961012720192, + -0.04363506096242843, + 0.028625912964344025 + ], + [ + -0.10829598456621173, + 0.042283670154016934, + 0.9932190354533685, + -0.16355794668197632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9934788942337038, + 0.013515815929680855, + 0.11321208357241977, + -0.11972704529762268 + ], + [ + -0.0084167392924428, + 0.9989335714455724, + -0.045397524146991636, + 0.0315878763794899 + ], + [ + -0.1137049272656441, + 0.04414860226754194, + 0.992533167036824, + -0.17480537295341492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9928701519966125, + 0.012074587447844282, + 0.1185878288544923, + -0.1288045048713684 + ], + [ + -0.006505225785076618, + 0.9988624133699033, + -0.04723929994842854, + 0.034412045031785965 + ], + [ + -0.11902332305908203, + 0.04613104887929475, + 0.991819226122828, + -0.1865847110748291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9923328757286072, + 0.01224974568106977, + 0.12298533865907663, + -0.1365724354982376 + ], + [ + -0.006217550486326218, + 0.9987640139109732, + -0.04931258302305447, + 0.03744088485836983 + ], + [ + -0.12343740463256836, + 0.048169836207685085, + 0.9911825680157619, + -0.1977091133594513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.99174964427948, + 0.012461232525921719, + 0.12758288704588203, + -0.1440073847770691 + ], + [ + -0.005873357877135277, + 0.9986359143391945, + -0.05188260480716477, + 0.04155804589390755 + ], + [ + -0.1280553638935089, + 0.050705213468959995, + 0.9904699847663699, + -0.20889796316623688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9910829067230225, + 0.012077685063413111, + 0.13269834835933308, + -0.1518157571554184 + ], + [ + -0.004898299928754568, + 0.9985128524488796, + -0.05429685339745495, + 0.04497731477022171 + ], + [ + -0.13315679132938385, + 0.05316267898456275, + 0.9896681034789134, + -0.21981312334537506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9903432130813601, + 0.011880460899696004, + 0.13812746538252543, + -0.15935759246349335 + ], + [ + -0.004026984330266715, + 0.9983661799287658, + -0.056997741738858146, + 0.049298349767923355 + ], + [ + -0.1385789513587952, + 0.055891091485866067, + 0.9887730310765523, + -0.23095561563968658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9895128607749939, + 0.010628680475782058, + 0.14405331626574414, + -0.166640505194664 + ], + [ + -0.0020193131640553474, + 0.9982095166277588, + -0.05978004788251226, + 0.05356304720044136 + ], + [ + -0.14443078637123108, + 0.05886223717444868, + 0.9877626235473681, + -0.24220620095729828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9886541962623596, + 0.007432888055955671, + 0.15002562590933874, + -0.17348742485046387 + ], + [ + 0.0018947734497487545, + 0.9980783443523592, + -0.06193528916664322, + 0.05704766511917114 + ], + [ + -0.15019769966602325, + 0.06151684862881724, + 0.9867402679557312, + -0.2535956799983978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9878119826316833, + 0.003909156699000768, + 0.15560260330669823, + -0.1810421198606491 + ], + [ + 0.006095255725085735, + 0.9979462917276186, + -0.06376560810776276, + 0.060690637677907944 + ], + [ + -0.15553230047225952, + 0.06393686932198991, + 0.9857594746326513, + -0.2645653784275055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9869824647903442, + -0.0002501291458816448, + 0.16082763408017556, + -0.18852244317531586 + ], + [ + 0.010847899131476879, + 0.9978249643378292, + -0.06502054626518657, + 0.06394269317388535 + ], + [ + -0.16046157479286194, + 0.06591878337313366, + 0.9848384843129474, + -0.27596011757850647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9862534999847412, + -0.006300300162719703, + 0.16511928443076676, + -0.1950496882200241 + ], + [ + 0.017445534467697144, + 0.9976581802048275, + -0.06613506271080802, + 0.06713176518678665 + ], + [ + -0.16431592404842377, + 0.06810652614617174, + 0.9840537446620499, + -0.2863287627696991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9857112169265747, + -0.010777877747858053, + 0.16809899348645863, + -0.2008403092622757 + ], + [ + 0.022287629544734955, + 0.9975217927523595, + -0.06673447750064611, + 0.07028523087501526 + ], + [ + -0.16696316003799438, + 0.06952745276235135, + 0.9835086402153713, + -0.29685696959495544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9852312207221985, + -0.01257630712946957, + 0.17076667892009578, + -0.2063807100057602 + ], + [ + 0.024345312267541885, + 0.9974558927440283, + -0.0670004914580742, + 0.0727250725030899 + ], + [ + -0.16948960721492767, + 0.0701683384238082, + 0.9830308377242167, + -0.3062077760696411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9847077131271362, + -0.012714631448743102, + 0.17374982334126463, + -0.2120690941810608 + ], + [ + 0.02482367306947708, + 0.9973969626586419, + -0.06769805673171864, + 0.07527433335781097 + ], + [ + -0.17243680357933044, + 0.0709759158442732, + 0.9824601843958934, + -0.31635400652885437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9842290282249453, + -0.01220785565273053, + 0.17647703645217683, + -0.21723508834838867 + ], + [ + 0.024680126458406455, + 0.9973353318785831, + -0.068652399555485, + 0.07784456759691238 + ], + [ + -0.17516869306564334, + 0.07192516321402342, + 0.9819077098703124, + -0.3253827393054962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9836355447769167, + -0.01100155665012576, + 0.17983338218490993, + -0.22290189564228058 + ], + [ + 0.02397312596440316, + 0.9972506279416492, + -0.07011773010629511, + 0.08074555546045303 + ], + [ + -0.17856755852699283, + 0.07328145815798265, + 0.9811949021751278, + -0.33483922481536865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9830870628356936, + -0.0086884108425836, + 0.18293251739967067, + -0.22771278023719788 + ], + [ + 0.022194147109985355, + 0.9971640573871813, + -0.07191179828418548, + 0.08341238647699356 + ], + [ + -0.1817889362573624, + 0.07475558837702885, + 0.9804919240637829, + -0.34358009696006775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.982450544834137, + -0.005894092073901218, + 0.18643005536513385, + -0.2324044108390808 + ], + [ + 0.020016176626086235, + 0.9970603853753428, + -0.0739587708407918, + 0.08572261780500412 + ], + [ + -0.185446098446846, + 0.07639245565191341, + 0.9796805305216246, + -0.35244810581207275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9817735552787783, + -0.0033577088173514995, + 0.19002471737442822, + -0.2364872545003891 + ], + [ + 0.01827502064406872, + 0.9968787161945293, + -0.07680423502152119, + 0.08810823410749435 + ], + [ + -0.18917369842529302, + 0.07887707133167175, + 0.9787705026812106, + -0.36112654209136963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9809156656265259, + -0.0013444397764343897, + 0.19442900897270105, + -0.24150195717811584 + ], + [ + 0.01734204962849617, + 0.9965955423960081, + -0.08060126600789212, + 0.09098105132579803 + ], + [ + -0.193658709526062, + 0.08243484386831688, + 0.9775994874385283, + -0.37004512548446655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9801012873649599, + 0.00048725176713743676, + 0.19849732235619436, + -0.2454027384519577 + ], + [ + 0.0166119895875454, + 0.9962876335493835, + -0.08446901649696806, + 0.09334636479616165 + ], + [ + -0.19780157506465917, + 0.08608562539870646, + 0.9764547215618343, + -0.3792434632778168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9792217016220093, + 0.0021131576709708787, + 0.20278162806164285, + -0.24966751039028168 + ], + [ + 0.01618211530148983, + 0.9959428222526068, + -0.08852114582771385, + 0.096075139939785 + ], + [ + -0.20214597880840302, + 0.08996326893794854, + 0.9752146674032146, + -0.38678309321403503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9783368706703186, + 0.0036268415105286805, + 0.20698747346399754, + -0.25408780574798584 + ], + [ + 0.015807360410690308, + 0.9956187661677032, + -0.09215956095962236, + 0.09812469035387039 + ], + [ + -0.2064148485660553, + 0.09343502007006081, + 0.9739932110775827, + -0.39439791440963745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.977662265300751, + 0.004031793655015227, + 0.2101432802754123, + -0.2571508586406708 + ], + [ + 0.016445996239781383, + 0.9952831702288828, + -0.09560812357856795, + 0.09927376359701157 + ], + [ + -0.20953753590583807, + 0.09692847202811937, + 0.9729845203057556, + -0.4015132486820221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.977091372013092, + 0.003766408448107209, + 0.21278700463418554, + -0.2603541910648346 + ], + [ + 0.017720751464366913, + 0.9949314343650576, + -0.09898213710330846, + 0.1007278710603714 + ], + [ + -0.21208128333091736, + 0.1004853335808563, + 0.9720721307002622, + -0.4086783826351166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9766486883163454, + 0.004423762220920079, + 0.21479715973766364, + -0.2644735872745514 + ], + [ + 0.018104402348399166, + 0.9945372251997866, + -0.1028004118264519, + 0.10263273864984512 + ], + [ + -0.2140785306692124, + 0.10428865912117283, + 0.9712333607529626, + -0.4144396483898163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9763950705528259, + 0.005915152267664175, + 0.21591131461757945, + -0.2685181200504303 + ], + [ + 0.01751772128045559, + 0.994163196160015, + -0.10645502447339285, + 0.10425105690956116 + ], + [ + -0.21528078615665436, + 0.10772443624438992, + 0.9705924446325109, + -0.4204448163509369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9762238264083862, + 0.0067935287442546805, + 0.21665847274790004, + -0.2718054950237274 + ], + [ + 0.01741793565452099, + 0.9938182529857141, + -0.10964415508403556, + 0.10502170771360397 + ], + [ + -0.21606403589248657, + 0.11081098009579524, + 0.970070726347279, + -0.4255816638469696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9760749340057375, + 0.007696468225961134, + 0.21729817258059558, + -0.274458110332489 + ], + [ + 0.017352530732750896, + 0.9934284943862592, + -0.11313146405977473, + 0.10616211593151093 + ], + [ + -0.21674090623855596, + 0.11419546034408623, + 0.9695271147952376, + -0.4304598569869995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9758886098861697, + 0.007311297711507198, + 0.21814674973664955, + -0.27696919441223145 + ], + [ + 0.01859269477427006, + 0.9930216992706319, + -0.1164568165752536, + 0.10754960030317307 + ], + [ + -0.2174759209156037, + 0.11770481735334722, + 0.9689426330632374, + -0.434680700302124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.975700914859772, + 0.006548127445559822, + 0.21900870270029832, + -0.27942976355552673 + ], + [ + 0.02029969356954098, + 0.9925526475723009, + -0.12011298873457785, + 0.10916115343570709 + ], + [ + -0.21816419064998632, + 0.12164016255085097, + 0.968301608811244, + -0.4386502802371979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9754896163940432, + 0.0064599636206597606, + 0.21995075380281262, + -0.28163641691207886 + ], + [ + 0.02120795659720898, + 0.9921555279324386, + -0.12319771117604147, + 0.10942024737596512 + ], + [ + -0.21902120113372808, + 0.12484279148046845, + 0.9677003916565099, + -0.44206416606903076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.975190341472626, + 0.007817039819387056, + 0.2212300350379162, + -0.28499409556388855 + ], + [ + 0.02071807533502579, + 0.9917668561923938, + -0.12636957869764825, + 0.1104339212179184 + ], + [ + -0.22039644420146948, + 0.12781784629250043, + 0.9669994648517974, + -0.4453100264072418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9749468564987183, + 0.008170801697327703, + 0.22228790627584696, + -0.2873941659927368 + ], + [ + 0.021122321486473083, + 0.9914087072790244, + -0.12908370066824906, + 0.1113247498869896 + ], + [ + -0.2214328944683075, + 0.13054498245782317, + 0.9663981987269826, + -0.44828248023986816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.974751889705658, + 0.0065404342608583275, + 0.2231949759995688, + -0.28989970684051514 + ], + [ + 0.0233447328209877, + 0.9911080185250605, + -0.13099577998624645, + 0.11152806133031845 + ], + [ + -0.22206710278987885, + 0.13289881541738607, + 0.965931760425906, + -0.45066413283348083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9747517704963686, + 0.003308720587170554, + 0.2232667341247683, + -0.29086416959762573 + ], + [ + 0.027000144124031074, + 0.9908068915756976, + -0.13256225696254126, + 0.11094614863395691 + ], + [ + -0.22165282070636755, + 0.13524352335904016, + 0.9657014049149812, + -0.4524138271808624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9746463298797607, + -6.506025911295695e-05, + 0.22375109449008537, + -0.2917429506778717 + ], + [ + 0.030985800549387932, + 0.9904039938253885, + -0.13468431608813997, + 0.11170739680528641 + ], + [ + -0.22159519791603088, + 0.13820267107161896, + 0.965295567186248, + -0.45397621393203735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9746111631393433, + -0.0019248439416880308, + 0.22389592305454895, + -0.29181140661239624 + ], + [ + 0.03337759152054787, + 0.9900389899604013, + -0.13678008954402318, + 0.11196136474609375 + ], + [ + -0.22140242159366608, + 0.14078050270763115, + 0.9649672592658911, + -0.4547775387763977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9744858145713808, + -0.004335737918780292, + 0.22440725038494946, + -0.29261717200279236 + ], + [ + 0.03638235107064248, + 0.9896421926031898, + -0.1388691871162694, + 0.11254897713661194 + ], + [ + -0.22148077189922338, + 0.14349051630188864, + 0.964550022406411, + -0.45597556233406067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9743601679801941, + -0.006823670492630273, + 0.2248903895908155, + -0.2939198613166809 + ], + [ + 0.03956862911581993, + 0.9891583151560961, + -0.14142179554635065, + 0.1140395998954773 + ], + [ + -0.22148719429969788, + 0.14669437316302375, + 0.9640664995291811, + -0.4562271535396576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9742578268051147, + -0.008108483227155641, + 0.2252907989921708, + -0.29521214962005615 + ], + [ + 0.04136017709970474, + 0.9888188523222269, + -0.143271079404369, + 0.11451070010662079 + ], + [ + -0.22161006927490234, + 0.14890103698821244, + 0.9636998769703654, + -0.45615071058273315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9741857051849365, + -0.009390744941410999, + 0.22555272138973376, + -0.2954362630844116 + ], + [ + 0.04299730435013771, + 0.9885625904248713, + -0.1445516638238652, + 0.1143723577260971 + ], + [ + -0.22161553800106049, + 0.15051833035512857, + 0.9634473647897036, + -0.4558698236942291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9740447402000427, + -0.010675674936246772, + 0.22610373727928154, + -0.29603374004364014 + ], + [ + 0.044558085501194, + 0.9883856916864534, + -0.14528677466023338, + 0.11393433809280396 + ], + [ + -0.22192665934562683, + 0.15159057393887426, + 0.9632076139513643, + -0.4558084011077881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9739847183227541, + -0.01106992965337257, + 0.22634323220936142, + -0.2963258922100067 + ], + [ + 0.04522299021482468, + 0.9882106084707698, + -0.14626935228592977, + 0.11474624276161194 + ], + [ + -0.22205558419227606, + 0.15270002434563038, + 0.9630026085364723, + -0.4559071362018585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9739570617675781, + -0.012230831068251926, + 0.2264024636983256, + -0.29636019468307495 + ], + [ + 0.046522025018930435, + 0.9880784664400042, + -0.14675387118135452, + 0.11479310691356659 + ], + [ + -0.22190847992897034, + 0.1534646621408367, + 0.9629149412212371, + -0.45548856258392334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9738994240760803, + -0.013576304191468734, + 0.2265735789262802, + -0.2962665557861328 + ], + [ + 0.04801560565829277, + 0.9879418632256639, + -0.1471917999370578, + 0.11483640223741531 + ], + [ + -0.2218431979417801, + 0.15422907426451707, + 0.9628078792329472, + -0.4547695219516754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9738293886184692, + -0.014664538137115615, + 0.22680680795655292, + -0.2977689504623413 + ], + [ + 0.049240268766880035, + 0.987827976414707, + -0.14755102528784117, + 0.11456350237131119 + ], + [ + -0.22188232839107513, + 0.1548575459443622, + 0.9626979549998643, + -0.45538124442100525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9737997055053711, + -0.014968561861278033, + 0.22691418088369592, + -0.29862794280052185 + ], + [ + 0.0498436875641346, + 0.9876171588162109, + -0.14875473022693875, + 0.11510451138019562 + ], + [ + -0.22187769412994385, + 0.15616755397446663, + 0.9624874024681142, + -0.45494744181632996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.973879873752594, + -0.014014219396763205, + 0.22663085627866286, + -0.29921194911003113 + ], + [ + 0.049199704080820084, + 0.9874059053962764, + -0.15036294344114448, + 0.1156475841999054 + ], + [ + -0.22166942059993744, + 0.15758561766390053, + 0.9623042534343925, + -0.45461103320121765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9740517139434817, + -0.012013282148468541, + 0.22600661357379956, + -0.2999325692653656 + ], + [ + 0.047375414520502104, + 0.9872903983291883, + -0.15170132981724965, + 0.11552806198596954 + ], + [ + -0.22131171822547918, + 0.1584720891401781, + 0.9622409912321852, + -0.45476630330085754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9741417169570925, + -0.011877683483471334, + 0.22562537381636685, + -0.3010939061641693 + ], + [ + 0.0474660135805607, + 0.9870900108579163, + -0.15297162106601747, + 0.11524319648742676 + ], + [ + -0.22089560329914099, + 0.15972557077929012, + 0.962129320585992, + -0.45565924048423767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9743256568908691, + -0.012998842135867073, + 0.22476783401072542, + -0.3013344407081604 + ], + [ + 0.04872202128171921, + 0.9868487459352179, + -0.15412892946399043, + 0.11444362252950668 + ], + [ + -0.21980836987495422, + 0.16112291202796988, + 0.9621453759969848, + -0.45611196756362915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9748038649559021, + -0.011316670503210651, + 0.22277638729191349, + -0.30082517862319946 + ], + [ + 0.04687952250242233, + 0.9868010629868638, + -0.15500314303753748, + 0.1137363389134407 + ], + [ + -0.21808184683322906, + 0.16154131704150734, + 0.9624680339361006, + -0.4572659432888031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9753535985946655, + -0.008861928103236012, + 0.22046943234296149, + -0.3011229634284973 + ], + [ + 0.04399261623620987, + 0.986942002321125, + -0.15495185481120333, + 0.11227885633707047 + ], + [ + -0.21621738374233246, + 0.16083188468611592, + 0.9630073496953809, + -0.4587327241897583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9759193658828735, + -0.008311149541478779, + 0.21797324382704705, + -0.3009677827358246 + ], + [ + 0.042941223829984665, + 0.9870398393033515, + -0.15462325128120252, + 0.11051853001117706 + ], + [ + -0.21386319398880005, + 0.16025986879273366, + 0.9636282224759997, + -0.4608767032623291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9766877293586731, + -0.006478160063636468, + 0.21456720115089578, + -0.3006742298603058 + ], + [ + 0.040668100118637085, + 0.9870272639286959, + -0.1553169085675281, + 0.11013772338628769 + ], + [ + -0.21077750623226166, + 0.16042215494770912, + 0.9642808499483757, + -0.4623900055885315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9774497747421267, + -0.00498756927714224, + 0.2111092509531176, + -0.30227458477020264 + ], + [ + 0.03859133273363114, + 0.98710389383114, + -0.15535953808306002, + 0.10819298028945923 + ], + [ + -0.20761188864707952, + 0.16000312514170323, + 0.9650369156346777, + -0.46525704860687256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9782249927520752, + -0.003931486322769217, + 0.20751011743757547, + -0.3031419813632965 + ], + [ + 0.03698503598570824, + 0.9871197143551851, + -0.15564944661856506, + 0.10629957914352417 + ], + [ + -0.20422539114952087, + 0.1599349438823623, + 0.9657705703547738, + -0.46864762902259827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9788795113563538, + -0.0028642624498753334, + 0.2044180782843552, + -0.30284038186073303 + ], + [ + 0.03566518798470497, + 0.9869611310685225, + -0.15695776213019924, + 0.10650643706321716 + ], + [ + -0.2013031244277954, + 0.1609333430866646, + 0.9662181663624684, + -0.47367870807647705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9791070222854614, + -0.0027804711599702316, + 0.2033266708459818, + -0.3031516373157501 + ], + [ + 0.03566841781139374, + 0.9867521691680127, + -0.15826532663933107, + 0.1062370091676712 + ], + [ + -0.20019298791885376, + 0.16221102816870994, + 0.9662351230333133, + -0.47803136706352234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9791802763938904, + -0.004218606670912888, + 0.20294887403782752, + -0.30166879296302795 + ], + [ + 0.03750359266996384, + 0.9863322606763958, + -0.16044351611858784, + 0.10653942078351974 + ], + [ + -0.19949817657470703, + 0.16471443390277488, + 0.9659552837046066, + -0.4830704927444458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9790499210357666, + -0.006083766996949305, + 0.20352953303908242, + -0.2995125651359558 + ], + [ + 0.03981037810444832, + 0.9859824723286351, + -0.16202985532311043, + 0.10563671588897705 + ], + [ + -0.1996908038854599, + 0.16673790617354226, + 0.965568270101794, + -0.49040430784225464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9787784814834595, + -0.005586183151477846, + 0.20484507462920828, + -0.29710906744003296 + ], + [ + 0.04021238908171654, + 0.9854286493043092, + -0.16526751708116688, + 0.1089777871966362 + ], + [ + -0.20093700289726257, + 0.16999759876203327, + 0.9647409948680352, + -0.4948892891407013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9782047271728518, + -0.005735758729887993, + 0.2075634695264326, + -0.29508325457572937 + ], + [ + 0.04143237695097924, + 0.9849080884272244, + -0.16804572698440037, + 0.11126464605331421 + ], + [ + -0.20346707105636602, + 0.17298297720836547, + 0.9636794156711846, + -0.5002655386924744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9770103693008423, + -0.0065844829448259, + 0.21309006853595516, + -0.2978256046772003 + ], + [ + 0.043398626148700714, + 0.9847367793024397, + -0.16855278042726024, + 0.10963386297225952 + ], + [ + -0.20872780680656433, + 0.17392563215792428, + 0.9623838175803421, + -0.5098123550415039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9760836362838745, + -0.006387429643084129, + 0.21730143585790074, + -0.2973126769065857 + ], + [ + 0.04427201300859451, + 0.9844619913449592, + -0.16992527473358257, + 0.11061388999223709 + ], + [ + -0.21283961832523346, + 0.1754816551755361, + 0.9612000411917931, + -0.516394317150116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9759872555732727, + -0.006740762679847737, + 0.2177233761553889, + -0.28745269775390625 + ], + [ + 0.04568611457943916, + 0.9836244493901293, + -0.1743436259335009, + 0.11742546409368515 + ], + [ + -0.21298283338546753, + 0.1801040930397284, + 0.9603128977039057, + -0.5211321711540222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9747538566589355, + -0.007689256360337975, + 0.22314981996970729, + -0.28853970766067505 + ], + [ + 0.047839682549238205, + 0.9833901978513447, + -0.1750858408316018, + 0.11696690320968628 + ], + [ + -0.21809706091880798, + 0.1813410164310414, + 0.9589312576995638, + -0.5291514992713928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9741184711456299, + -0.0066261487404814514, + 0.22594080887224538, + -0.28632813692092896 + ], + [ + 0.04807931184768677, + 0.9827705348238357, + -0.17846692893954927, + 0.12144351005554199 + ], + [ + -0.2208654284477234, + 0.184711012335749, + 0.9576535200569811, + -0.5303274989128113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9734791517257693, + -0.0082401803343703, + 0.22862740860641284, + -0.2806565761566162 + ], + [ + 0.050593152642250075, + 0.9823617944554771, + -0.18001576493694185, + 0.12391727417707443 + ], + [ + -0.2231114655733109, + 0.18680856537165022, + 0.956725576284967, + -0.5406011939048767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9722096920013428, + -0.007454533068331643, + 0.23399303902870858, + -0.2832273244857788 + ], + [ + 0.051086824387311935, + 0.9821610393015953, + -0.18096930207426104, + 0.12406011670827866 + ], + [ + -0.22846978902816772, + 0.18789406230699823, + 0.9552472783968865, + -0.5480448603630066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.971245527267456, + -0.007072172104597012, + 0.23797508607881954, + -0.2823858857154846 + ], + [ + 0.05163928493857384, + 0.98202102088672, + -0.1815711095823716, + 0.12529055774211884 + ], + [ + -0.2324124276638031, + 0.18863899366563636, + 0.9541487426248686, + -0.5565363764762878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9706275463104248, + -0.007353684879838089, + 0.24047463748010414, + -0.27583038806915283 + ], + [ + 0.052947305142879486, + 0.9815562182564157, + -0.18369529522364872, + 0.13123421370983124 + ], + [ + -0.23468855023384094, + 0.1910322041682327, + 0.9531149089028979, + -0.5597253441810608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9692384004592896, + -0.008078895002951276, + 0.24599127127779646, + -0.27515366673469543 + ], + [ + 0.05447998642921448, + 0.9817107616930374, + -0.1824168672876137, + 0.13015198707580566 + ], + [ + -0.2400185614824295, + 0.1902070340101773, + 0.9519518984092384, + -0.5689204931259155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9669534564018252, + -0.008136005591095638, + 0.25482309571768064, + -0.2834495007991791 + ], + [ + 0.056154083460569396, + 0.9817424149462112, + -0.1817375357131606, + 0.12828093767166138 + ], + [ + -0.2486920207738877, + 0.19004109617468676, + 0.9497560984421352, + -0.5745005011558533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9648348689079285, + -0.009820875261436957, + 0.2626732536365105, + -0.28902629017829895 + ], + [ + 0.059370093047618866, + 0.9816205441386656, + -0.18137349740393335, + 0.12785640358924866 + ], + [ + -0.256064236164093, + 0.19059040597475477, + 0.9476847756214484, + -0.5839600563049316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9626888036727905, + -0.011667767753709885, + 0.2703593499518809, + -0.2949691712856293 + ], + [ + 0.06255822628736496, + 0.981603187992768, + -0.1803931695856781, + 0.12449876964092255 + ], + [ + -0.2632807791233063, + 0.19057567049697183, + 0.9457082434911501, + -0.5937051773071289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9611198902130127, + -0.01350844714434856, + 0.275800746709113, + -0.29697227478027344 + ], + [ + 0.06574397534132004, + 0.9812748815447834, + -0.1810449627589185, + 0.12401372194290161 + ], + [ + -0.2681907117366791, + 0.19213816042931, + 0.9440109555957139, + -0.6008761525154114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9598362445831301, + -0.01465804895684199, + 0.2801777100944743, + -0.2980615496635437 + ], + [ + 0.06822198629379274, + 0.9808546563241033, + -0.1824003944868168, + 0.12361336499452591 + ], + [ + -0.2721399664878846, + 0.1941887871390803, + 0.9424598562396654, + -0.6073259711265564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9585754871368408, + -0.014808434857844879, + 0.28445340287958154, + -0.29986751079559326 + ], + [ + 0.07010994106531143, + 0.9801901838381233, + -0.18523451294213836, + 0.12449106574058533 + ], + [ + -0.27607542276382446, + 0.19750426867296408, + 0.9406244668463463, + -0.6130663156509399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.957547664642334, + -0.015164756565139789, + 0.28787595465760923, + -0.300725519657135 + ], + [ + 0.07189235091209412, + 0.9796249673007346, + -0.1875272110735099, + 0.1242714449763298 + ], + [ + -0.27916663885116577, + 0.20026231389693747, + 0.9391278127621476, + -0.6176062822341919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9566403031349184, + -0.01529884216062878, + 0.2908698362108532, + -0.3027576804161072 + ], + [ + 0.07355388998985292, + 0.9789430077523265, + -0.19042165820144794, + 0.12432493269443512 + ], + [ + -0.28183174133300787, + 0.20355964038544402, + 0.9376216457004262, + -0.6225733160972595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9561019539833069, + -0.015616458248038763, + 0.29261787877076456, + -0.3029877543449402 + ], + [ + 0.07493829727172852, + 0.9784041320976089, + -0.19263841910092694, + 0.12376237660646439 + ], + [ + -0.28329023718833923, + 0.20611025096348523, + 0.936624345170237, + -0.6256693005561829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9557282328605654, + -0.014391208983172681, + 0.29389870907394255, + -0.3036743104457855 + ], + [ + 0.07470183074474336, + 0.9779471722039417, + -0.195035930950372, + 0.12413898855447769 + ], + [ + -0.28461062908172613, + 0.20835610479005437, + 0.9357267254447001, + -0.6285408139228821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9554989933967593, + -0.012563725217352351, + 0.2947266851670288, + -0.30383703112602234 + ], + [ + 0.07375863194465639, + 0.9775335042284382, + -0.1974535771997581, + 0.12392716854810715 + ], + [ + -0.28562444448471075, + 0.21040533265931602, + 0.9349589814750277, + -0.6306195855140686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9552366733551025, + -0.01052011197886393, + 0.29565556326016224, + -0.3043813109397888 + ], + [ + 0.07274627685546875, + 0.9770359695476483, + -0.20027151249844238, + 0.12358200550079346 + ], + [ + -0.28675922751426697, + 0.21281453095236932, + 0.9340658871864495, + -0.6323806643486023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9549208283424377, + -0.008416712988942157, + 0.2967411775990382, + -0.3056156039237976 + ], + [ + 0.07163280248641968, + 0.9765932088169257, + -0.20281633267817786, + 0.12323557585477829 + ], + [ + -0.2880883812904358, + 0.2149299457716034, + 0.9331721258036525, + -0.6342673301696777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9547303915023804, + -0.00764824959269599, + 0.2973740595649434, + -0.30590876936912537 + ], + [ + 0.07185466587543488, + 0.9759967536930837, + -0.20559013284085717, + 0.12287018448114395 + ], + [ + -0.28866368532180786, + 0.2176508638428454, + 0.9323633433667423, + -0.6346564292907715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9548672437667847, + -0.007857037209368627, + 0.29692892431183515, + -0.3065076768398285 + ], + [ + 0.07276058197021484, + 0.9753815824762795, + -0.20817467837679837, + 0.12300756573677063 + ], + [ + -0.28798335790634155, + 0.22038390382366416, + 0.9319316121018095, + -0.6346796751022339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9554368853569031, + -0.008081916800583533, + 0.29508482316544504, + -0.30675962567329407 + ], + [ + 0.07327785342931747, + 0.9748300724420589, + -0.21056272883816285, + 0.12271054089069366 + ], + [ + -0.2859557867050171, + 0.22280258210828816, + 0.9319808662720973, + -0.6328025460243225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9562063813209534, + -0.008349678167379694, + 0.2925741904099503, + -0.3063794672489166 + ], + [ + 0.07351161539554596, + 0.9744036955706518, + -0.21244635316108104, + 0.12149874866008759 + ], + [ + -0.28331154584884644, + 0.22465016318545836, + 0.9323448481182066, + -0.6303136944770813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9570200443267824, + -0.007463367548757128, + 0.2899257858354292, + -0.3077949583530426 + ], + [ + 0.07250537723302843, + 0.9740821936863675, + -0.214258846734335, + 0.11996770650148392 + ], + [ + -0.2808124423027039, + 0.2260711829786032, + 0.9327573012020551, + -0.6274577379226685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9581565260887148, + -0.007173180595277189, + 0.28615489557709906, + -0.3081580698490143 + ], + [ + 0.07186549901962282, + 0.9736950470929803, + -0.2162252062846711, + 0.11886002868413925 + ], + [ + -0.27707657217979437, + 0.2277422525923633, + 0.9334677463853867, + -0.623406171798706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9594470858573914, + -0.0056087916365233645, + 0.28183296466365676, + -0.308037668466568 + ], + [ + 0.06992265582084656, + 0.9732906990879121, + -0.2186689157185919, + 0.11823700368404388 + ], + [ + -0.27307891845703125, + 0.2295077563704314, + 0.9342130665674898, + -0.6184312701225281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9609232544898987, + -0.004059641716980342, + 0.2767851638692938, + -0.30663812160491943 + ], + [ + 0.067722387611866, + 0.972955207563434, + -0.2208433626870507, + 0.11730317026376724 + ], + [ + -0.268403023481369, + 0.2309580764303942, + 0.9352102276751177, + -0.6107824444770813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9622263312339783, + -0.0022537212502416076, + 0.2722414946368884, + -0.3076212704181671 + ], + [ + 0.06529192626476288, + 0.9726937373634759, + -0.22271927772310096, + 0.11501336097717285 + ], + [ + -0.26430565118789673, + 0.23208152493704587, + 0.9360986783212218, + -0.6048493385314941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9636563658714294, + 0.00020002594336149135, + 0.26714493177812, + -0.30730900168418884 + ], + [ + 0.06210066005587578, + 0.9724378638300182, + -0.22474020888184404, + 0.11314085870981216 + ], + [ + -0.25982680916786194, + 0.23316219418820455, + 0.937083466921959, + -0.5967026352882385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9652250409126282, + 0.00046686510600221044, + 0.26141988895343715, + -0.30475693941116333 + ], + [ + 0.06076489016413689, + 0.972208177285551, + -0.22609482109479895, + 0.1093662828207016 + ], + [ + -0.2542601227760315, + 0.23411754272446653, + 0.9383713497926427, + -0.5905756950378418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9666705131530762, + -0.0006366335669710513, + 0.256022916273996, + -0.3042992651462555 + ], + [ + 0.06107237935066223, + 0.9717025685315619, + -0.22817586319362637, + 0.10619944334030151 + ], + [ + -0.24863286316394806, + 0.23620680841464597, + 0.9393551082880237, + -0.5795159339904785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9681930541992188, + 0.00023137225757264654, + 0.2502041596368208, + -0.3053537607192993 + ], + [ + 0.05964546650648117, + 0.9709563440085792, + -0.23170269200665713, + 0.10414360463619232 + ], + [ + -0.24299092590808868, + 0.2392564938511049, + 0.940059447153365, + -0.5686957240104675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9698185920715332, + -0.001458137484773468, + 0.24382317164980166, + -0.3051481246948242 + ], + [ + 0.06062179058790207, + 0.9700242643736312, + -0.23532509246329644, + 0.1010608896613121 + ], + [ + -0.23617126047611237, + 0.24300365011155659, + 0.9408359753780824, + -0.5567207932472229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.971576511859894, + -0.0023907135880952566, + 0.23671376372774972, + -0.3033793568611145 + ], + [ + 0.06045906990766527, + 0.9692929209160235, + -0.23836090873862278, + 0.09712290018796921 + ], + [ + -0.22887511551380163, + 0.2458973488587943, + 0.9418867563113288, + -0.5477976202964783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9733700156211853, + -0.004826891250194215, + 0.22918881860720666, + -0.3002304434776306 + ], + [ + 0.06182161346077919, + 0.9682633738719009, + -0.24216538772628976, + 0.09426513314247131 + ], + [ + -0.220746248960495, + 0.24988536136361786, + 0.9427769885353405, + -0.5354964137077332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9749148488044741, + -0.008641853558720582, + 0.22241038764103072, + -0.2973634600639343 + ], + [ + 0.06475189328193666, + 0.9670386332567144, + -0.24625906473515188, + 0.09265470504760742 + ], + [ + -0.2129512876272202, + 0.2544831080496285, + 0.9433398933464545, + -0.5198204517364502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9761280417442322, + -0.012914441308697464, + 0.21681156158658385, + -0.29701176285743713 + ], + [ + 0.0681397020816803, + 0.9660427572536708, + -0.24923566404590217, + 0.08927006274461746 + ], + [ + -0.20623049139976501, + 0.25805939054669, + 0.9438613884703866, + -0.5089948177337646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9774899482727051, + -0.013691520567102135, + 0.2105372451061636, + -0.2954917848110199 + ], + [ + 0.06794051826000214, + 0.9651639998296973, + -0.25267079898200495, + 0.08721057325601578 + ], + [ + -0.19974352419376373, + 0.2612871804595763, + 0.944368340161938, + -0.5017483234405518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9782186150550842, + -0.014403133845882628, + 0.20707707304876552, + -0.2964349389076233 + ], + [ + 0.0680433139204979, + 0.9647204432011275, + -0.2543315677707358, + 0.08481941372156143 + ], + [ + -0.19610832631587982, + 0.2628820851041429, + 0.9446875478032115, + -0.4928009510040283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9788783192634583, + -0.017658996030698842, + 0.20367976509494326, + -0.296049565076828 + ], + [ + 0.07031292468309402, + 0.9645676647459085, + -0.25429381844080934, + 0.08179393410682678 + ], + [ + -0.19197233021259308, + 0.26324402079517106, + 0.9454360063920235, + -0.48268407583236694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9796200394630434, + -0.021405423358337984, + 0.19971591070579695, + -0.2961023449897766 + ], + [ + 0.07290697842836381, + 0.9643862721216075, + -0.25425134398563687, + 0.07863600552082062 + ], + [ + -0.18716092407703402, + 0.26363038515667664, + 0.9462926947663391, + -0.472401887178421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9803107976913454, + -0.02512528140190651, + 0.19585570462670288, + -0.29636314511299133 + ], + [ + 0.07563675940036775, + 0.964000483211351, + -0.25491598720906034, + 0.07569024711847305 + ], + [ + -0.18240016698837283, + 0.2647107857531614, + 0.9469204735585565, + -0.46252143383026123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9814494848251343, + -0.02742479350684852, + 0.18974917046998124, + -0.2916332185268402 + ], + [ + 0.0764019712805748, + 0.96368062950917, + -0.2558953696787144, + 0.07258491963148117 + ], + [ + -0.17583972215652466, + 0.26564558522498166, + 0.9478991468513733, + -0.4518032968044281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9822564721107483, + -0.028058809522003215, + 0.1854316882581631, + -0.2919120490550995 + ], + [ + 0.0760672390460968, + 0.9633690491226331, + -0.25716503247758526, + 0.07043454796075821 + ], + [ + -0.17142340540885925, + 0.2667072969642376, + 0.948409857716121, + -0.4426356852054596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9830736517906189, + -0.029228223113196807, + 0.18086445432063142, + -0.2915739417076111 + ], + [ + 0.07602543383836746, + 0.9632659641932056, + -0.25756332463605786, + 0.0664430558681488 + ], + [ + -0.16669245064258575, + 0.2669540038612185, + 0.94918342095409, + -0.4335187077522278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9841176867485046, + -0.030940758536558276, + 0.17479987602110575, + -0.288053959608078 + ], + [ + 0.0761953741312027, + 0.9629959833018237, + -0.2585207439857446, + 0.064140185713768 + ], + [ + -0.16033275425434113, + 0.2677337903504838, + 0.9500589707534848, + -0.4232581555843353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9850457310676575, + -0.03280437564819164, + 0.1691412311073559, + -0.2881898581981659 + ], + [ + 0.07666902244091034, + 0.9626112978932856, + -0.25981030229404356, + 0.06273321062326431 + ], + [ + -0.15429435670375824, + 0.2688929188180986, + 0.9507312195202198, + -0.4140482246875763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9861469864845276, + -0.036868802948474215, + 0.1617244020188862, + -0.28143537044525146 + ], + [ + 0.07878118753433228, + 0.9621051919463831, + -0.26105001184082227, + 0.060226261615753174 + ], + [ + -0.14597129821777344, + 0.27017453347852693, + 0.9516817524876556, + -0.4037158191204071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9870718121528625, + -0.03766835179006852, + 0.1557892842608489, + -0.2786514163017273 + ], + [ + 0.07818985730409622, + 0.961652842638408, + -0.2628879987869547, + 0.057947076857089996 + ], + [ + -0.1399126499891281, + 0.2716704908696983, + 0.9521657522284193, + -0.39296290278434753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9879987239837646, + -0.03684046214903259, + 0.1500043029201352, + -0.27468031644821167 + ], + [ + 0.07627271860837936, + 0.9608431367972907, + -0.26638866214998774, + 0.057565655559301376 + ], + [ + -0.13431672751903534, + 0.2746329037423686, + 0.9521217553131074, + -0.38378065824508667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9887574315071106, + -0.0359963880017297, + 0.14513083412057717, + -0.2700888216495514 + ], + [ + 0.07458045333623886, + 0.959964885751012, + -0.27000958062186114, + 0.05638621374964714 + ], + [ + -0.1296011209487915, + 0.2777979080513936, + 0.9518570587199736, + -0.37630581855773926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9893129467964172, + -0.03442341932668503, + 0.14168591682731962, + -0.2676678001880646 + ], + [ + 0.07248406857252121, + 0.9592632553763873, + -0.2730567989310078, + 0.05404125526547432 + ], + [ + -0.12651453912258148, + 0.280408603949997, + 0.951506739882073, + -0.36865755915641785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.989827036857605, + -0.033691160626169864, + 0.13822952793713697, + -0.26419156789779663 + ], + [ + 0.07121676206588745, + 0.9584092606063629, + -0.27636898509645064, + 0.05278080701828003 + ], + [ + -0.12316927313804626, + 0.2834017395828517, + 0.9510587402994073, + -0.3607424199581146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9903092980384829, + -0.035408518521681705, + 0.13428987115069257, + -0.2588995099067688 + ], + [ + 0.07206921279430391, + 0.9575891291673069, + -0.2789785677917615, + 0.050595734268426895 + ], + [ + -0.11871629953384402, + 0.28595323476754614, + 0.9508612947116437, + -0.3531424105167389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.990845263004303, + -0.035726623465349404, + 0.1301894338222055, + -0.2531353235244751 + ], + [ + 0.07155385613441467, + 0.9567320324835661, + -0.2820351658468374, + 0.04985423758625984 + ], + [ + -0.11448024213314056, + 0.2887687580971955, + 0.9505297733019872, + -0.3437807559967041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9913232922554016, + -0.035355090291469764, + 0.12660226520493184, + -0.2469257265329361 + ], + [ + 0.07046978175640106, + 0.9559860442706973, + -0.28482393251146787, + 0.04901052638888359 + ], + [ + -0.11096002161502838, + 0.29127423853072604, + 0.9501827102674331, + -0.33474594354629517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.991711437702179, + -0.03612689514870367, + 0.1233013915009367, + -0.240135058760643 + ], + [ + 0.07044713944196701, + 0.9554371097139787, + -0.2866655131022021, + 0.04583720490336418 + ], + [ + -0.10745038837194443, + 0.2929756955760627, + 0.9500629518026502, + -0.3260098099708557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9921424984931946, + -0.03649001337467384, + 0.11967357838384472, + -0.23201408982276917 + ], + [ + 0.0699736550450325, + 0.9547721072731344, + -0.288987720002109, + 0.04381607472896576 + ], + [ + -0.10371582955121994, + 0.29509100135342, + 0.9498233308484231, + -0.31635531783103943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9926162362098696, + -0.035811800766432984, + 0.11589038600951265, + -0.22445575892925262 + ], + [ + 0.0684155896306038, + 0.9542386785308365, + -0.29111491159837133, + 0.04092654213309288 + ], + [ + -0.10016173869371417, + 0.2968940836788558, + 0.9496428361168012, + -0.3061060607433319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.993131160736084, + -0.034241791526151456, + 0.11188359467305904, + -0.2168220430612564 + ], + [ + 0.06591074913740158, + 0.9537924493264581, + -0.2931480695417241, + 0.03753003850579262 + ], + [ + -0.096675805747509, + 0.2985088089493854, + 0.949497880934968, + -0.29730579257011414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9938334226608279, + -0.03044148206801979, + 0.1066227664382148, + -0.20839181542396545 + ], + [ + 0.060857858508825316, + 0.9535534704776203, + -0.29501197158001774, + 0.03364059329032898 + ], + [ + -0.0926899164915085, + 0.2996816045142288, + 0.9495259723803688, + -0.28800883889198303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9945377111434937, + -0.02641472517406485, + 0.10098025069323947, + -0.20027364790439606 + ], + [ + 0.055462732911109924, + 0.953304327762474, + -0.2968749725287232, + 0.02892955206334591 + ], + [ + -0.08842304348945618, + 0.30085399479204755, + 0.9495621279927041, + -0.27893534302711487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9952187538146973, + -0.02293303825001374, + 0.09494049212679548, + -0.19140730798244476 + ], + [ + 0.0504322275519371, + 0.9530961128927057, + -0.2984365239510978, + 0.023989137262105942 + ], + [ + -0.0836433619260788, + 0.3017976963330961, + 0.9496957280010382, + -0.2693444490432739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 797.1331380208333, + "fy": 797.286865234375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/boom_up/transforms.json b/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..d52edb4e573721511849cc87804151616a7df543 --- /dev/null +++ b/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/boom_up/transforms.json @@ -0,0 +1,5683 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 162, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -0.0001700655120657757, + -9.52671398408711e-05, + 0.0003572060668375343 + ], + [ + 0.00017006041889544576, + 1.0, + -5.3571839089272544e-05, + 0.000157554866746068 + ], + [ + 9.527624933980405e-05, + 5.355563553166576e-05, + 1.0, + 0.00020568887703120708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999978542327881, + 0.0003728344163391739, + 0.0020392544101923704, + 0.008934377086466693 + ], + [ + -0.00037166321999393404, + 0.9999997615814209, + -0.0005746693932451308, + -0.0036074449108647448 + ], + [ + -0.0020394681487232447, + 0.0005739102489314973, + 0.9999977350234985, + -0.010724397145626743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999966025352478, + 0.0011963817523792386, + 0.002312341472133994, + 0.018216004797477297 + ], + [ + -0.0011908492306247354, + 0.9999964237213135, + -0.0023925406858325005, + -0.0036205689003401846 + ], + [ + -0.0023151955101639032, + 0.0023897788487374783, + 0.9999944567680359, + -0.021648617074333177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999982118606567, + 0.0014018012443557382, + 0.001262157573364675, + 0.02496954177553991 + ], + [ + -0.0013979413779452443, + 0.9999943375587463, + -0.0030538702849298716, + -0.005167559332717557 + ], + [ + -0.0012664314126595855, + 0.003052100306376815, + 0.9999945163726807, + -0.0339820035954544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999940395355225, + 0.002022150671109557, + -0.0027930461801588535, + 0.03580562914345668 + ], + [ + -0.0020297428127378225, + 0.9999942183494568, + -0.002718036063015461, + -0.0062371577384956875 + ], + [ + 0.0027875336818397045, + 0.002723689191043377, + 0.9999924302101135, + -0.04528654546980162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999662041664124, + 0.004193398170173168, + -0.00707066897302866, + 0.04581344564104025 + ], + [ + -0.004210395738482475, + 0.9999882578849792, + -0.00239078002050519, + -0.0069538632245815316 + ], + [ + 0.007060560397803783, + 0.0024204696528613567, + 0.9999721646308899, + -0.05758139053619935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998952746391296, + 0.007084221113473177, + -0.012619983404874802, + 0.05599100173549345 + ], + [ + -0.007101132068783045, + 0.9999739527702332, + -0.0012956743594259024, + -0.00915773827293367 + ], + [ + 0.012610476464033127, + 0.001385154901072383, + 0.9999195337295532, + -0.07188511521393515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997487664222717, + 0.010625211521983147, + -0.019737394526600838, + 0.06566924304579912 + ], + [ + -0.0106340441852808, + 0.9999433755874634, + -0.00034260633401572704, + -0.009314346001685962 + ], + [ + 0.019732637330889702, + 0.0005524085718207061, + 0.9998051524162292, + -0.08559559554585418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9995071291923523, + 0.01481644157320261, + -0.027675306424498558, + 0.07479149559917657 + ], + [ + -0.014773811213672161, + 0.9998893141746521, + 0.0017441944219172, + -0.010502380366951967 + ], + [ + 0.027698086574673653, + -0.0013344651088118553, + 0.9996154308319092, + -0.10052054388830381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999200165271759, + 0.018113205209374428, + -0.035649918019771576, + 0.08530126456865428 + ], + [ + -0.01799936778843403, + 0.9998318552970886, + 0.0035115673672407866, + -0.010497112046950353 + ], + [ + 0.03570752590894699, + -0.0028670828323811293, + 0.9993581771850586, + -0.11283868454029401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9988458156585693, + 0.021844234317541122, + -0.04277672618627548, + 0.09387650000660316 + ], + [ + -0.02161300927400589, + 0.9997492432594299, + 0.005860499572008848, + -0.012004517976148342 + ], + [ + 0.042894020676612854, + -0.004929202143102884, + 0.999067485332489, + -0.1262688097972076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.998419463634491, + 0.026835454627871513, + -0.04938064515590668, + 0.10211111956293353 + ], + [ + -0.026429513469338417, + 0.9996114373207092, + 0.008855405263602734, + -0.012489073648354651 + ], + [ + 0.049599096179008484, + -0.007536302320659161, + 0.9987407922744751, + -0.1403829834886728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9979758858680725, + 0.031133845448493958, + -0.055451057851314545, + 0.11169062037460552 + ], + [ + -0.030482638627290726, + 0.9994564652442932, + 0.012551370076835155, + -0.013265624845412022 + ], + [ + 0.05581168830394745, + -0.010835670866072178, + 0.9983825087547302, + -0.1531313226020299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9976333975791931, + 0.035524770617485046, + -0.05886900797486305, + 0.11844537545064962 + ], + [ + -0.034585125744342804, + 0.9992587566375732, + 0.016904618591070175, + -0.01621281121342634 + ], + [ + 0.05942590907216072, + -0.014828619547188282, + 0.9981225728988647, + -0.16658110580123636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9973857998847961, + 0.03937753662467003, + -0.06058868020772934, + 0.12634936017186746 + ], + [ + -0.038226861506700516, + 0.9990682005882263, + 0.0200353916734457, + -0.01683624491257512 + ], + [ + 0.06132116913795471, + -0.017666900530457497, + 0.997961699962616, + -0.17964834549828715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9972634315490723, + 0.04101075977087021, + -0.06151222810149193, + 0.13181258023062847 + ], + [ + -0.03967826068401337, + 0.9989539384841919, + 0.02273017168045044, + -0.02150097975264425 + ], + [ + 0.06238006427884102, + -0.02022727206349373, + 0.9978474974632263, + -0.19265866493632705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.997205376625061, + 0.04214884713292122, + -0.06168406084179878, + 0.13570052496394755 + ], + [ + -0.04079335555434227, + 0.9989011883735657, + 0.02307206206023693, + -0.024235367852477183 + ], + [ + 0.06258874386548996, + -0.020491285249590874, + 0.997829020023346, + -0.20430762982516557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9972017407417297, + 0.043291978538036346, + -0.0609467476606369, + 0.1398469832234131 + ], + [ + -0.04207915812730789, + 0.998892605304718, + 0.021045098081231117, + -0.0252167995452233 + ], + [ + 0.0617903396487236, + -0.01842162199318409, + 0.9979191422462463, + -0.21644829787337078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9972341656684875, + 0.043541040271520615, + -0.06023459881544113, + 0.14433921563051502 + ], + [ + -0.042504969984292984, + 0.9989272356033325, + 0.018376845866441727, + -0.026986676179196523 + ], + [ + 0.06097012758255005, + -0.015765748918056488, + 0.9980150461196899, + -0.22831863445339737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9973703622817993, + 0.04202692583203316, + -0.05904293432831764, + 0.14759203823318023 + ], + [ + -0.04121733084321022, + 0.9990396499633789, + 0.014864129945635796, + -0.027700230759215648 + ], + [ + 0.05961092188954353, + -0.012391451746225357, + 0.9981447458267212, + -0.2407706583624486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9976004362106323, + 0.03999634459614754, + -0.05651234835386276, + 0.14894832712337838 + ], + [ + -0.03935854509472847, + 0.9991487860679626, + 0.012354775331914425, + -0.03075313373752262 + ], + [ + 0.0569583922624588, + -0.010100885294377804, + 0.9983254671096802, + -0.25204428124548117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9979098439216614, + 0.037298623472452164, + -0.052770692855119705, + 0.15139091437601526 + ], + [ + -0.03682032600045204, + 0.999271810054779, + 0.010007418692111969, + -0.03325934670865536 + ], + [ + 0.05310552939772606, + -0.008043467998504639, + 0.9985564947128296, + -0.26512645612592284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9982789158821106, + 0.033962756395339966, + -0.04780907928943634, + 0.15232985652751804 + ], + [ + -0.033606186509132385, + 0.9994011521339417, + 0.008242622949182987, + -0.03533989384955501 + ], + [ + 0.04806039482355118, + -0.006621755659580231, + 0.9988225102424622, + -0.27766438941962973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.998640775680542, + 0.03044758550822735, + -0.042303457856178284, + 0.15377479730440038 + ], + [ + -0.03015531413257122, + 0.9995168447494507, + 0.007530101574957371, + -0.038413621219141145 + ], + [ + 0.04251229017972946, + -0.006244192831218243, + 0.9990764260292053, + -0.2898636416266007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9989480376243591, + 0.028058107942342758, + -0.036270901560783386, + 0.15378175994254048 + ], + [ + -0.027823280543088913, + 0.9995886087417603, + 0.006963033229112625, + -0.03938465801686604 + ], + [ + 0.036451347172260284, + -0.0059465328231453896, + 0.9993177652359009, + -0.30358271604831916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9991979598999023, + 0.025857117027044296, + -0.03057604283094406, + 0.15355004746212353 + ], + [ + -0.025645345449447632, + 0.9996444582939148, + 0.007298173848539591, + -0.041431372742290085 + ], + [ + 0.030753880739212036, + -0.006508186925202608, + 0.9995058178901672, + -0.31672406283797266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9993855953216553, + 0.02385251224040985, + -0.025681287050247192, + 0.1559304139628914 + ], + [ + -0.023659437894821167, + 0.9996896982192993, + 0.007795917335897684, + -0.0435358504446582 + ], + [ + 0.025859270244836807, + -0.007183522451668978, + 0.9996398091316223, + -0.3294904066463759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9995899796485901, + 0.02139987051486969, + -0.01902519166469574, + 0.1542989162091883 + ], + [ + -0.021261245012283325, + 0.9997461438179016, + 0.0074591259472072124, + -0.04447315196905817 + ], + [ + 0.01917998492717743, + -0.007051568012684584, + 0.9997912049293518, + -0.34361639569444086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9997257590293884, + 0.019409574568271637, + -0.013102700002491474, + 0.15727774617464646 + ], + [ + -0.019319500774145126, + 0.9997891187667847, + 0.006966342683881521, + -0.045364807270791216 + ], + [ + 0.013235150836408138, + -0.006711294408887625, + 0.9998899102210999, + -0.35720609391675046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9998226165771484, + 0.018336135894060135, + -0.0043004159815609455, + 0.15503821378307683 + ], + [ + -0.018306870013475418, + 0.9998096227645874, + 0.006748892832547426, + -0.04728279189432259 + ], + [ + 0.004423345904797316, + -0.006668968591839075, + 0.9999679923057556, + -0.37210012370494905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9998450875282288, + 0.016671868041157722, + 0.005645320750772953, + 0.15473436167382676 + ], + [ + -0.01670914702117443, + 0.9998384714126587, + 0.006622069515287876, + -0.04998562468782715 + ], + [ + -0.005534006282687187, + -0.006715372204780579, + 0.9999621510505676, + -0.3874474553773122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9997797012329102, + 0.014401845633983612, + 0.015270073898136616, + 0.15645433271431033 + ], + [ + -0.014498148113489151, + 0.9998756051063538, + 0.006214778404682875, + -0.05201429893141207 + ], + [ + -0.015178670175373554, + -0.006434796843677759, + 0.9998641014099121, + -0.4023465994621124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9996255040168762, + 0.012659292668104172, + 0.02426121011376381, + 0.15923757134757427 + ], + [ + -0.01280980184674263, + 0.9998996257781982, + 0.006058317609131336, + -0.05664372655638256 + ], + [ + -0.02418208122253418, + -0.0063668303191661835, + 0.9996873140335083, + -0.4167032191472024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.999350368976593, + 0.011428670957684517, + 0.034178633242845535, + 0.16032564039255337 + ], + [ + -0.011578178033232689, + 0.9999242424964905, + 0.004179578740149736, + -0.059608598696704235 + ], + [ + -0.03412827476859093, + -0.004572590347379446, + 0.9994069933891296, + -0.43302026831267276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9989475011825562, + 0.009468458592891693, + 0.04488074406981468, + 0.16055058308454775 + ], + [ + -0.009549083188176155, + 0.9999531507492065, + 0.0015823488356545568, + -0.06262734798448427 + ], + [ + -0.044863659888505936, + -0.0020092532504349947, + 0.998991072177887, + -0.4480669569163381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9984445571899414, + 0.008422903716564178, + 0.05511363223195076, + 0.1622646141635335 + ], + [ + -0.008376069366931915, + 0.9999643564224243, + -0.0010807275539264083, + -0.06565989327171574 + ], + [ + -0.05512076988816261, + 0.0006174109876155853, + 0.9984794855117798, + -0.46411986252212006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9978130459785461, + 0.009423973970115185, + 0.06542376428842545, + 0.1645307639116271 + ], + [ + -0.009182403795421124, + 0.9999498724937439, + -0.003992120269685984, + -0.06686869490405788 + ], + [ + -0.06545811146497726, + 0.003382642287760973, + 0.9978495836257935, + -0.4788387700093922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9969671368598938, + 0.012311662547290325, + 0.07684388011693954, + 0.16703798318837093 + ], + [ + -0.011908060871064663, + 0.9999127984046936, + -0.005708255805075169, + -0.07053533061320738 + ], + [ + -0.07690746337175369, + 0.004775881767272949, + 0.997026801109314, + -0.49456697135978606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9957969188690186, + 0.016009436920285225, + 0.09017888456583023, + 0.16901369508795486 + ], + [ + -0.01539289765059948, + 0.9998531937599182, + -0.0075282324105501175, + -0.06975252760678344 + ], + [ + -0.09028617292642593, + 0.006108475849032402, + 0.995897114276886, + -0.5104772960292812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.994356095790863, + 0.019032539799809456, + 0.10437297075986862, + 0.17039613950627375 + ], + [ + -0.01840408705174923, + 0.99980628490448, + -0.00698109483346343, + -0.07036189046335517 + ], + [ + -0.10448562353849411, + 0.0050208051688969135, + 0.994513750076294, + -0.5248462246878431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9929890632629395, + 0.020494209602475166, + 0.11641599982976913, + 0.17570103681790902 + ], + [ + -0.020287858322262764, + 0.999789834022522, + -0.0029573380015790462, + -0.07545626623937803 + ], + [ + -0.11645213514566422, + 0.000574773526750505, + 0.9931961297988892, + -0.5400361764499259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9915310144424438, + 0.02058982476592064, + 0.1282273381948471, + 0.1752611298761938 + ], + [ + -0.020787015557289124, + 0.9997839331626892, + 0.0001996081555262208, + -0.07459259016080673 + ], + [ + -0.12819550931453705, + -0.0028633810579776764, + 0.9917447566986084, + -0.554671623245437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9899814128875732, + 0.018947115167975426, + 0.13992057740688324, + 0.17671745910268763 + ], + [ + -0.019728170707821846, + 0.9997965693473816, + 0.0041971104219555855, + -0.08014054787547692 + ], + [ + -0.13981260359287262, + -0.006915438920259476, + 0.9901538491249084, + -0.5674752798093402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9884128570556641, + 0.018185194581747055, + 0.1506960391998291, + 0.18312500108796986 + ], + [ + -0.019245542585849762, + 0.9997991919517517, + 0.005580766126513481, + -0.0850031990349663 + ], + [ + -0.1505642831325531, + -0.008416328579187393, + 0.9885643720626831, + -0.5807068795821867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9866267442703247, + 0.01652028039097786, + 0.16215673089027405, + 0.189741794653931 + ], + [ + -0.01784488931298256, + 0.9998182058334351, + 0.006715529598295689, + -0.09467657133474112 + ], + [ + -0.16201630234718323, + -0.00951938983052969, + 0.9867421388626099, + -0.5946652463573662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9843924641609192, + 0.013262657448649406, + 0.1754866987466812, + 0.19278028686617657 + ], + [ + -0.014368588104844093, + 0.9998841285705566, + 0.0050329118967056274, + -0.09933742505978353 + ], + [ + -0.17539961636066437, + -0.007475856691598892, + 0.984468936920166, + -0.6093624447883101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9822035431861877, + 0.01015639491379261, + 0.18754492700099945, + 0.19694878411080155 + ], + [ + -0.010848065838217735, + 0.9999375939369202, + 0.0026620146818459034, + -0.10134456987891878 + ], + [ + -0.18750618398189545, + -0.004649139475077391, + 0.9822524189949036, + -0.6226218008702354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9803085923194885, + 0.006517765112221241, + 0.19736412167549133, + 0.20323688068386653 + ], + [ + -0.00660854484885931, + 0.9999781250953674, + -0.0001986655406653881, + -0.09775104051606255 + ], + [ + -0.19736111164093018, + -0.0011095361551269889, + 0.980330228805542, + -0.6334909548076963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9783926606178284, + 0.0008287974051199853, + 0.2067537009716034, + 0.20908470115572306 + ], + [ + -0.001191071467474103, + 0.9999979734420776, + 0.0016277334652841091, + -0.10665311080328427 + ], + [ + -0.20675194263458252, + -0.0018388209864497185, + 0.9783916473388672, + -0.6478579783198997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9769348502159119, + -0.00464787008240819, + 0.21348710358142853, + 0.21918241698902263 + ], + [ + 0.004427282605320215, + 0.9999890327453613, + 0.0015113442204892635, + -0.10697833131188932 + ], + [ + -0.2134917825460434, + -0.0005313170258887112, + 0.9769446849822998, + -0.6630261959864899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9759691953659058, + -0.010879850015044212, + 0.21763667464256287, + 0.2327887711016843 + ], + [ + 0.010625684633851051, + 0.999940812587738, + 0.0023381405044347048, + -0.11004790450845446 + ], + [ + -0.21764922142028809, + 3.0585331842303276e-05, + 0.9760270714759827, + -0.6779084763480987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.97528076171875, + -0.01666366122663021, + 0.22034020721912384, + 0.2444066071003583 + ], + [ + 0.016211004927754402, + 0.9998611211776733, + 0.0038625074084848166, + -0.11694727101311181 + ], + [ + -0.2203739732503891, + -0.00019509275443851948, + 0.9754154086112976, + -0.6931222866493225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9750850796699524, + -0.02043946646153927, + 0.2208876609802246, + 0.25715265221754957 + ], + [ + 0.020036784932017326, + 0.9997909665107727, + 0.004063714295625687, + -0.1187810552323827 + ], + [ + -0.22092455625534058, + 0.0004634105134755373, + 0.9752907752990723, + -0.705646223399603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9751011729240417, + -0.02305523492395878, + 0.2205587774515152, + 0.26830105514190394 + ], + [ + 0.02278214879333973, + 0.9997332692146301, + 0.0037821512669324875, + -0.12339024289239267 + ], + [ + -0.22058714926242828, + 0.001336822402663529, + 0.9753663539886475, + -0.7188067029864434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.975287139415741, + -0.025728177279233932, + 0.21943804621696472, + 0.27608290955609416 + ], + [ + 0.025660652667284012, + 0.9996657371520996, + 0.003158403327688575, + -0.1314735327725825 + ], + [ + -0.21944594383239746, + 0.002550572855398059, + 0.9756213426589966, + -0.7312527443915722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9763033986091614, + -0.026527201756834984, + 0.21477432548999786, + 0.2923880612871014 + ], + [ + 0.02745840884745121, + 0.9996220469474792, + -0.0013528794515877962, + -0.13021350443733404 + ], + [ + -0.214657261967659, + 0.00721818208694458, + 0.9766627550125122, + -0.7465161675622004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9774618744850159, + -0.02565848082304001, + 0.2095470428466797, + 0.30580250283946164 + ], + [ + 0.027303125709295273, + 0.9996148943901062, + -0.004959093406796455, + -0.13299312345359637 + ], + [ + -0.20933911204338074, + 0.010568613186478615, + 0.9777860045433044, + -0.762316964307557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.97889643907547, + -0.02466599829494953, + 0.20286299288272858, + 0.32000744404005155 + ], + [ + 0.026845430955290794, + 0.9996076226234436, + -0.007998388260602951, + -0.13500651910623407 + ], + [ + -0.2025860995054245, + 0.013275537639856339, + 0.9791744947433472, + -0.7777049750297892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9808933138847351, + -0.022413400933146477, + 0.19325101375579834, + 0.3374115874377652 + ], + [ + 0.02487104944884777, + 0.9996376037597656, + -0.010300422087311745, + -0.13563670636334035 + ], + [ + -0.19295009970664978, + 0.01490996964275837, + 0.9810952544212341, + -0.7950192412720148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9875784516334534, + -0.02341410145163536, + 0.15537221729755402, + 0.47115423637933984 + ], + [ + 0.02545148879289627, + 0.9996140003204346, + -0.011136333458125591, + -0.13837798911592233 + ], + [ + -0.15505151450634003, + 0.014952457509934902, + 0.9877932071685791, + -0.8173969405020662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9923753142356873, + -0.018689662218093872, + 0.12182730436325073, + 0.5746692707819968 + ], + [ + 0.020031917840242386, + 0.9997512698173523, + -0.009802132844924927, + -0.14813496010458987 + ], + [ + -0.12161380052566528, + 0.012167830020189285, + 0.9925029277801514, + -0.8351781241919684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9943088293075562, + -0.01156892441213131, + 0.10590606927871704, + 0.6018722584887599 + ], + [ + 0.013473240658640862, + 0.9997598528862, + -0.01728339120745659, + -0.11438716011387962 + ], + [ + -0.1056806892156601, + 0.018611926585435867, + 0.9942259192466736, + -0.8914266126889805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9930580258369446, + -0.012940308079123497, + 0.11691151559352875, + 0.527064231808604 + ], + [ + 0.013761676847934723, + 0.9998859763145447, + -0.006221037358045578, + -0.15601594490664344 + ], + [ + -0.11681768298149109, + 0.007786749862134457, + 0.9931228756904602, + -0.8744819674814432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9912800192832947, + -0.005553782917559147, + 0.13165509700775146, + 0.4312054548938961 + ], + [ + 0.007262718863785267, + 0.999895453453064, + -0.01250377856194973, + -0.1282114608132321 + ], + [ + -0.13157188892364502, + 0.013350920751690865, + 0.9912167191505432, + -0.8818792626990573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9938417673110962, + -0.0015152019914239645, + 0.11079799383878708, + 0.47773006672259444 + ], + [ + 0.002804115181788802, + 0.999930202960968, + -0.011478104628622532, + -0.1303374000495265 + ], + [ + -0.11077287048101425, + 0.01171811018139124, + 0.9937766790390015, + -0.8993719247927577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9952132701873779, + 0.004555829800665379, + 0.09762081503868103, + 0.4855063646794615 + ], + [ + -0.0037054680287837982, + 0.9999536275863647, + -0.008890394121408463, + -0.1400843029436858 + ], + [ + -0.09765678644180298, + 0.008486106991767883, + 0.9951839447021484, + -0.9186846606942437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9963029026985168, + 0.009851059876382351, + 0.08534316718578339, + 0.48835640065719066 + ], + [ + -0.009315711446106434, + 0.9999343752861023, + -0.0066688694059848785, + -0.14907723012733165 + ], + [ + -0.08540326356887817, + 0.005849181674420834, + 0.9963293075561523, + -0.9368464853070815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9979413747787476, + 0.014386736787855625, + 0.06249821558594704, + 0.5440026781139953 + ], + [ + -0.013804423622786999, + 0.9998573064804077, + -0.009739131666719913, + -0.13652681736102015 + ], + [ + -0.06262940913438797, + 0.008856330998241901, + 0.9979975819587708, + -0.953022499881708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.998131275177002, + 0.020590243861079216, + 0.0575326606631279, + 0.5411209877279605 + ], + [ + -0.02027870900928974, + 0.9997764229774475, + -0.005993575323373079, + -0.14504051861000358 + ], + [ + -0.05764320492744446, + 0.004815686959773302, + 0.9983256459236145, + -0.9724032527090322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9982988238334656, + 0.02679283730685711, + 0.0517837256193161, + 0.5522806238649147 + ], + [ + -0.026623761281371117, + 0.9996377229690552, + -0.0039521935395896435, + -0.1461212967123304 + ], + [ + -0.05187085270881653, + 0.0025667930021882057, + 0.9986504912376404, + -0.9886702051519283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9981638193130493, + 0.03126271069049835, + 0.05188077688217163, + 0.542566633094912 + ], + [ + -0.03116515465080738, + 0.999510645866394, + -0.002688535489141941, + -0.1501401121849599 + ], + [ + -0.05193944275379181, + 0.0010667263995856047, + 0.9986496567726135, + -1.006170756659349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9981341361999512, + 0.03320863097906113, + 0.05123929679393768, + 0.5369854630659456 + ], + [ + -0.03309986740350723, + 0.9994476437568665, + -0.0029700682498514652, + -0.1562292954936531 + ], + [ + -0.05130962282419205, + 0.0012685126857832074, + 0.9986819624900818, + -1.0222806053096574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9985378980636597, + 0.033296119421720505, + 0.04258394613862038, + 0.5681903008533561 + ], + [ + -0.033066075295209885, + 0.9994345903396606, + -0.006095303688198328, + -0.1583984772796216 + ], + [ + -0.042762819677591324, + 0.004678307566791773, + 0.9990742802619934, + -1.0370641986151103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9986143112182617, + 0.03329489007592201, + 0.04075354337692261, + 0.568884931511668 + ], + [ + -0.03291218355298042, + 0.999407947063446, + -0.010026061907410622, + -0.16272703938602662 + ], + [ + -0.04106323421001434, + 0.008670881390571594, + 0.9991189241409302, + -1.0544073576975312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9988586902618408, + 0.035193633288145065, + 0.03229045867919922, + 0.5950376540283608 + ], + [ + -0.034765321761369705, + 0.9993011951446533, + -0.013731352984905243, + -0.16853268182610873 + ], + [ + -0.03275115042924881, + 0.012593094259500504, + 0.9993842244148254, + -1.0706470531937868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9987989664077759, + 0.03712228313088417, + 0.031977251172065735, + 0.587966750786634 + ], + [ + -0.03658750280737877, + 0.9991832971572876, + -0.017149880528450012, + -0.17064401729506737 + ], + [ + -0.032587774097919464, + 0.01595931500196457, + 0.9993414282798767, + -1.0881684398660378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9987178444862366, + 0.03990742936730385, + 0.03114585392177105, + 0.5887620207408201 + ], + [ + -0.03926607593894005, + 0.999009370803833, + -0.02093907818198204, + -0.1689114370146153 + ], + [ + -0.03195062652230263, + 0.019689254462718964, + 0.9992954730987549, + -1.103271082561949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.998833179473877, + 0.04007822647690773, + 0.026944682002067566, + 0.6057650261113178 + ], + [ + -0.03939693048596382, + 0.9989018440246582, + -0.025357672944664955, + -0.16301594337691433 + ], + [ + -0.02793138101696968, + 0.024266546592116356, + 0.9993152618408203, + -1.1178237915120046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9990053772926331, + 0.038542490452528, + 0.022421669214963913, + 0.621749300259796 + ], + [ + -0.037901248782873154, + 0.9988791346549988, + -0.028353802859783173, + -0.15940028713171528 + ], + [ + -0.023489363491535187, + 0.027475792914628983, + 0.9993464350700378, + -1.132913981549303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9991675019264221, + 0.03656582534313202, + 0.01808842085301876, + 0.6373912644960125 + ], + [ + -0.036043405532836914, + 0.9989463090896606, + -0.028410257771611214, + -0.16659651241317297 + ], + [ + -0.019108204171061516, + 0.02773463912308216, + 0.9994326829910278, + -1.1489500989258197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9993433952331543, + 0.03383217379450798, + 0.012967751361429691, + 0.6555271620706001 + ], + [ + -0.03344381973147392, + 0.9990174770355225, + -0.029078064486384392, + -0.16919179431955267 + ], + [ + -0.013938785530626774, + 0.028625281527638435, + 0.9994930028915405, + -1.1644960331805745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9995027780532837, + 0.03030312992632389, + 0.008716443553566933, + 0.6647329928469121 + ], + [ + -0.03003132902085781, + 0.9991050958633423, + -0.029784519225358963, + -0.16748664544791167 + ], + [ + -0.009611207991838455, + 0.029507942497730255, + 0.9995183348655701, + -1.1809355498517151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9996392726898193, + 0.026655958965420723, + 0.003277270123362541, + 0.6782498778740627 + ], + [ + -0.026546144858002663, + 0.9991996884346008, + -0.029920466244220734, + -0.16713035922983419 + ], + [ + -0.004072206094861031, + 0.02982267364859581, + 0.9995468854904175, + -1.195771052151548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9996704459190369, + 0.025596842169761658, + -0.0019492286955937743, + 0.6932135805117418 + ], + [ + -0.025643765926361084, + 0.999222457408905, + -0.029948126524686813, + -0.17145380356482098 + ], + [ + 0.001181135536171496, + 0.02998824417591095, + 0.9995495676994324, + -1.2116188528282301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.999579131603241, + 0.0280472282320261, + -0.007410785183310509, + 0.706391533334618 + ], + [ + -0.02827453799545765, + 0.9990687370300293, + -0.03259148448705673, + -0.1676902975725091 + ], + [ + 0.006489782594144344, + 0.032787300646305084, + 0.9994412660598755, + -1.2254844788623893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9993692636489868, + 0.032415758818387985, + -0.014503424055874348, + 0.7223027124191108 + ], + [ + -0.032896410673856735, + 0.9988724589347839, + -0.03422997146844864, + -0.16978276766235045 + ], + [ + 0.013377479277551174, + 0.034685492515563965, + 0.9993087649345398, + -1.2399268627907178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9990783929824829, + 0.03768162056803703, + -0.02055489644408226, + 0.7315056741931794 + ], + [ + -0.038418691605329514, + 0.9985865354537964, + -0.03672714903950691, + -0.1697656399159698 + ], + [ + 0.01914190500974655, + 0.03748299553990364, + 0.999113917350769, + -1.2567964372751506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9987751245498657, + 0.04100837558507919, + -0.027685824781656265, + 0.7467597732401412 + ], + [ + -0.0420662984251976, + 0.9983620643615723, + -0.03877675160765648, + -0.1719361443974957 + ], + [ + 0.026050306856632233, + 0.039893899112939835, + 0.9988642930984497, + -1.2715390685529258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9984691143035889, + 0.043431419879198074, + -0.03425033763051033, + 0.7541298099371218 + ], + [ + -0.044803496450185776, + 0.9981799721717834, + -0.04036564379930496, + -0.17314587766709535 + ], + [ + 0.0324348621070385, + 0.0418383851647377, + 0.9985978007316589, + -1.2886698513667776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9979355931282043, + 0.04649665579199791, + -0.04430127516388893, + 0.7710632872530577 + ], + [ + -0.04828355088829994, + 0.9980261325836182, + -0.04015680029988289, + -0.17496525662841264 + ], + [ + 0.04234667494893074, + 0.042212922126054764, + 0.9982107877731323, + -1.3022570485214453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9973918795585632, + 0.0516556091606617, + -0.05040969327092171, + 0.7776075861422542 + ], + [ + -0.053648073226213455, + 0.9977977871894836, + -0.03900635242462158, + -0.17637356727019599 + ], + [ + 0.04828378185629845, + 0.04160900413990021, + 0.9979665875434875, + -1.3166025452176977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9968169927597046, + 0.05788640305399895, + -0.05481801927089691, + 0.7880205291930749 + ], + [ + -0.05981895700097084, + 0.9976199865341187, + -0.03429384157061577, + -0.18535277325174082 + ], + [ + 0.0527024045586586, + 0.03746384009718895, + 0.997907280921936, + -1.333190686336678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9964540004730225, + 0.06370768696069717, + -0.05496102198958397, + 0.7911931612661907 + ], + [ + -0.06541716307401657, + 0.9974104166030884, + -0.02988460473716259, + -0.188491057072367 + ], + [ + 0.0529148168861866, + 0.03337403014302254, + 0.9980411529541016, + -1.349606371990272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9962171912193298, + 0.06766312569379807, + -0.0545254684984684, + 0.7996254801981567 + ], + [ + -0.06909524649381638, + 0.9973012804985046, + -0.024820476770401, + -0.19205583981845692 + ], + [ + 0.05269888415932655, + 0.028494033962488174, + 0.9982038736343384, + -1.3643200457582008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9960407018661499, + 0.07028655707836151, + -0.054430652409791946, + 0.8096074195937341 + ], + [ + -0.0714321881532669, + 0.997256875038147, + -0.019393863156437874, + -0.19155115309339132 + ], + [ + 0.0529182143509388, + 0.02320517785847187, + 0.998329222202301, + -1.3768785228802365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9960828423500061, + 0.07086188346147537, + -0.052891962230205536, + 0.813803051314924 + ], + [ + -0.07162799686193466, + 0.9973501563072205, + -0.012729909271001816, + -0.1955988234984949 + ], + [ + 0.05184974521398544, + 0.01646859012544155, + 0.9985191226005554, + -1.3922739770807186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9962140917778015, + 0.0695352703332901, + -0.05217645689845085, + 0.8222084799908703 + ], + [ + -0.06992985308170319, + 0.997535228729248, + -0.00577306654304266, + -0.201419837596994 + ], + [ + 0.05164642259478569, + 0.009399901144206524, + 0.9986211657524109, + -1.4038364576441902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9964604377746582, + 0.06606130301952362, + -0.05198557302355766, + 0.8299985024221935 + ], + [ + -0.0661160945892334, + 0.9978117346763611, + 0.0006668762071058154, + -0.20673847563148284 + ], + [ + 0.051915865391492844, + 0.0027725673280656338, + 0.9986476302146912, + -1.4180728503714044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.996610701084137, + 0.06109753996133804, + -0.05508404225111008, + 0.8452452932362972 + ], + [ + -0.060860417783260345, + 0.9981284141540527, + 0.005973570980131626, + -0.20706030959668367 + ], + [ + 0.055345915257930756, + -0.002600886858999729, + 0.9984638690948486, + -1.4286704014257892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.996771514415741, + 0.05717329680919647, + -0.056372009217739105, + 0.8531760930182031 + ], + [ + -0.05664233863353729, + 0.9983342289924622, + 0.010973426513373852, + -0.2117569443231784 + ], + [ + 0.05690549314022064, + -0.0077449562959373, + 0.9983495473861694, + -1.4411072715593398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9968143701553345, + 0.05391128361225128, + -0.058776579797267914, + 0.8643677854760093 + ], + [ + -0.053219325840473175, + 0.998494565486908, + 0.013276366516947746, + -0.20903590904629749 + ], + [ + 0.05940384417772293, + -0.010106023401021957, + 0.9981828927993774, + -1.4512430957478026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9968206286430359, + 0.050776150077581406, + -0.061403609812259674, + 0.8748127775093228 + ], + [ + -0.049888502806425095, + 0.9986281394958496, + 0.015904605388641357, + -0.2100745365486382 + ], + [ + 0.062126949429512024, + -0.01279070507735014, + 0.9979863166809082, + -1.4613025183037431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9968370199203491, + 0.04821512848138809, + -0.06317615509033203, + 0.8847711044161216 + ], + [ + -0.047214336693286896, + 0.9987359642982483, + 0.017240405082702637, + -0.20860152355632428 + ], + [ + 0.0639275461435318, + -0.014203053899109364, + 0.9978534579277039, + -1.4717205471978148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9969294667243958, + 0.04546001926064491, + -0.06375765055418015, + 0.8921726718475544 + ], + [ + -0.044307973235845566, + 0.9988301396369934, + 0.01936887763440609, + -0.21290666510969958 + ], + [ + 0.0645635798573494, + -0.01648443378508091, + 0.9977774620056152, + -1.4835356977658334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9969777464866638, + 0.04202656447887421, + -0.065338633954525, + 0.9022480782514773 + ], + [ + -0.04079360514879227, + 0.9989655613899231, + 0.020091883838176727, + -0.211858618944328 + ], + [ + 0.06611543148756027, + -0.01736576482653618, + 0.9976608753204346, + -1.4931772904551548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9969890117645264, + 0.03886786103248596, + -0.06709803640842438, + 0.911349421610003 + ], + [ + -0.03754114359617233, + 0.9990760087966919, + 0.020922262221574783, + -0.213092134050701 + ], + [ + 0.06784924864768982, + -0.018340330570936203, + 0.997527003288269, + -1.5024487155125192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9967585802078247, + 0.03610583022236824, + -0.07189396023750305, + 0.9260820134409836 + ], + [ + -0.034577857702970505, + 0.9991512894630432, + 0.02238590270280838, + -0.21832073732562687 + ], + [ + 0.07264120876789093, + -0.019827403128147125, + 0.9971610307693481, + -1.512269431972726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9962562918663025, + 0.03413957357406616, + -0.07942237704992294, + 0.9389618705888713 + ], + [ + -0.03228559345006943, + 0.9991780519485474, + 0.024511801078915596, + -0.22793790964606386 + ], + [ + 0.0801939144730568, + -0.021855836734175682, + 0.9965396523475647, + -1.5185443507206644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9954590201377869, + 0.03354937583208084, + -0.08908271044492722, + 0.9515015237264751 + ], + [ + -0.03138972073793411, + 0.9991809725761414, + 0.02553490735590458, + -0.2336191920945363 + ], + [ + 0.08986643701791763, + -0.022622672840952873, + 0.9956968426704407, + -1.5283422355094682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9945300817489624, + 0.034421078860759735, + -0.09861590713262558, + 0.9638238465425021 + ], + [ + -0.03201302886009216, + 0.999151885509491, + 0.025898080319166183, + -0.23457056017395872 + ], + [ + 0.09942371398210526, + -0.02259942516684532, + 0.9947885274887085, + -1.5364094060886166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9936463236808777, + 0.03632473573088646, + -0.10652457177639008, + 0.9743014017571203 + ], + [ + -0.033704083412885666, + 0.9990857839584351, + 0.026299919933080673, + -0.23135855664377628 + ], + [ + 0.10738252103328705, + -0.022542506456375122, + 0.9939621686935425, + -1.5463453658989497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9928276538848877, + 0.03657230734825134, + -0.11382344365119934, + 0.9860767231039379 + ], + [ + -0.03334087133407593, + 0.998988687992096, + 0.030165880918502808, + -0.2335530234975104 + ], + [ + 0.11481156945228577, + -0.026154547929763794, + 0.9930429458618164, + -1.5551598843765555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9919579029083252, + 0.03717278689146042, + -0.12098617106676102, + 0.9956187154935754 + ], + [ + -0.03316322714090347, + 0.9988373517990112, + 0.03498782217502594, + -0.23500268096509186 + ], + [ + 0.1221461072564125, + -0.030694156885147095, + 0.9920374155044556, + -1.5635387016379314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9910035133361816, + 0.03836609050631523, + -0.1282188892364502, + 1.006135864687725 + ], + [ + -0.033509526401758194, + 0.9986447095870972, + 0.03982279822230339, + -0.23467432930602788 + ], + [ + 0.12957295775413513, + -0.03516798093914986, + 0.9909460544586182, + -1.573720848641318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9902188777923584, + 0.04028557613492012, + -0.13357999920845032, + 1.0145029229916032 + ], + [ + -0.03470613434910774, + 0.9984356164932251, + 0.04383803904056549, + -0.23504069614114229 + ], + [ + 0.13513708114624023, + -0.03877320885658264, + 0.9900679588317871, + -1.5824329430642334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9896323680877686, + 0.042236704379320145, + -0.1372729390859604, + 1.0226873571851425 + ], + [ + -0.03622259572148323, + 0.9982836246490479, + 0.046018946915864944, + -0.23475856866155353 + ], + [ + 0.13898102939128876, + -0.04056945815682411, + 0.9894636869430542, + -1.5910642548863376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9892308115959167, + 0.04316286742687225, + -0.1398548185825348, + 1.0311562430414354 + ], + [ + -0.03686787933111191, + 0.9982003569602966, + 0.04729437828063965, + -0.2359237108356464 + ], + [ + 0.14164450764656067, + -0.04162890464067459, + 0.9890419244766235, + -1.6010717906381773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9889639019966125, + 0.04314858466386795, + -0.14173421263694763, + 1.036639013807781 + ], + [ + -0.036593303084373474, + 0.9981508255004883, + 0.04853692278265953, + -0.23793547120153533 + ], + [ + 0.14356642961502075, + -0.042814742773771286, + 0.9887140989303589, + -1.6122807069617955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9887217283248901, + 0.04402574896812439, + -0.1431470364332199, + 1.0426080478274304 + ], + [ + -0.037207141518592834, + 0.9980575442314148, + 0.04996766522526741, + -0.2373010935805599 + ], + [ + 0.14506883919239044, + -0.044078025966882706, + 0.9884392619132996, + -1.623687514075026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9887306094169617, + 0.04483237490057945, + -0.1428348869085312, + 1.043167912069222 + ], + [ + -0.03754127398133278, + 0.9978705048561096, + 0.053339194506406784, + -0.2403898033110992 + ], + [ + 0.14492203295230865, + -0.047375891357660294, + 0.9883081912994385, + -1.6352945139712614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9887280464172363, + 0.044520363211631775, + -0.14295035600662231, + 1.0427602747952716 + ], + [ + -0.036575645208358765, + 0.997661828994751, + 0.05773264542222023, + -0.2434145897997092 + ], + [ + 0.1451863944530487, + -0.05185338482260704, + 0.9880446195602417, + -1.6438821912367152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9882256984710693, + 0.04529272019863129, + -0.1461457461118698, + 1.0605646714012815 + ], + [ + -0.03689809888601303, + 0.9975371956825256, + 0.05964955314993858, + -0.23158717255414643 + ], + [ + 0.14848752319812775, + -0.053554717451334, + 0.987463116645813, + -1.652587595690759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9885210394859314, + 0.04562442749738693, + -0.14402976632118225, + 1.0566915804277295 + ], + [ + -0.036339595913887024, + 0.9971277117729187, + 0.06645102798938751, + -0.2419380635023117 + ], + [ + 0.1466478705406189, + -0.06045425310730934, + 0.9873396754264832, + -1.6634330440150655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9886595010757446, + 0.0456719771027565, + -0.14306116104125977, + 1.0559122865660961 + ], + [ + -0.035975344479084015, + 0.9969226717948914, + 0.06964899599552155, + -0.23865306631008293 + ], + [ + 0.14580193161964417, + -0.0637124627828598, + 0.987260103225708, + -1.6710130774734182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.988811731338501, + 0.04617193341255188, + -0.14184322953224182, + 1.0548075768518153 + ], + [ + -0.03600653260946274, + 0.9966511726379395, + 0.07341650128364563, + -0.24038429773001938 + ], + [ + 0.14475801587104797, + -0.06748782098293304, + 0.9871628880500793, + -1.6807386312055292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9890400767326355, + 0.04792289435863495, + -0.13965342938899994, + 1.0541097313073111 + ], + [ + -0.037501007318496704, + 0.9963774085044861, + 0.07632672786712646, + -0.24226070468470176 + ], + [ + 0.1428053230047226, + -0.07025304436683655, + 0.9872543215751648, + -1.6875330131061328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9894677400588989, + 0.050139520317316055, + -0.13579267263412476, + 1.0503395100974517 + ], + [ + -0.03970474377274513, + 0.9961237907409668, + 0.07849176973104477, + -0.24359354687773663 + ], + [ + 0.13920184969902039, + -0.07227345556020737, + 0.9876230955123901, + -1.697912036659925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.989823043346405, + 0.052191369235515594, + -0.1323874294757843, + 1.0465460354450697 + ], + [ + -0.04171893745660782, + 0.9958664178848267, + 0.08068187534809113, + -0.24413632918959077 + ], + [ + 0.13605108857154846, + -0.07433772087097168, + 0.9879088997840881, + -1.7029302097995829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9901947975158691, + 0.05520729720592499, + -0.12832163274288177, + 1.0421359691560639 + ], + [ + -0.044818706810474396, + 0.99558424949646, + 0.08248228579759598, + -0.24523638886694582 + ], + [ + 0.13230861723423004, + -0.07592231780290604, + 0.988296627998352, + -1.709351284311425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9906690120697021, + 0.057696226984262466, + -0.12347514927387238, + 1.0393536799419556 + ], + [ + -0.04756985977292061, + 0.9953762888908386, + 0.08344569802284241, + -0.24611343025050547 + ], + [ + 0.1277187317609787, + -0.076793372631073, + 0.9888330101966858, + -1.7152137537550483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9911962151527405, + 0.0599324069917202, + -0.11805982887744904, + 1.0346545365332447 + ], + [ + -0.0501835010945797, + 0.9952108263969421, + 0.08388698101043701, + -0.24816579996428875 + ], + [ + 0.12252196669578552, + -0.07722380757331848, + 0.989456832408905, + -1.7209248718637857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.991736888885498, + 0.06188993155956268, + -0.11237262934446335, + 1.02954744632755 + ], + [ + -0.0526694655418396, + 0.9951361417770386, + 0.08324676007032394, + -0.24834463015106154 + ], + [ + 0.11697820574045181, + -0.07664027065038681, + 0.9901729226112366, + -1.7252588368674613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9924451112747192, + 0.0626441240310669, + -0.1054910346865654, + 1.0225887029067329 + ], + [ + -0.05404229834675789, + 0.9951234459877014, + 0.08251529186964035, + -0.2485118201800755 + ], + [ + 0.1101456955075264, + -0.07619092613458633, + 0.9909908771514893, + -1.7319863799751176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9933603405952454, + 0.061684004962444305, + -0.09710993617773056, + 1.0152815239261026 + ], + [ + -0.05383121222257614, + 0.9952179193496704, + 0.08150796592235565, + -0.24651729969874672 + ], + [ + 0.10167328268289566, + -0.07573923468589783, + 0.9919304847717285, + -1.735112408840138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9944319128990173, + 0.05909181758761406, + -0.0872541293501854, + 1.0097360777882685 + ], + [ + -0.0520249642431736, + 0.9953426122665405, + 0.081157386302948, + -0.24642817081871982 + ], + [ + 0.09164348989725113, + -0.07616610825061798, + 0.9928747415542603, + -1.7401726451904878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9956738948822021, + 0.05426562577486038, + -0.07542362809181213, + 1.002701158594826 + ], + [ + -0.04809488356113434, + 0.9955242872238159, + 0.08135282248258591, + -0.24555817699950672 + ], + [ + 0.0795007199048996, + -0.07737339287996292, + 0.9938274621963501, + -1.742902890241109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9968345165252686, + 0.04877382889389992, + -0.06278583407402039, + 0.9952431586773499 + ], + [ + -0.043542105704545975, + 0.9956678152084351, + 0.08215636759996414, + -0.24621918654960134 + ], + [ + 0.06652091443538666, + -0.07916247099637985, + 0.9946397542953491, + -1.7477931073363524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9977208971977234, + 0.044163934886455536, + -0.05101567879319191, + 0.9878266691097192 + ], + [ + -0.03982553631067276, + 0.9957422614097595, + 0.0831337571144104, + -0.24749647047578918 + ], + [ + 0.05446998402476311, + -0.08091256022453308, + 0.9952317476272583, + -1.7530075960462879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9983034729957581, + 0.04085274040699005, + -0.04148799926042557, + 0.9784325859376363 + ], + [ + -0.037252992391586304, + 0.9957595467567444, + 0.08411385118961334, + -0.24651213671479905 + ], + [ + 0.044748350977897644, + -0.08242559432983398, + 0.9955921173095703, + -1.7568773099354336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9988146424293518, + 0.033849846571683884, + -0.03497917950153351, + 0.9701125973476942 + ], + [ + -0.030646856874227524, + 0.9956165552139282, + 0.08836513012647629, + -0.2477902584379504 + ], + [ + 0.03781699389219284, + -0.08718838542699814, + 0.9954738020896912, + -1.761039760019283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9992650151252747, + 0.02437904290854931, + -0.029581008478999138, + 0.9633155285340288 + ], + [ + -0.02147759310901165, + 0.9952720403671265, + 0.09472194314002991, + -0.24703097537807794 + ], + [ + 0.031750380992889404, + -0.09401699900627136, + 0.9950641989707947, + -1.7620476302893266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9995095729827881, + 0.015457728877663612, + -0.027234364300966263, + 0.9563175332645729 + ], + [ + -0.01265111193060875, + 0.9948697090148926, + 0.10037019848823547, + -0.2461342064305122 + ], + [ + 0.028646141290664673, + -0.09997642040252686, + 0.9945773482322693, + -1.7601390926734262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9995870590209961, + 0.00957112479954958, + -0.02709363028407097, + 0.949881572916132 + ], + [ + -0.006788403727114201, + 0.9948636293411255, + 0.10099655389785767, + -0.24748676539578052 + ], + [ + 0.027921117842197418, + -0.10077092051506042, + 0.9945178031921387, + -1.756624954050372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9995908737182617, + 0.004620170686393976, + -0.02822575904428959, + 0.9468635470591925 + ], + [ + -0.001931289560161531, + 0.9955174922943115, + 0.09455766528844833, + -0.24788577145671253 + ], + [ + 0.028536109253764153, + -0.09446447342634201, + 0.9951191544532776, + -1.7528524245118133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9994587898254395, + -0.003989527001976967, + -0.03265359625220299, + 0.9412122707374347 + ], + [ + 0.006808403879404068, + 0.9962132573127747, + 0.08667650073766708, + -0.2482385841770942 + ], + [ + 0.03218415006995201, + -0.08685190230607986, + 0.995701253414154, + -1.752870235754096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9992589354515076, + -0.009954337030649185, + -0.03718176856637001, + 0.9381715010805345 + ], + [ + 0.012946667149662971, + 0.9966198205947876, + 0.08112534880638123, + -0.2507350641933287 + ], + [ + 0.03624853864312172, + -0.0815466046333313, + 0.9960101246833801, + -1.7523196800525145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9993240237236023, + -0.007765917107462883, + -0.035932507365942, + 0.9365787005734555 + ], + [ + 0.01053193025290966, + 0.996941328048706, + 0.07744093984365463, + -0.25015721521022155 + ], + [ + 0.035221200436353683, + -0.0777670368552208, + 0.9963492155075073, + -1.7514907292420079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9995747208595276, + -0.0012780249817296863, + -0.02913345955312252, + 0.9356648755396474 + ], + [ + 0.0034938957542181015, + 0.9970913529396057, + 0.07613591104745865, + -0.2514323862998382 + ], + [ + 0.028951415792107582, + -0.07620532065629959, + 0.996671736240387, + -1.7513384934028853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9997527599334717, + 0.00533309206366539, + -0.021585613489151, + 0.9360279453189476 + ], + [ + -0.0037002554163336754, + 0.9971774220466614, + 0.0749896988272667, + -0.25387154613962826 + ], + [ + 0.021924614906311035, + -0.07489129155874252, + 0.996950626373291, + -1.7483175189043425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9998153448104858, + 0.010697348043322563, + -0.015965458005666733, + 0.9365000430066486 + ], + [ + -0.00953993946313858, + 0.9974386096000671, + 0.07088872790336609, + -0.255093963323913 + ], + [ + 0.016682885587215424, + -0.07072332501411438, + 0.9973564743995667, + -1.7457405167892113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9997952580451965, + 0.016546914353966713, + -0.011648226529359818, + 0.937532580289874 + ], + [ + -0.015747955068945885, + 0.9977198839187622, + 0.06562831252813339, + -0.2566066456507452 + ], + [ + 0.012707613408565521, + -0.06543143838644028, + 0.9977761507034302, + -1.7443781178097548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9997062087059021, + 0.02297280728816986, + -0.007730357348918915, + 0.9390514455134084 + ], + [ + -0.02246139571070671, + 0.9978992342948914, + 0.060766760259866714, + -0.2570657850792689 + ], + [ + 0.00911010056734085, + -0.060575272887945175, + 0.9981220364570618, + -1.7439674068658804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9995614886283875, + 0.029364990070462227, + -0.0038168097380548716, + 0.9408122144593215 + ], + [ + -0.02909681387245655, + 0.9979168772697449, + 0.05757857859134674, + -0.2578458271966958 + ], + [ + 0.005499653518199921, + -0.05744227021932602, + 0.9983336925506592, + -1.7425872757938337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9993981122970581, + 0.03468935191631317, + 0.00026970141334459186, + 0.9423605683149758 + ], + [ + -0.03465103358030319, + 0.9978634119033813, + 0.05538859963417053, + -0.25814706494349127 + ], + [ + 0.0016522693913429976, + -0.05536460876464844, + 0.998464822769165, + -1.7432151480491116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9992638826370239, + 0.038174718618392944, + 0.0037937071174383163, + 0.9445406247740207 + ], + [ + -0.038324326276779175, + 0.9977951645851135, + 0.054185472428798676, + -0.25828378874322644 + ], + [ + -0.001716827624477446, + -0.054290980100631714, + 0.9985236525535583, + -1.7424989386745122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9991336464881897, + 0.041039831936359406, + 0.006904717534780502, + 0.9470210405101317 + ], + [ + -0.041349321603775024, + 0.9977319240570068, + 0.05311567336320877, + -0.25904376342059665 + ], + [ + -0.004709198139607906, + -0.05335516482591629, + 0.9985644817352295, + -1.7412436517730634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9989609122276306, + 0.04461156576871872, + 0.009322838857769966, + 0.9483600625895565 + ], + [ + -0.04503774642944336, + 0.9976288676261902, + 0.052040427923202515, + -0.26020670760862574 + ], + [ + -0.00697912834584713, + -0.052406229078769684, + 0.9986014366149902, + -1.742515174591023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9987697601318359, + 0.048627570271492004, + 0.009709878824651241, + 0.9517272946164475 + ], + [ + -0.04905848205089569, + 0.9975122809410095, + 0.05062151700258255, + -0.26191580713905904 + ], + [ + -0.007224122527986765, + -0.05103559046983719, + 0.9986706972122192, + -1.7412686216673865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9985873103141785, + 0.05234432592988014, + 0.009132697246968746, + 0.9549024210259411 + ], + [ + -0.052728068083524704, + 0.9974243640899658, + 0.04862511530518532, + -0.26341951048892476 + ], + [ + -0.006563925184309483, + -0.04903797432780266, + 0.9987753629684448, + -1.7398489088514206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9984991550445557, + 0.054215915501117706, + 0.00774791743606329, + 0.958753807282781 + ], + [ + -0.05451900511980057, + 0.9974262714385986, + 0.04656730592250824, + -0.2646031962418408 + ], + [ + -0.0052032871171832085, + -0.046919822692871094, + 0.9988850951194763, + -1.7390705030156959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9984903931617737, + 0.054628342390060425, + 0.005716124549508095, + 0.961732394206598 + ], + [ + -0.05483022332191467, + 0.9974883198738098, + 0.044840890914201736, + -0.26546679390883593 + ], + [ + -0.0032521840184926987, + -0.04508661851286888, + 0.998977780342102, + -1.7395190618793417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9984708428382874, + 0.05525980517268181, + -0.0015291966265067458, + 0.9707069654017687 + ], + [ + -0.05513254180550575, + 0.9974347352981567, + 0.04565489664673805, + -0.2665789157152176 + ], + [ + 0.0040481542237102985, + -0.045500773936510086, + 0.9989560842514038, + -1.7399913292378186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/move_left/transforms.json b/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..cf5af040b302f4afd0d54d4fed2611a1682f4bd9 --- /dev/null +++ b/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/move_left/transforms.json @@ -0,0 +1,5683 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 162, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -0.0001700655120657757, + -9.52671398408711e-05, + 0.0003572060668375343 + ], + [ + 0.00017006041889544576, + 1.0, + -5.3571839089272544e-05, + 0.000157554866746068 + ], + [ + 9.527624933980405e-05, + 5.355563553166576e-05, + 1.0, + 0.00020568887703120708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999978542327881, + 0.0003728344163391739, + 0.0020392544101923704, + 0.008313491980990639 + ], + [ + -0.00037166321999393404, + 0.9999997615814209, + -0.0005746693932451308, + -0.0029860961998079655 + ], + [ + -0.0020394681487232447, + 0.0005739102489314973, + 0.9999977350234985, + -0.010722773929230683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999966025352478, + 0.0011963817523792386, + 0.002312341472133994, + 0.01697525918159796 + ], + [ + -0.0011908492306247354, + 0.9999964237213135, + -0.0023925406858325005, + -0.002376858002263243 + ], + [ + -0.0023151955101639032, + 0.0023897788487374783, + 0.9999944567680359, + -0.02164277238568858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999982118606567, + 0.0014018012443557382, + 0.001262157573364675, + 0.02310880312221761 + ], + [ + -0.0013979413779452443, + 0.9999943375587463, + -0.0030538702849298716, + -0.00330161098687279 + ], + [ + -0.0012664314126595855, + 0.003052100306376815, + 0.9999945163726807, + -0.03397395664194067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999940395355225, + 0.002022150671109557, + -0.0027930461801588535, + 0.033326195879197267 + ], + [ + -0.0020297428127378225, + 0.9999942183494568, + -0.002718036063015461, + -0.003747657213869117 + ], + [ + 0.0027875336818397045, + 0.002723689191043377, + 0.9999924302101135, + -0.04528670408965453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999662041664124, + 0.004193398170173168, + -0.00707066897302866, + 0.04272098351061714 + ], + [ + -0.004210395738482475, + 0.9999882578849792, + -0.00239078002050519, + -0.0038352338655024583 + ], + [ + 0.007060560397803783, + 0.0024204696528613567, + 0.9999721646308899, + -0.05759580075590414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998952746391296, + 0.007084221113473177, + -0.012619983404874802, + 0.052291084765832614 + ], + [ + -0.007101132068783045, + 0.9999739527702332, + -0.0012956743594259024, + -0.005404663422601934 + ], + [ + 0.012610476464033127, + 0.001385154901072383, + 0.9999195337295532, + -0.07192694871044307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997487664222717, + 0.010625211521983147, + -0.019737394526600838, + 0.06136870585058046 + ], + [ + -0.0106340441852808, + 0.9999433755874634, + -0.00034260633401572704, + -0.004920531133108813 + ], + [ + 0.019732637330889702, + 0.0005524085718207061, + 0.9998051524162292, + -0.08567898784480665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9995071291923523, + 0.01481644157320261, + -0.027675306424498558, + 0.06989862261721806 + ], + [ + -0.014773811213672161, + 0.9998893141746521, + 0.0017441944219172, + -0.005460576017196319 + ], + [ + 0.027698086574673653, + -0.0013344651088118553, + 0.9996154308319092, + -0.10066480501468138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999200165271759, + 0.018113205209374428, + -0.035649918019771576, + 0.07981692752482729 + ], + [ + -0.01799936778843403, + 0.9998318552970886, + 0.0035115673672407866, + -0.004807372290571654 + ], + [ + 0.03570752590894699, + -0.0028670828323811293, + 0.9993581771850586, + -0.11305431899909647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9988458156585693, + 0.021844234317541122, + -0.04277672618627548, + 0.08780816720324273 + ], + [ + -0.02161300927400589, + 0.9997492432594299, + 0.005860499572008848, + -0.005660653053580419 + ], + [ + 0.042894020676612854, + -0.004929202143102884, + 0.999067485332489, + -0.12656584844826171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.998419463634491, + 0.026835454627871513, + -0.04938064515590668, + 0.09547296794860259 + ], + [ + -0.026429513469338417, + 0.9996114373207092, + 0.008855405263602734, + -0.005478855972149357 + ], + [ + 0.049599096179008484, + -0.007536302320659161, + 0.9987407922744751, + -0.14077334956537862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9979758858680725, + 0.031133845448493958, + -0.055451057851314545, + 0.10448434429694406 + ], + [ + -0.030482638627290726, + 0.9994564652442932, + 0.012551370076835155, + -0.005589060096058601 + ], + [ + 0.05581168830394745, + -0.010835670866072178, + 0.9983825087547302, + -0.1536280731051605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9976333975791931, + 0.035524770617485046, + -0.05886900797486305, + 0.11067679647518242 + ], + [ + -0.034585125744342804, + 0.9992587566375732, + 0.016904618591070175, + -0.007865003467485402 + ], + [ + 0.05942590907216072, + -0.014828619547188282, + 0.9981225728988647, + -0.1671806765292187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9973857998847961, + 0.03937753662467003, + -0.06058868020772934, + 0.11801885353482287 + ], + [ + -0.038226861506700516, + 0.9990682005882263, + 0.0200353916734457, + -0.007816287850880104 + ], + [ + 0.06132116913795471, + -0.017666900530457497, + 0.997961699962616, + -0.18033519827801248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9972634315490723, + 0.04101075977087021, + -0.06151222810149193, + 0.12290339384760175 + ], + [ + -0.03967826068401337, + 0.9989539384841919, + 0.02273017168045044, + -0.011824282244865938 + ], + [ + 0.06238006427884102, + -0.02022727206349373, + 0.9978474974632263, + -0.1934282985047339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.997205376625061, + 0.04214884713292122, + -0.06168406084179878, + 0.12620927995036108 + ], + [ + -0.04079335555434227, + 0.9989011883735657, + 0.02307206206023693, + -0.013902999714063191 + ], + [ + 0.06258874386548996, + -0.020491285249590874, + 0.997829020023346, + -0.20513326986606076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9972017407417297, + 0.043291978538036346, + -0.0609467476606369, + 0.12977464411939893 + ], + [ + -0.04207915812730789, + 0.998892605304718, + 0.021045098081231117, + -0.014225172229481409 + ], + [ + 0.0617903396487236, + -0.01842162199318409, + 0.9979191422462463, + -0.2172952564745586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9972341656684875, + 0.043541040271520615, + -0.06023459881544113, + 0.13367680801738124 + ], + [ + -0.042504969984292984, + 0.9989272356033325, + 0.018376845866441727, + -0.015343334750266549 + ], + [ + 0.06097012758255005, + -0.015765748918056488, + 0.9980150461196899, + -0.22917655108508117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9973703622817993, + 0.04202692583203316, + -0.05904293432831764, + 0.13631779892104012 + ], + [ + -0.04121733084321022, + 0.9990396499633789, + 0.014864129945635796, + -0.015423906141001245 + ], + [ + 0.05961092188954353, + -0.012391451746225357, + 0.9981447458267212, + -0.24162037581529305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9976004362106323, + 0.03999634459614754, + -0.05651234835386276, + 0.1370526241219562 + ], + [ + -0.03935854509472847, + 0.9991487860679626, + 0.012354775331914425, + -0.017852421549166213 + ], + [ + 0.0569583922624588, + -0.010100885294377804, + 0.9983254671096802, + -0.2528773157492928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9979098439216614, + 0.037298623472452164, + -0.052770692855119705, + 0.1388612028049386 + ], + [ + -0.03682032600045204, + 0.999271810054779, + 0.010007418692111969, + -0.019745101455761038 + ], + [ + 0.05310552939772606, + -0.008043467998504639, + 0.9985564947128296, + -0.2659240517441345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9982789158821106, + 0.033962756395339966, + -0.04780907928943634, + 0.13915286552831993 + ], + [ + -0.033606186509132385, + 0.9994011521339417, + 0.008242622949182987, + -0.02122426561964965 + ], + [ + 0.04806039482355118, + -0.006621755659580231, + 0.9988225102424622, + -0.2784115989293371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.998640775680542, + 0.03044758550822735, + -0.042303457856178284, + 0.13994346601622445 + ], + [ + -0.03015531413257122, + 0.9995168447494507, + 0.007530101574957371, + -0.023704018949397974 + ], + [ + 0.04251229017972946, + -0.006244192831218243, + 0.9990764260292053, + -0.2905601628124714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9989480376243591, + 0.028058107942342758, + -0.036270901560783386, + 0.13930886658082098 + ], + [ + -0.027823280543088913, + 0.9995886087417603, + 0.006963033229112625, + -0.02406920128218506 + ], + [ + 0.036451347172260284, + -0.0059465328231453896, + 0.9993177652359009, + -0.30421473413520717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9991979598999023, + 0.025857117027044296, + -0.03057604283094406, + 0.13843605921875615 + ], + [ + -0.025645345449447632, + 0.9996444582939148, + 0.007298173848539591, + -0.025510723615840353 + ], + [ + 0.030753880739212036, + -0.006508186925202608, + 0.9995058178901672, + -0.3173026663731344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9993855953216553, + 0.02385251224040985, + -0.025681287050247192, + 0.14017646355288368 + ], + [ + -0.023659437894821167, + 0.9996896982192993, + 0.007795917335897684, + -0.027009715327287312 + ], + [ + 0.025859270244836807, + -0.007183522451668978, + 0.9996398091316223, + -0.3300240169632139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9995899796485901, + 0.02139987051486969, + -0.01902519166469574, + 0.1378944858075669 + ], + [ + -0.021261245012283325, + 0.9997461438179016, + 0.0074591259472072124, + -0.027350667808551967 + ], + [ + 0.01917998492717743, + -0.007051568012684584, + 0.9997912049293518, + -0.3440563037251093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9997257590293884, + 0.019409574568271637, + -0.013102700002491474, + 0.14022876905358356 + ], + [ + -0.019319500774145126, + 0.9997891187667847, + 0.006966342683881521, + -0.027641179104862006 + ], + [ + 0.013235150836408138, + -0.006711294408887625, + 0.9998899102210999, + -0.3575529886166687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9998226165771484, + 0.018336135894060135, + -0.0043004159815609455, + 0.13735926475213922 + ], + [ + -0.018306870013475418, + 0.9998096227645874, + 0.006748892832547426, + -0.028944047614469292 + ], + [ + 0.004423345904797316, + -0.006668968591839075, + 0.9999679923057556, + -0.37229992315861515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9998450875282288, + 0.016671868041157722, + 0.005645320750772953, + 0.13641436379518568 + ], + [ + -0.01670914702117443, + 0.9998384714126587, + 0.006622069515287876, + -0.031043743598997964 + ], + [ + -0.005534006282687187, + -0.006715372204780579, + 0.9999621510505676, + -0.38746946840691643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9997797012329102, + 0.014401845633983612, + 0.015270073898136616, + 0.13748121872451735 + ], + [ + -0.014498148113489151, + 0.9998756051063538, + 0.006214778404682875, + -0.0324828788383592 + ], + [ + -0.015178670175373554, + -0.006434796843677759, + 0.9998641014099121, + -0.40217823916814804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9996255040168762, + 0.012659292668104172, + 0.02426121011376381, + 0.13962085161890303 + ], + [ + -0.01280980184674263, + 0.9998996257781982, + 0.006058317609131336, + -0.0365153404172533 + ], + [ + -0.02418208122253418, + -0.0063668303191661835, + 0.9996873140335083, + -0.4163491272037814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.999350368976593, + 0.011428670957684517, + 0.034178633242845535, + 0.14007631366297324 + ], + [ + -0.011578178033232689, + 0.9999242424964905, + 0.004179578740149736, + -0.03887594038770991 + ], + [ + -0.03412827476859093, + -0.004572590347379446, + 0.9994069933891296, + -0.43241446856987775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9989475011825562, + 0.009468458592891693, + 0.04488074406981468, + 0.13965475237147407 + ], + [ + -0.009549083188176155, + 0.9999531507492065, + 0.0015823488356545568, + -0.0413086672677942 + ], + [ + -0.044863659888505936, + -0.0020092532504349947, + 0.998991072177887, + -0.44716195702460243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9984445571899414, + 0.008422903716564178, + 0.05511363223195076, + 0.1407424043054166 + ], + [ + -0.008376069366931915, + 0.9999643564224243, + -0.0010807275539264083, + -0.043739449232816696 + ], + [ + -0.05512076988816261, + 0.0006174109876155853, + 0.9984794855117798, + -0.462908162937864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9978130459785461, + 0.009423973970115185, + 0.06542376428842545, + 0.14243013869901622 + ], + [ + -0.009182403795421124, + 0.9999498724937439, + -0.003992120269685984, + -0.04430424649013866 + ], + [ + -0.06545811146497726, + 0.003382642287760973, + 0.9978495836257935, + -0.47729947365218806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9969671368598938, + 0.012311662547290325, + 0.07684388011693954, + 0.14440925489671483 + ], + [ + -0.011908060871064663, + 0.9999127984046936, + -0.005708255805075169, + -0.047282304654696156 + ], + [ + -0.07690746337175369, + 0.004775881767272949, + 0.997026801109314, + -0.49268977647149786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9957969188690186, + 0.016009436920285225, + 0.09017888456583023, + 0.14588827625935122 + ], + [ + -0.01539289765059948, + 0.9998531937599182, + -0.0075282324105501175, + -0.04579019749895756 + ], + [ + -0.09028617292642593, + 0.006108475849032402, + 0.995897114276886, + -0.5082021428283697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.994356095790863, + 0.019032539799809456, + 0.10437297075986862, + 0.14677028939220477 + ], + [ + -0.01840408705174923, + 0.99980628490448, + -0.00698109483346343, + -0.04569716716752104 + ], + [ + -0.10448562353849411, + 0.0050208051688969135, + 0.994513750076294, + -0.5221935844893411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9929890632629395, + 0.020494209602475166, + 0.11641599982976913, + 0.15153967399404655 + ], + [ + -0.020287858322262764, + 0.999789834022522, + -0.0029573380015790462, + -0.0501127210879548 + ], + [ + -0.11645213514566422, + 0.000574773526750505, + 0.9931961297988892, + -0.5371286756133441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9915310144424438, + 0.02058982476592064, + 0.1282273381948471, + 0.15053529833784754 + ], + [ + -0.020787015557289124, + 0.9997839331626892, + 0.0001996081555262208, + -0.04860289519340355 + ], + [ + -0.12819550931453705, + -0.0028633810579776764, + 0.9917447566986084, + -0.5514799355072264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9899814128875732, + 0.018947115167975426, + 0.13992057740688324, + 0.151386129596959 + ], + [ + -0.019728170707821846, + 0.9997965693473816, + 0.0041971104219555855, + -0.05354425030881944 + ], + [ + -0.13981260359287262, + -0.006915438920259476, + 0.9901538491249084, + -0.5640083972526633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9884128570556641, + 0.018185194581747055, + 0.1506960391998291, + 0.15721208836351122 + ], + [ + -0.019245542585849762, + 0.9997991919517517, + 0.005580766126513481, + -0.057786476311291225 + ], + [ + -0.1505642831325531, + -0.008416328579187393, + 0.9885643720626831, + -0.5769103814170967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9866267442703247, + 0.01652028039097786, + 0.16215673089027405, + 0.16322956831188676 + ], + [ + -0.01784488931298256, + 0.9998182058334351, + 0.006715529598295689, + -0.0668646606599322 + ], + [ + -0.16201630234718323, + -0.00951938983052969, + 0.9867421388626099, + -0.590497628872439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9843924641609192, + 0.013262657448649406, + 0.1754866987466812, + 0.16563690717546095 + ], + [ + -0.014368588104844093, + 0.9998841285705566, + 0.0050329118967056274, + -0.07098874664339035 + ], + [ + -0.17539961636066437, + -0.007475856691598892, + 0.984468936920166, + -0.6046689235553238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9822035431861877, + 0.01015639491379261, + 0.18754492700099945, + 0.169176008445876 + ], + [ + -0.010848065838217735, + 0.9999375939369202, + 0.0026620146818459034, + -0.07246497959962912 + ], + [ + -0.18750618398189545, + -0.004649139475077391, + 0.9822524189949036, + -0.6173973138843264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9803085923194885, + 0.006517765112221241, + 0.19736412167549133, + 0.17480944659769165 + ], + [ + -0.00660854484885931, + 0.9999781250953674, + -0.0001986655406653881, + -0.06836621226303233 + ], + [ + -0.19736111164093018, + -0.0011095361551269889, + 0.980330228805542, + -0.6277618715481729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9783926606178284, + 0.0008287974051199853, + 0.2067537009716034, + 0.17993994001646219 + ], + [ + -0.001191071467474103, + 0.9999979734420776, + 0.0016277334652841091, + -0.07680399642088769 + ], + [ + -0.20675194263458252, + -0.0018388209864497185, + 0.9783916473388672, + -0.6417487672397069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9769348502159119, + -0.00464787008240819, + 0.21348710358142853, + 0.18930816028429115 + ], + [ + 0.004427282605320215, + 0.9999890327453613, + 0.0015113442204892635, + -0.07667862587284459 + ], + [ + -0.2134917825460434, + -0.0005313170258887112, + 0.9769446849822998, + -0.6565447905141374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9759691953659058, + -0.010879850015044212, + 0.21763667464256287, + 0.20214128522028835 + ], + [ + 0.010625684633851051, + 0.999940812587738, + 0.0023381405044347048, + -0.07932383221174989 + ], + [ + -0.21764922142028809, + 3.0585331842303276e-05, + 0.9760270714759827, + -0.6711482339023803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.97528076171875, + -0.01666366122663021, + 0.22034020721912384, + 0.21298476513128103 + ], + [ + 0.016211004927754402, + 0.9998611211776733, + 0.0038625074084848166, + -0.08578816795177896 + ], + [ + -0.2203739732503891, + -0.00019509275443851948, + 0.9754154086112976, + -0.6861476761491402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9750850796699524, + -0.02043946646153927, + 0.2208876609802246, + 0.22499906439218462 + ], + [ + 0.020036784932017326, + 0.9997909665107727, + 0.004063714295625687, + -0.08713682079629868 + ], + [ + -0.22092455625534058, + 0.0004634105134755373, + 0.9752907752990723, + -0.698495804597132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9751011729240417, + -0.02305523492395878, + 0.2205587774515152, + 0.23544249016305674 + ], + [ + 0.02278214879333973, + 0.9997332692146301, + 0.0037821512669324875, + -0.09122974017044957 + ], + [ + -0.22058714926242828, + 0.001336822402663529, + 0.9753663539886475, + -0.7115011312484001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.975287139415741, + -0.025728177279233932, + 0.21943804621696472, + 0.24250848278495835 + ], + [ + 0.025660652667284012, + 0.9996657371520996, + 0.003158403327688575, + -0.0988050392557005 + ], + [ + -0.21944594383239746, + 0.002550572855398059, + 0.9756213426589966, + -0.7238068984902424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9763033986091614, + -0.026527201756834984, + 0.21477432548999786, + 0.2581298730758406 + ], + [ + 0.02745840884745121, + 0.9996220469474792, + -0.0013528794515877962, + -0.09700294537180514 + ], + [ + -0.214657261967659, + 0.00721818208694458, + 0.9766627550125122, + -0.7389365716472917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9774618744850159, + -0.02565848082304001, + 0.2095470428466797, + 0.2709113600461379 + ], + [ + 0.027303125709295273, + 0.9996148943901062, + -0.004959093406796455, + -0.09917358367339424 + ], + [ + -0.20933911204338074, + 0.010568613186478615, + 0.9777860045433044, + -0.7546679999517358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.97889643907547, + -0.02466599829494953, + 0.20286299288272858, + 0.28447759377290005 + ], + [ + 0.026845430955290794, + 0.9996076226234436, + -0.007998388260602951, + -0.10056711232046718 + ], + [ + -0.2025860995054245, + 0.013275537639856339, + 0.9791744947433472, + -0.77006266862154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9808933138847351, + -0.022413400933146477, + 0.19325101375579834, + 0.30126761882941916 + ], + [ + 0.02487104944884777, + 0.9996376037597656, + -0.010300422087311745, + -0.10052089260555572 + ], + [ + -0.19295009970664978, + 0.01490996964275837, + 0.9810952544212341, + -0.7875311145501107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9875784516334534, + -0.02341410145163536, + 0.15537221729755402, + 0.4341054409557248 + ], + [ + 0.02545148879289627, + 0.9996140003204346, + -0.011136333458125591, + -0.10267886602267716 + ], + [ + -0.15505151450634003, + 0.014952457509934902, + 0.9877932071685791, + -0.8111669812791096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9923753142356873, + -0.018689662218093872, + 0.12182730436325073, + 0.5369898306657068 + ], + [ + 0.020031917840242386, + 0.9997512698173523, + -0.009802132844924927, + -0.11162367990668516 + ], + [ + -0.12161380052566528, + 0.012167830020189285, + 0.9925029277801514, + -0.8301924733641726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9943088293075562, + -0.01156892441213131, + 0.10590606927871704, + 0.5637613622298152 + ], + [ + 0.013473240658640862, + 0.9997598528862, + -0.01728339120745659, + -0.07701853691768017 + ], + [ + -0.1056806892156601, + 0.018611926585435867, + 0.9942259192466736, + -0.8867173893573862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9930580258369446, + -0.012940308079123497, + 0.11691151559352875, + 0.48832392329755037 + ], + [ + 0.013761676847934723, + 0.9998859763145447, + -0.006221037358045578, + -0.11804097188370569 + ], + [ + -0.11681768298149109, + 0.007786749862134457, + 0.9931228756904602, + -0.8696835359060986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9912800192832947, + -0.005553782917559147, + 0.13165509700775146, + 0.39219891480777574 + ], + [ + 0.007262718863785267, + 0.999895453453064, + -0.01250377856194973, + -0.0893693103293038 + ], + [ + -0.13157188892364502, + 0.013350920751690865, + 0.9912167191505432, + -0.8762083701465441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9938417673110962, + -0.0015152019914239645, + 0.11079799383878708, + 0.4381630816074632 + ], + [ + 0.002804115181788802, + 0.999930202960968, + -0.011478104628622532, + -0.09070008972786968 + ], + [ + -0.11077287048101425, + 0.01171811018139124, + 0.9937766790390015, + -0.8945027181080409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9952132701873779, + 0.004555829800665379, + 0.09762081503868103, + 0.4455108779557743 + ], + [ + -0.0037054680287837982, + 0.9999536275863647, + -0.008890394121408463, + -0.09956390467350898 + ], + [ + -0.09765678644180298, + 0.008486106991767883, + 0.9951839447021484, + -0.9143993885990995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9963029026985168, + 0.009851059876382351, + 0.08534316718578339, + 0.4479180021315628 + ], + [ + -0.009315711446106434, + 0.9999343752861023, + -0.0066688694059848785, + -0.10770424520539015 + ], + [ + -0.08540326356887817, + 0.005849181674420834, + 0.9963293075561523, + -0.9331057018374804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9979413747787476, + 0.014386736787855625, + 0.06249821558594704, + 0.5030721434895297 + ], + [ + -0.013804423622786999, + 0.9998573064804077, + -0.009739131666719913, + -0.09434337890330957 + ], + [ + -0.06262940913438797, + 0.008856330998241901, + 0.9979975819587708, + -0.9500476274662506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.998131275177002, + 0.020590243861079216, + 0.0575326606631279, + 0.49983354044256745 + ], + [ + -0.02027870900928974, + 0.9997764229774475, + -0.005993575323373079, + -0.1019574447124271 + ], + [ + -0.05764320492744446, + 0.004815686959773302, + 0.9983256459236145, + -0.9697652373995099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9982988238334656, + 0.02679283730685711, + 0.0517837256193161, + 0.5106446530137744 + ], + [ + -0.026623761281371117, + 0.9996377229690552, + -0.0039521935395896435, + -0.10213866167302643 + ], + [ + -0.05187085270881653, + 0.0025667930021882057, + 0.9986504912376404, + -0.9863371631928852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9981638193130493, + 0.03126271069049835, + 0.05188077688217163, + 0.5005274544591489 + ], + [ + -0.03116515465080738, + 0.999510645866394, + -0.002688535489141941, + -0.10532812085812507 + ], + [ + -0.05193944275379181, + 0.0010667263995856047, + 0.9986496567726135, + -1.0038661406092022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9981341361999512, + 0.03320863097906113, + 0.05123929679393768, + 0.4944328476183163 + ], + [ + -0.03309986740350723, + 0.9994476437568665, + -0.0029700682498514652, + -0.11069459158533848 + ], + [ + -0.05130962282419205, + 0.0012685126857832074, + 0.9986819624900818, + -1.0199619421908945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9985378980636597, + 0.033296119421720505, + 0.04258394613862038, + 0.5250242088892445 + ], + [ + -0.033066075295209885, + 0.9994345903396606, + -0.006095303688198328, + -0.1122245344686212 + ], + [ + -0.042762819677591324, + 0.004678307566791773, + 0.9990742802619934, + -1.0349426078315107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9986143112182617, + 0.03329489007592201, + 0.04075354337692261, + 0.5251157900561457 + ], + [ + -0.03291218355298042, + 0.999407947063446, + -0.010026061907410622, + -0.11591997756304578 + ], + [ + -0.04106323421001434, + 0.008670881390571594, + 0.9991189241409302, + -1.0521523325802375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9988586902618408, + 0.035193633288145065, + 0.03229045867919922, + 0.5507449743910606 + ], + [ + -0.034765321761369705, + 0.9993011951446533, + -0.013731352984905243, + -0.12100415868881326 + ], + [ + -0.03275115042924881, + 0.012593094259500504, + 0.9993842244148254, + -1.0685629077857326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9987989664077759, + 0.03712228313088417, + 0.031977251172065735, + 0.5431681475283937 + ], + [ + -0.03658750280737877, + 0.9991832971572876, + -0.017149880528450012, + -0.12239382475012948 + ], + [ + -0.032587774097919464, + 0.01595931500196457, + 0.9993414282798767, + -1.085906929504242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9987178444862366, + 0.03990742936730385, + 0.03114585392177105, + 0.5435014048718517 + ], + [ + -0.03926607593894005, + 0.999009370803833, + -0.02093907818198204, + -0.1198996767957018 + ], + [ + -0.03195062652230263, + 0.019689254462718964, + 0.9992954730987549, + -1.100833423583774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.998833179473877, + 0.04007822647690773, + 0.026944682002067566, + 0.5599115283592887 + ], + [ + -0.03939693048596382, + 0.9989018440246582, + -0.025357672944664955, + -0.11335817590031935 + ], + [ + -0.02793138101696968, + 0.024266546592116356, + 0.9993152618408203, + -1.1153273688872223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9990053772926331, + 0.038542490452528, + 0.022421669214963913, + 0.5752175579159896 + ], + [ + -0.037901248782873154, + 0.9988791346549988, + -0.028353802859783173, + -0.10917117538752023 + ], + [ + -0.023489363491535187, + 0.027475792914628983, + 0.9993464350700378, + -1.1304448621706193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9991675019264221, + 0.03656582534313202, + 0.01808842085301876, + 0.5901580145270188 + ], + [ + -0.036043405532836914, + 0.9989463090896606, + -0.028410257771611214, + -0.11581130281368397 + ], + [ + -0.019108204171061516, + 0.02773463912308216, + 0.9994326829910278, + -1.146651599161697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9993433952331543, + 0.03383217379450798, + 0.012967751361429691, + 0.6075514492040835 + ], + [ + -0.03344381973147392, + 0.9990174770355225, + -0.029078064486384392, + -0.11788936963547832 + ], + [ + -0.013938785530626774, + 0.028625281527638435, + 0.9994930028915405, + -1.1623810484820272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9995027780532837, + 0.03030312992632389, + 0.008716443553566933, + 0.6159720167610216 + ], + [ + -0.03003132902085781, + 0.9991050958633423, + -0.029784519225358963, + -0.11571021661833392 + ], + [ + -0.009611207991838455, + 0.029507942497730255, + 0.9995183348655701, + -1.1789674435227369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9996392726898193, + 0.026655958965420723, + 0.003277270123362541, + 0.6286942059949319 + ], + [ + -0.026546144858002663, + 0.9991996884346008, + -0.029920466244220734, + -0.11488740374536618 + ], + [ + -0.004072206094861031, + 0.02982267364859581, + 0.9995468854904175, + -1.194044729083869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9996704459190369, + 0.025596842169761658, + -0.0019492286955937743, + 0.6429973636724934 + ], + [ + -0.025643765926361084, + 0.999222457408905, + -0.029948126524686813, + -0.11861908521896564 + ], + [ + 0.001181135536171496, + 0.02998824417591095, + 0.9995495676994324, + -1.2101337658610882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.999579131603241, + 0.0280472282320261, + -0.007410785183310509, + 0.6557029122891633 + ], + [ + -0.02827453799545765, + 0.9990687370300293, + -0.03259148448705673, + -0.11408977887552718 + ], + [ + 0.006489782594144344, + 0.032787300646305084, + 0.9994412660598755, + -1.2241124344422765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9993692636489868, + 0.032415758818387985, + -0.014503424055874348, + 0.6712523721019674 + ], + [ + -0.032896410673856735, + 0.9988724589347839, + -0.03422997146844864, + -0.11531049814885078 + ], + [ + 0.013377479277551174, + 0.034685492515563965, + 0.9993087649345398, + -1.2388019055700774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9990783929824829, + 0.03768162056803703, + -0.02055489644408226, + 0.6801515608840848 + ], + [ + -0.038418691605329514, + 0.9985865354537964, + -0.03672714903950691, + -0.11437281412274941 + ], + [ + 0.01914190500974655, + 0.03748299553990364, + 0.999113917350769, + -1.2558167268493161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9987751245498657, + 0.04100837558507919, + -0.027685824781656265, + 0.6950046756252739 + ], + [ + -0.0420662984251976, + 0.9983620643615723, + -0.03877675160765648, + -0.1157142390792044 + ], + [ + 0.026050306856632233, + 0.039893899112939835, + 0.9988642930984497, + -1.2707909986608148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9984691143035889, + 0.043431419879198074, + -0.03425033763051033, + 0.7019289918567824 + ], + [ + -0.044803496450185776, + 0.9981799721717834, + -0.04036564379930496, + -0.11613808559334797 + ], + [ + 0.0324348621070385, + 0.0418383851647377, + 0.9985978007316589, + -1.2881558699822573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9979355931282043, + 0.04649665579199791, + -0.04430127516388893, + 0.7184682155618016 + ], + [ + -0.04828355088829994, + 0.9980261325836182, + -0.04015680029988289, + -0.11712577723151779 + ], + [ + 0.04234667494893074, + 0.042212922126054764, + 0.9982107877731323, + -1.302264442311033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9973918795585632, + 0.0516556091606617, + -0.05040969327092171, + 0.724740341213179 + ], + [ + -0.053648073226213455, + 0.9977977871894836, + -0.03900635242462158, + -0.11759709060099555 + ], + [ + 0.04828378185629845, + 0.04160900413990021, + 0.9979665875434875, + -1.316975669437869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9968169927597046, + 0.05788640305399895, + -0.05481801927089691, + 0.7349505393401436 + ], + [ + -0.05981895700097084, + 0.9976199865341187, + -0.03429384157061577, + -0.12558448513888795 + ], + [ + 0.0527024045586586, + 0.03746384009718895, + 0.997907280921936, + -1.3340519965018915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9964540004730225, + 0.06370768696069717, + -0.05496102198958397, + 0.7378933719226293 + ], + [ + -0.06541716307401657, + 0.9974104166030884, + -0.02988460473716259, + -0.12775805251938957 + ], + [ + 0.0529148168861866, + 0.03337403014302254, + 0.9980411529541016, + -1.3507229883755956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9962171912193298, + 0.06766312569379807, + -0.0545254684984684, + 0.7459885062268061 + ], + [ + -0.06909524649381638, + 0.9973012804985046, + -0.024820476770401, + -0.13045653732759613 + ], + [ + 0.05269888415932655, + 0.028494033962488174, + 0.9982038736343384, + -1.3657182141236082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9960407018661499, + 0.07028655707836151, + -0.054430652409791946, + 0.7555571775999128 + ], + [ + -0.0714321881532669, + 0.997256875038147, + -0.019393863156437874, + -0.1291556425716566 + ], + [ + 0.0529182143509388, + 0.02320517785847187, + 0.998329222202301, + -1.3786133212841445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9960828423500061, + 0.07086188346147537, + -0.052891962230205536, + 0.7592092680264704 + ], + [ + -0.07162799686193466, + 0.9973501563072205, + -0.012729909271001816, + -0.13252247284565652 + ], + [ + 0.05184974521398544, + 0.01646859012544155, + 0.9985191226005554, + -1.39436168498967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9962140917778015, + 0.0695352703332901, + -0.05217645689845085, + 0.7669530968488374 + ], + [ + -0.06992985308170319, + 0.997535228729248, + -0.00577306654304266, + -0.13776974576230375 + ], + [ + 0.05164642259478569, + 0.009399901144206524, + 0.9986211657524109, + -1.4063555048859637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9964604377746582, + 0.06606130301952362, + -0.05198557302355766, + 0.77394339927235 + ], + [ + -0.0661160945892334, + 0.9978117346763611, + 0.0006668762071058154, + -0.14263847598007748 + ], + [ + 0.051915865391492844, + 0.0027725673280656338, + 0.9986476302146912, + -1.421033657770257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.996610701084137, + 0.06109753996133804, + -0.05508404225111008, + 0.788301013863605 + ], + [ + -0.060860417783260345, + 0.9981284141540527, + 0.005973570980131626, + -0.14260011982658635 + ], + [ + 0.055345915257930756, + -0.002600886858999729, + 0.9984638690948486, + -1.432197598076385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.996771514415741, + 0.05717329680919647, + -0.056372009217739105, + 0.7953995566560615 + ], + [ + -0.05664233863353729, + 0.9983342289924622, + 0.010973426513373852, + -0.14688571438841197 + ], + [ + 0.05690549314022064, + -0.0077449562959373, + 0.9983495473861694, + -1.4450826718662837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9968143701553345, + 0.05391128361225128, + -0.058776579797267914, + 0.8058023763739545 + ], + [ + -0.053219325840473175, + 0.998494565486908, + 0.013276366516947746, + -0.14371206486447258 + ], + [ + 0.05940384417772293, + -0.010106023401021957, + 0.9981828927993774, + -1.4555604788272276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9968206286430359, + 0.050776150077581406, + -0.061403609812259674, + 0.8154646456241608 + ], + [ + -0.049888502806425095, + 0.9986281394958496, + 0.015904605388641357, + -0.14429802668992406 + ], + [ + 0.062126949429512024, + -0.01279070507735014, + 0.9979863166809082, + -1.4660023214746707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9968370199203491, + 0.04821512848138809, + -0.06317615509033203, + 0.824672077753529 + ], + [ + -0.047214336693286896, + 0.9987359642982483, + 0.017240405082702637, + -0.14233634920779223 + ], + [ + 0.0639275461435318, + -0.014203053899109364, + 0.9978534579277039, + -1.4766704361446155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9969294667243958, + 0.04546001926064491, + -0.06375765055418015, + 0.831302266202358 + ], + [ + -0.044307973235845566, + 0.9988301396369934, + 0.01936887763440609, + -0.14617174236069186 + ], + [ + 0.0645635798573494, + -0.01648443378508091, + 0.9977774620056152, + -1.4887207570237033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9969777464866638, + 0.04202656447887421, + -0.065338633954525, + 0.8405617907180549 + ], + [ + -0.04079360514879227, + 0.9989655613899231, + 0.020091883838176727, + -0.14469405166480853 + ], + [ + 0.06611543148756027, + -0.01736576482653618, + 0.9976608753204346, + -1.498569864626997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9969890117645264, + 0.03886786103248596, + -0.06709803640842438, + 0.8488632596057394 + ], + [ + -0.03754114359617233, + 0.9990760087966919, + 0.020922262221574783, + -0.1454866675902968 + ], + [ + 0.06784924864768982, + -0.018340330570936203, + 0.997527003288269, + -1.5080697750267775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9967585802078247, + 0.03610583022236824, + -0.07189396023750305, + 0.8628340684108853 + ], + [ + -0.034577857702970505, + 0.9991512894630432, + 0.02238590270280838, + -0.15026155123892038 + ], + [ + 0.07264120876789093, + -0.019827403128147125, + 0.9971610307693481, + -1.5183574275385519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9962562918663025, + 0.03413957357406616, + -0.07942237704992294, + 0.8750199520439835 + ], + [ + -0.03228559345006943, + 0.9991780519485474, + 0.024511801078915596, + -0.15938722016926138 + ], + [ + 0.0801939144730568, + -0.021855836734175682, + 0.9965396523475647, + -1.5253265391549338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9954590201377869, + 0.03354937583208084, + -0.08908271044492722, + 0.8869759078351607 + ], + [ + -0.03138972073793411, + 0.9991809725761414, + 0.02553490735590458, + -0.16448774185980328 + ], + [ + 0.08986643701791763, + -0.022622672840952873, + 0.9956968426704407, + -1.535888088841616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9945300817489624, + 0.034421078860759735, + -0.09861590713262558, + 0.898822678023984 + ], + [ + -0.03201302886009216, + 0.999151885509491, + 0.025898080319166183, + -0.16475877404583167 + ], + [ + 0.09942371398210526, + -0.02259942516684532, + 0.9947885274887085, + -1.5446705999813095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9936463236808777, + 0.03632473573088646, + -0.10652457177639008, + 0.9088943367419036 + ], + [ + -0.033704083412885666, + 0.9990857839584351, + 0.026299919933080673, + -0.16079527377989722 + ], + [ + 0.10738252103328705, + -0.022542506456375122, + 0.9939621686935425, + -1.5552222311311628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9928276538848877, + 0.03657230734825134, + -0.11382344365119934, + 0.9201485594607288 + ], + [ + -0.03334087133407593, + 0.998988687992096, + 0.030165880918502808, + -0.16237999176756937 + ], + [ + 0.11481156945228577, + -0.026154547929763794, + 0.9930429458618164, + -1.5648786663823986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9919579029083252, + 0.03717278689146042, + -0.12098617106676102, + 0.9291988813358805 + ], + [ + -0.03316322714090347, + 0.9988373517990112, + 0.03498782217502594, + -0.16321133634318477 + ], + [ + 0.1221461072564125, + -0.030694156885147095, + 0.9920374155044556, + -1.5741710678390834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9910035133361816, + 0.03836609050631523, + -0.1282188892364502, + 0.9392737350108461 + ], + [ + -0.033509526401758194, + 0.9986447095870972, + 0.03982279822230339, + -0.1622312059105368 + ], + [ + 0.12957295775413513, + -0.03516798093914986, + 0.9909460544586182, + -1.5852834114191694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9902188777923584, + 0.04028557613492012, + -0.13357999920845032, + 0.9472405649860454 + ], + [ + -0.03470613434910774, + 0.9984356164932251, + 0.04383803904056549, + -0.16188655974609512 + ], + [ + 0.13513708114624023, + -0.03877320885658264, + 0.9900679588317871, + -1.5947470878221974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9896323680877686, + 0.042236704379320145, + -0.1372729390859604, + 0.9550162383488247 + ], + [ + -0.03622259572148323, + 0.9982836246490479, + 0.046018946915864944, + -0.1608652672065156 + ], + [ + 0.13898102939128876, + -0.04056945815682411, + 0.9894636869430542, + -1.603889289711203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9892308115959167, + 0.04316286742687225, + -0.1398548185825348, + 0.9629923414739763 + ], + [ + -0.03686787933111191, + 0.9982003569602966, + 0.04729437828063965, + -0.16134736586061324 + ], + [ + 0.14164450764656067, + -0.04162890464067459, + 0.9890419244766235, + -1.6142765830762638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9889639019966125, + 0.04314858466386795, + -0.14173421263694763, + 0.9679058509954014 + ], + [ + -0.036593303084373474, + 0.9981508255004883, + 0.04853692278265953, + -0.16273977986959196 + ], + [ + 0.14356642961502075, + -0.042814742773771286, + 0.9887140989303589, + -1.6258251772534034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9887217283248901, + 0.04402574896812439, + -0.1431470364332199, + 0.973369460520537 + ], + [ + -0.037207141518592834, + 0.9980575442314148, + 0.04996766522526741, + -0.16142455139515563 + ], + [ + 0.14506883919239044, + -0.044078025966882706, + 0.9884392619132996, + -1.6375504520183766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9887306094169617, + 0.04483237490057945, + -0.1428348869085312, + 0.9734015208223592 + ], + [ + -0.03754127398133278, + 0.9978705048561096, + 0.053339194506406784, + -0.16385936748398386 + ], + [ + 0.14492203295230865, + -0.047375891357660294, + 0.9883081912994385, + -1.6495078388115634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9887280464172363, + 0.044520363211631775, + -0.14295035600662231, + 0.9723845468544812 + ], + [ + -0.036575645208358765, + 0.997661828994751, + 0.05773264542222023, + -0.16632856687773828 + ], + [ + 0.1451863944530487, + -0.05185338482260704, + 0.9880446195602417, + -1.6585683859653355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9882256984710693, + 0.04529272019863129, + -0.1461457461118698, + 0.9896982798665207 + ], + [ + -0.03689809888601303, + 0.9975371956825256, + 0.05964955314993858, + -0.15384389886297054 + ], + [ + 0.14848752319812775, + -0.053554717451334, + 0.987463116645813, + -1.667772136758203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9885210394859314, + 0.04562442749738693, + -0.14402976632118225, + 0.9852422719416412 + ], + [ + -0.036339595913887024, + 0.9971277117729187, + 0.06645102798938751, + -0.16362563397573388 + ], + [ + 0.1466478705406189, + -0.06045425310730934, + 0.9873396754264832, + -1.679126496862921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9886595010757446, + 0.0456719771027565, + -0.14306116104125977, + 0.9838703825607062 + ], + [ + -0.035975344479084015, + 0.9969226717948914, + 0.06964899599552155, + -0.1597422240730028 + ], + [ + 0.14580193161964417, + -0.0637124627828598, + 0.987260103225708, + -1.6870194566731127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.988811731338501, + 0.04617193341255188, + -0.14184322953224182, + 0.9822067476947856 + ], + [ + -0.03600653260946274, + 0.9966511726379395, + 0.07341650128364563, + -0.16085041235692754 + ], + [ + 0.14475801587104797, + -0.06748782098293304, + 0.9871628880500793, + -1.6970855155346556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9890400767326355, + 0.04792289435863495, + -0.13965342938899994, + 0.9810416270857272 + ], + [ + -0.037501007318496704, + 0.9963774085044861, + 0.07632672786712646, + -0.16199064134440808 + ], + [ + 0.1428053230047226, + -0.07025304436683655, + 0.9872543215751648, + -1.7040748118151048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9894677400588989, + 0.050139520317316055, + -0.13579267263412476, + 0.976826866813328 + ], + [ + -0.03970474377274513, + 0.9961237907409668, + 0.07849176973104477, + -0.16252870504622874 + ], + [ + 0.13920184969902039, + -0.07227345556020737, + 0.9876230955123901, + -1.7144622779410819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.989823043346405, + 0.052191369235515594, + -0.1323874294757843, + 0.9725837853754529 + ], + [ + -0.04171893745660782, + 0.9958664178848267, + 0.08068187534809113, + -0.16228953407880684 + ], + [ + 0.13605108857154846, + -0.07433772087097168, + 0.9879088997840881, + -1.7195260972525022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9901947975158691, + 0.05520729720592499, + -0.12832163274288177, + 0.9678015591935342 + ], + [ + -0.044818706810474396, + 0.99558424949646, + 0.08248228579759598, + -0.16252112277546285 + ], + [ + 0.13230861723423004, + -0.07592231780290604, + 0.988296627998352, + -1.7259062903267997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9906690120697021, + 0.057696226984262466, + -0.12347514927387238, + 0.9645999598947371 + ], + [ + -0.04756985977292061, + 0.9953762888908386, + 0.08344569802284241, + -0.16254817982962042 + ], + [ + 0.1277187317609787, + -0.076793372631073, + 0.9888330101966858, + -1.7316001273367716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9911962151527405, + 0.0599324069917202, + -0.11805982887744904, + 0.959459322209684 + ], + [ + -0.0501835010945797, + 0.9952108263969421, + 0.08388698101043701, + -0.16375507786870003 + ], + [ + 0.12252196669578552, + -0.07722380757331848, + 0.989456832408905, + -1.7370534126432786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.991736888885498, + 0.06188993155956268, + -0.11237262934446335, + 0.9538890914146945 + ], + [ + -0.0526694655418396, + 0.9951361417770386, + 0.08324676007032394, + -0.1630883975058609 + ], + [ + 0.11697820574045181, + -0.07664027065038681, + 0.9901729226112366, + -1.7410128868098214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9924451112747192, + 0.0626441240310669, + -0.1054910346865654, + 0.9463565722755763 + ], + [ + -0.05404229834675789, + 0.9951234459877014, + 0.08251529186964035, + -0.1624932622594863 + ], + [ + 0.1101456955075264, + -0.07619092613458633, + 0.9909908771514893, + -1.7472636682091292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9933603405952454, + 0.061684004962444305, + -0.09710993617773056, + 0.9383169570694799 + ], + [ + -0.05383121222257614, + 0.9952179193496704, + 0.08150796592235565, + -0.15985671926451767 + ], + [ + 0.10167328268289566, + -0.07573923468589783, + 0.9919304847717285, + -1.7497682254923426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9944319128990173, + 0.05909181758761406, + -0.0872541293501854, + 0.9318878959424748 + ], + [ + -0.0520249642431736, + 0.9953426122665405, + 0.081157386302948, + -0.1592559625874765 + ], + [ + 0.09164348989725113, + -0.07616610825061798, + 0.9928747415542603, + -1.7541394067754656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9956738948822021, + 0.05426562577486038, + -0.07542362809181213, + 0.9237631981417259 + ], + [ + -0.04809488356113434, + 0.9955242872238159, + 0.08135282248258591, + -0.15804973721319104 + ], + [ + 0.0795007199048996, + -0.07737339287996292, + 0.9938274621963501, + -1.7560569307541254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9968345165252686, + 0.04877382889389992, + -0.06278583407402039, + 0.9151585291631473 + ], + [ + -0.043542105704545975, + 0.9956678152084351, + 0.08215636759996414, + -0.15843499447247997 + ], + [ + 0.06652091443538666, + -0.07916247099637985, + 0.9946397542953491, + -1.7600992815094705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9977208971977234, + 0.044163934886455536, + -0.05101567879319191, + 0.906685486602487 + ], + [ + -0.03982553631067276, + 0.9957422614097595, + 0.0831337571144104, + -0.15937672619771512 + ], + [ + 0.05446998402476311, + -0.08091256022453308, + 0.9952317476272583, + -1.764527725587998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9983034729957581, + 0.04085274040699005, + -0.04148799926042557, + 0.8963653802871704 + ], + [ + -0.037252992391586304, + 0.9957595467567444, + 0.08411385118961334, + -0.1579682047877993 + ], + [ + 0.044748350977897644, + -0.08242559432983398, + 0.9955921173095703, + -1.7677779338189534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9988146424293518, + 0.033849846571683884, + -0.03497917950153351, + 0.886801972115262 + ], + [ + -0.030646856874227524, + 0.9956165552139282, + 0.08836513012647629, + -0.1591873924253705 + ], + [ + 0.03781699389219284, + -0.08718838542699814, + 0.9954738020896912, + -1.7718321499108158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9992650151252747, + 0.02437904290854931, + -0.029581008478999138, + 0.8785428352977919 + ], + [ + -0.02147759310901165, + 0.9952720403671265, + 0.09472194314002991, + -0.15861796377145726 + ], + [ + 0.031750380992889404, + -0.09401699900627136, + 0.9950641989707947, + -1.7729839242022971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9995095729827881, + 0.015457728877663612, + -0.027234364300966263, + 0.8701365953646831 + ], + [ + -0.01265111193060875, + 0.9948697090148926, + 0.10037019848823547, + -0.15789791093155833 + ], + [ + 0.028646141290664673, + -0.09997642040252686, + 0.9945773482322693, + -1.7714035530453143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9995870590209961, + 0.00957112479954958, + -0.02709363028407097, + 0.862563397351259 + ], + [ + -0.006788403727114201, + 0.9948636293411255, + 0.10099655389785767, + -0.15914230036740162 + ], + [ + 0.027921117842197418, + -0.10077092051506042, + 0.9945178031921387, + -1.767975431967596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9995908737182617, + 0.004620170686393976, + -0.02822575904428959, + 0.8584903728147472 + ], + [ + -0.001931289560161531, + 0.9955174922943115, + 0.09455766528844833, + -0.1592924945590792 + ], + [ + 0.028536109253764153, + -0.09446447342634201, + 0.9951191544532776, + -1.7637773209858847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9994587898254395, + -0.003989527001976967, + -0.03265359625220299, + 0.8514628560646721 + ], + [ + 0.006808403879404068, + 0.9962132573127747, + 0.08667650073766708, + -0.1597452308265319 + ], + [ + 0.03218415006995201, + -0.08685190230607986, + 0.995701253414154, + -1.7635169385753062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9992589354515076, + -0.009954337030649185, + -0.03718176856637001, + 0.847279622502949 + ], + [ + 0.012946667149662971, + 0.9966198205947876, + 0.08112534880638123, + -0.1621433826718734 + ], + [ + 0.03624853864312172, + -0.0815466046333313, + 0.9960101246833801, + -1.7629285594159216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9993240237236023, + -0.007765917107462883, + -0.035932507365942, + 0.8452525320260421 + ], + [ + 0.01053193025290966, + 0.996941328048706, + 0.07744093984365463, + -0.16070642509954686 + ], + [ + 0.035221200436353683, + -0.0777670368552208, + 0.9963492155075073, + -1.7617368675305607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9995747208595276, + -0.0012780249817296863, + -0.02913345955312252, + 0.844282668310663 + ], + [ + 0.0034938957542181015, + 0.9970913529396057, + 0.07613591104745865, + -0.160712618469868 + ], + [ + 0.028951415792107582, + -0.07620532065629959, + 0.996671736240387, + -1.7609397606438268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9997527599334717, + 0.00533309206366539, + -0.021585613489151, + 0.84461545411104 + ], + [ + -0.0037002554163336754, + 0.9971774220466614, + 0.0749896988272667, + -0.16186539939147715 + ], + [ + 0.021924614906311035, + -0.07489129155874252, + 0.996950626373291, + -1.75721736620672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9998153448104858, + 0.010697348043322563, + -0.015965458005666733, + 0.8449605513803707 + ], + [ + -0.00953993946313858, + 0.9974386096000671, + 0.07088872790336609, + -0.16190153859694553 + ], + [ + 0.016682885587215424, + -0.07072332501411438, + 0.9973564743995667, + -1.7538296629877195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9997952580451965, + 0.016546914353966713, + -0.011648226529359818, + 0.8459255917472128 + ], + [ + -0.015747955068945885, + 0.9977198839187622, + 0.06562831252813339, + -0.1621841761798407 + ], + [ + 0.012707613408565521, + -0.06543143838644028, + 0.9977761507034302, + -1.751658153691277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9997062087059021, + 0.02297280728816986, + -0.007730357348918915, + 0.8474447724611863 + ], + [ + -0.02246139571070671, + 0.9978992342948914, + 0.060766760259866714, + -0.16136736574334018 + ], + [ + 0.00911010056734085, + -0.060575272887945175, + 0.9981220364570618, + -1.7505031158048543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9995614886283875, + 0.029364990070462227, + -0.0038168097380548716, + 0.8492160232911199 + ], + [ + -0.02909681387245655, + 0.9979168772697449, + 0.05757857859134674, + -0.1608855284056308 + ], + [ + 0.005499653518199921, + -0.05744227021932602, + 0.9983336925506592, + -1.7485296189044572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9993981122970581, + 0.03468935191631317, + 0.00026970141334459186, + 0.8506832761794144 + ], + [ + -0.03465103358030319, + 0.9978634119033813, + 0.05538859963417053, + -0.16002612695653246 + ], + [ + 0.0016522693913429976, + -0.05536460876464844, + 0.998464822769165, + -1.7486335221844327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9992638826370239, + 0.038174718618392944, + 0.0037937071174383163, + 0.852610356911369 + ], + [ + -0.038324326276779175, + 0.9977951645851135, + 0.054185472428798676, + -0.1591767070086106 + ], + [ + -0.001716827624477446, + -0.054290980100631714, + 0.9985236525535583, + -1.7475277706504921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9991336464881897, + 0.041039831936359406, + 0.006904717534780502, + 0.8547821950098002 + ], + [ + -0.041349321603775024, + 0.9977319240570068, + 0.05311567336320877, + -0.15900799132281948 + ], + [ + -0.004709198139607906, + -0.05335516482591629, + 0.9985644817352295, + -1.7459269591248507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9989609122276306, + 0.04461156576871872, + 0.009322838857769966, + 0.855888945789811 + ], + [ + -0.04503774642944336, + 0.9976288676261902, + 0.052040427923202515, + -0.15917814127776933 + ], + [ + -0.00697912834584713, + -0.052406229078769684, + 0.9986014366149902, + -1.7469168067117284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9987697601318359, + 0.048627570271492004, + 0.009709878824651241, + 0.8590736773443518 + ], + [ + -0.04905848205089569, + 0.9975122809410095, + 0.05062151700258255, + -0.15985890664854405 + ], + [ + -0.007224122527986765, + -0.05103559046983719, + 0.9986706972122192, + -1.7455409200940142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9985873103141785, + 0.05234432592988014, + 0.009132697246968746, + 0.8620413082726994 + ], + [ + -0.052728068083524704, + 0.9974243640899658, + 0.04862511530518532, + -0.16036107304581204 + ], + [ + -0.006563925184309483, + -0.04903797432780266, + 0.9987753629684448, + -1.7440171695748194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9984991550445557, + 0.054215915501117706, + 0.00774791743606329, + 0.8654985059862551 + ], + [ + -0.05451900511980057, + 0.9974262714385986, + 0.04656730592250824, + -0.16071543290470697 + ], + [ + -0.0052032871171832085, + -0.046919822692871094, + 0.9988850951194763, + -1.743190334789941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9984903931617737, + 0.054628342390060425, + 0.005716124549508095, + 0.8679324388504028 + ], + [ + -0.05483022332191467, + 0.9974883198738098, + 0.044840890914201736, + -0.1608885535912484 + ], + [ + -0.0032521840184926987, + -0.04508661851286888, + 0.998977780342102, + -1.7436765212079752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9984708428382874, + 0.05525980517268181, + -0.0015291966265067458, + 0.8763858616352082 + ], + [ + -0.05513254180550575, + 0.9974347352981567, + 0.04565489664673805, + -0.16132218800485135 + ], + [ + 0.0040481542237102985, + -0.045500773936510086, + 0.9989560842514038, + -1.7449462220538408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/move_right/transforms.json b/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..2132ec3de52c9fbcf8addfb8470cedffd33d64cf --- /dev/null +++ b/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/move_right/transforms.json @@ -0,0 +1,5683 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 162, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -0.0001700655120657757, + -9.52671398408711e-05, + 0.0003572060668375343 + ], + [ + 0.00017006041889544576, + 1.0, + -5.3571839089272544e-05, + 0.000157554866746068 + ], + [ + 9.527624933980405e-05, + 5.355563553166576e-05, + 1.0, + 0.00020568887703120708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999978542327881, + 0.0003728344163391739, + 0.0020392544101923704, + 0.009555725340286026 + ], + [ + -0.00037166321999393404, + 0.9999997615814209, + -0.0005746693932451308, + -0.0029865578932489517 + ], + [ + -0.0020394681487232447, + 0.0005739102489314973, + 0.9999977350234985, + -0.010725307430036551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999966025352478, + 0.0011963817523792386, + 0.002312341472133994, + 0.019459722790381183 + ], + [ + -0.0011908492306247354, + 0.9999964237213135, + -0.0023925406858325005, + -0.002379816633892124 + ], + [ + -0.0023151955101639032, + 0.0023897788487374783, + 0.9999944567680359, + -0.02164852442422315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999982118606567, + 0.0014018012443557382, + 0.001262157573364675, + 0.026835504532878442 + ], + [ + -0.0013979413779452443, + 0.9999943375587463, + -0.0030538702849298716, + -0.0033068207062937043 + ], + [ + -0.0012664314126595855, + 0.003052100306376815, + 0.9999945163726807, + -0.03397867626211207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999940395355225, + 0.002022150671109557, + -0.0027930461801588535, + 0.03829511036136136 + ], + [ + -0.0020297428127378225, + 0.9999942183494568, + -0.002718036063015461, + -0.0037577428924417274 + ], + [ + 0.0027875336818397045, + 0.002723689191043377, + 0.9999924302101135, + -0.04527285299061433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999662041664124, + 0.004193398170173168, + -0.00707066897302866, + 0.048931953722830886 + ], + [ + -0.004210395738482475, + 0.9999882578849792, + -0.00239078002050519, + -0.003861385391828436 + ], + [ + 0.007060560397803783, + 0.0024204696528613567, + 0.9999721646308899, + -0.057551946343495426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998952746391296, + 0.007084221113473177, + -0.012619983404874802, + 0.059743720353205014 + ], + [ + -0.007101132068783045, + 0.9999739527702332, + -0.0012956743594259024, + -0.005457591115040068 + ], + [ + 0.012610476464033127, + 0.001385154901072383, + 0.9999195337295532, + -0.0718329575815186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997487664222717, + 0.010625211521983147, + -0.019737394526600838, + 0.07006217338468718 + ], + [ + -0.0106340441852808, + 0.9999433755874634, + -0.00034260633401572704, + -0.005013001082546037 + ], + [ + 0.019732637330889702, + 0.0005524085718207061, + 0.9998051524162292, + -0.08550739969410326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9995071291923523, + 0.01481644157320261, + -0.027675306424498558, + 0.079831612720993 + ], + [ + -0.014773811213672161, + 0.9998893141746521, + 0.0017441944219172, + -0.005607396501307347 + ], + [ + 0.027698086574673653, + -0.0013344651088118553, + 0.9996154308319092, + -0.10038954452698275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999200165271759, + 0.018113205209374428, + -0.035649918019771576, + 0.09098810949680967 + ], + [ + -0.01799936778843403, + 0.9998318552970886, + 0.0035115673672407866, + -0.005008607458392655 + ], + [ + 0.03570752590894699, + -0.0028670828323811293, + 0.9993581771850586, + -0.11265510442371694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9988458156585693, + 0.021844234317541122, + -0.04277672618627548, + 0.10021618975800757 + ], + [ + -0.02161300927400589, + 0.9997492432594299, + 0.005860499572008848, + -0.005929137640835151 + ], + [ + 0.042894020676612854, + -0.004929202143102884, + 0.999067485332489, + -0.12603300347091248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.998419463634491, + 0.026835454627871513, + -0.04938064515590668, + 0.10911596683056458 + ], + [ + -0.026429513469338417, + 0.9996114373207092, + 0.008855405263602734, + -0.005840004603407398 + ], + [ + 0.049599096179008484, + -0.007536302320659161, + 0.9987407922744751, + -0.1400955979405723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9979758858680725, + 0.031133845448493958, + -0.055451057851314545, + 0.11936100346516379 + ], + [ + -0.030482638627290726, + 0.9994564652442932, + 0.012551370076835155, + -0.006043459678080326 + ], + [ + 0.05581168830394745, + -0.010835670866072178, + 0.9983825087547302, + -0.15279609762733767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9976333975791931, + 0.035524770617485046, + -0.05886900797486305, + 0.12678764637397683 + ], + [ + -0.034585125744342804, + 0.9992587566375732, + 0.016904618591070175, + -0.008423521026089694 + ], + [ + 0.05942590907216072, + -0.014828619547188282, + 0.9981225728988647, + -0.16622100346345708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9973857998847961, + 0.03937753662467003, + -0.06058868020772934, + 0.13536469353281932 + ], + [ + -0.038226861506700516, + 0.9990682005882263, + 0.0200353916734457, + -0.008481102833605331 + ], + [ + 0.06132116913795471, + -0.017666900530457497, + 0.997961699962616, + -0.1792687431625698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9972634315490723, + 0.04101075977087021, + -0.06151222810149193, + 0.1414859422615596 + ], + [ + -0.03967826068401337, + 0.9989539384841919, + 0.02273017168045044, + -0.012563628717238859 + ], + [ + 0.06238006427884102, + -0.02022727206349373, + 0.9978474974632263, + -0.1922659370585443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.997205376625061, + 0.04214884713292122, + -0.06168406084179878, + 0.14602951103856104 + ], + [ + -0.04079335555434227, + 0.9989011883735657, + 0.02307206206023693, + -0.014713799327565646 + ], + [ + 0.06258874386548996, + -0.020491285249590874, + 0.997829020023346, + -0.20388926998798892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9972017407417297, + 0.043291978538036346, + -0.0609467476606369, + 0.15083356286798205 + ], + [ + -0.04207915812730789, + 0.998892605304718, + 0.021045098081231117, + -0.01511380041353636 + ], + [ + 0.0617903396487236, + -0.01842162199318409, + 0.9979191422462463, + -0.215990367314275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9972341656684875, + 0.043541040271520615, + -0.06023459881544113, + 0.15597521172176976 + ], + [ + -0.042504969984292984, + 0.9989272356033325, + 0.018376845866441727, + -0.01629375643935633 + ], + [ + 0.06097012758255005, + -0.015765748918056488, + 0.9980150461196899, + -0.22781324388447755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9973703622817993, + 0.04202692583203316, + -0.05904293432831764, + 0.15985821740967887 + ], + [ + -0.04121733084321022, + 0.9990396499633789, + 0.014864129945635796, + -0.016396737552207448 + ], + [ + 0.05961092188954353, + -0.012391451746225357, + 0.9981447458267212, + -0.24021340995703055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9976004362106323, + 0.03999634459614754, + -0.05651234835386276, + 0.1618377281271893 + ], + [ + -0.03935854509472847, + 0.9991487860679626, + 0.012354775331914425, + -0.018830273601209153 + ], + [ + 0.0569583922624588, + -0.010100885294377804, + 0.9983254671096802, + -0.25146220041357953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9979098439216614, + 0.037298623472452164, + -0.052770692855119705, + 0.16489363351593847 + ], + [ + -0.03682032600045204, + 0.999271810054779, + 0.010007418692111969, + -0.020705631699251093 + ], + [ + 0.05310552939772606, + -0.008043467998504639, + 0.9985564947128296, + -0.2645386901076721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9982789158821106, + 0.033962756395339966, + -0.04780907928943634, + 0.16643502223565712 + ], + [ + -0.033606186509132385, + 0.9994011521339417, + 0.008242622949182987, + -0.022142695561514138 + ], + [ + 0.04806039482355118, + -0.006621755659580231, + 0.9988225102424622, + -0.2770981471453394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.998640775680542, + 0.03044758550822735, + -0.042303457856178284, + 0.16847605960709708 + ], + [ + -0.03015531413257122, + 0.9995168447494507, + 0.007530101574957371, + -0.02456559935318572 + ], + [ + 0.04251229017972946, + -0.006244192831218243, + 0.9990764260292053, + -0.2893455259501934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9989480376243591, + 0.028058107942342758, + -0.036270901560783386, + 0.169091168323659 + ], + [ + -0.027823280543088913, + 0.9995886087417603, + 0.006963033229112625, + -0.024898715236264725 + ], + [ + 0.036451347172260284, + -0.0059465328231453896, + 0.9993177652359009, + -0.3031279858965311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9991979598999023, + 0.025857117027044296, + -0.03057604283094406, + 0.1694670517622314 + ], + [ + -0.025645345449447632, + 0.9996444582939148, + 0.007298173848539591, + -0.026307162915512643 + ], + [ + 0.030753880739212036, + -0.006508186925202608, + 0.9995058178901672, + -0.3163475769091837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9993855953216553, + 0.02385251224040985, + -0.025681287050247192, + 0.17245475607258934 + ], + [ + -0.023659437894821167, + 0.9996896982192993, + 0.007795917335897684, + -0.027773871085380916 + ], + [ + 0.025859270244836807, + -0.007183522451668978, + 0.9996398091316223, + -0.32918881071928124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9995899796485901, + 0.02139987051486969, + -0.01902519166469574, + 0.17142110624298545 + ], + [ + -0.021261245012283325, + 0.9997461438179016, + 0.0074591259472072124, + -0.028063777889709294 + ], + [ + 0.01917998492717743, + -0.007051568012684584, + 0.9997912049293518, + -0.34341299988283136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9997257590293884, + 0.019409574568271637, + -0.013102700002491474, + 0.17500183893286664 + ], + [ + -0.019319500774145126, + 0.9997891187667847, + 0.006966342683881521, + -0.028313161740484444 + ], + [ + 0.013235150836408138, + -0.006711294408887625, + 0.9998899102210999, + -0.3570926355440979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9998226165771484, + 0.018336135894060135, + -0.0043004159815609455, + 0.1733777192623719 + ], + [ + -0.018306870013475418, + 0.9998096227645874, + 0.006748892832547426, + -0.029603549764023063 + ], + [ + 0.004423345904797316, + -0.006668968591839075, + 0.9999679923057556, + -0.37214057280924984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9998450875282288, + 0.016671868041157722, + 0.005645320750772953, + 0.17367567140493334 + ], + [ + -0.01670914702117443, + 0.9998384714126587, + 0.006622069515287876, + -0.03166644473022186 + ], + [ + -0.005534006282687187, + -0.006715372204780579, + 0.9999621510505676, + -0.3876757046658985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9997797012329102, + 0.014401845633983612, + 0.015270073898136616, + 0.17598205193969774 + ], + [ + -0.014498148113489151, + 0.9998756051063538, + 0.006214778404682875, + -0.03304119261664263 + ], + [ + -0.015178670175373554, + -0.006434796843677759, + 0.9998641014099121, + -0.4027627593860817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9996255040168762, + 0.012659292668104172, + 0.02426121011376381, + 0.1793575176170894 + ], + [ + -0.01280980184674263, + 0.9998996257781982, + 0.006058317609131336, + -0.037024549931657984 + ], + [ + -0.02418208122253418, + -0.0063668303191661835, + 0.9996873140335083, + -0.4173104024821927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.999350368976593, + 0.011428670957684517, + 0.034178633242845535, + 0.18104347164586465 + ], + [ + -0.011578178033232689, + 0.9999242424964905, + 0.004179578740149736, + -0.03935057377292318 + ], + [ + -0.03412827476859093, + -0.004572590347379446, + 0.9994069933891296, + -0.433813515858528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9989475011825562, + 0.009468458592891693, + 0.04488074406981468, + 0.181846323849992 + ], + [ + -0.009549083188176155, + 0.9999531507492065, + 0.0015823488356545568, + -0.0417119825825743 + ], + [ + -0.044863659888505936, + -0.0020092532504349947, + 0.998991072177887, + -0.44905681967827843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9984445571899414, + 0.008422903716564178, + 0.05511363223195076, + 0.1841530372267184 + ], + [ + -0.008376069366931915, + 0.9999643564224243, + -0.0010807275539264083, + -0.044103626161813736 + ], + [ + -0.05512076988816261, + 0.0006174109876155853, + 0.9984794855117798, + -0.4653047181503928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9978130459785461, + 0.009423973970115185, + 0.06542376428842545, + 0.1870528339229015 + ], + [ + -0.009182403795421124, + 0.9999498724937439, + -0.003992120269685984, + -0.04471488815055501 + ], + [ + -0.06545811146497726, + 0.003382642287760973, + 0.9978495836257935, + -0.48022679292267156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9969671368598938, + 0.012311662547290325, + 0.07684388011693954, + 0.19023258913748012 + ], + [ + -0.011908060871064663, + 0.9999127984046936, + -0.005708255805075169, + -0.04782963167609913 + ], + [ + -0.07690746337175369, + 0.004775881767272949, + 0.997026801109314, + -0.4962246536699511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9957969188690186, + 0.016009436920285225, + 0.09017888456583023, + 0.1928948388891931 + ], + [ + -0.01539289765059948, + 0.9998531937599182, + -0.0075282324105501175, + -0.046516818754513814 + ], + [ + -0.09028617292642593, + 0.006108475849032402, + 0.995897114276886, + -0.5124640988174433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.994356095790863, + 0.019032539799809456, + 0.10437297075986862, + 0.1949440629771037 + ], + [ + -0.01840408705174923, + 0.99980628490448, + -0.00698109483346343, + -0.046588793745183425 + ], + [ + -0.10448562353849411, + 0.0050208051688969135, + 0.994513750076294, + -0.5272556209092185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9929890632629395, + 0.020494209602475166, + 0.11641599982976913, + 0.20088074546052803 + ], + [ + -0.020287858322262764, + 0.999789834022522, + -0.0029573380015790462, + -0.05112081342694922 + ], + [ + -0.11645213514566422, + 0.000574773526750505, + 0.9931961297988892, + -0.5429151171112653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9915310144424438, + 0.02058982476592064, + 0.1282273381948471, + 0.20103563571938818 + ], + [ + -0.020787015557289124, + 0.9997839331626892, + 0.0001996081555262208, + -0.049661612755948714 + ], + [ + -0.12819550931453705, + -0.0028633810579776764, + 0.9917447566986084, + -0.5580091477828737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9899814128875732, + 0.018947115167975426, + 0.13992057740688324, + 0.20303733374761498 + ], + [ + -0.019728170707821846, + 0.9997965693473816, + 0.0041971104219555855, + -0.05457354617183623 + ], + [ + -0.13981260359287262, + -0.006915438920259476, + 0.9901538491249084, + -0.5713029678749002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9884128570556641, + 0.018185194581747055, + 0.1506960391998291, + 0.2100092968770436 + ], + [ + -0.019245542585849762, + 0.9997991919517517, + 0.005580766126513481, + -0.05881449908295774 + ], + [ + -0.1505642831325531, + -0.008416328579187393, + 0.9885643720626831, + -0.5849529456092705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9866267442703247, + 0.01652028039097786, + 0.16215673089027405, + 0.21715699284343246 + ], + [ + -0.01784488931298256, + 0.9998182058334351, + 0.006715529598295689, + -0.06784003349194616 + ], + [ + -0.16201630234718323, + -0.00951938983052969, + 0.9867421388626099, + -0.5993531783175025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9843924641609192, + 0.013262657448649406, + 0.1754866987466812, + 0.22066505734594713 + ], + [ + -0.014368588104844093, + 0.9998841285705566, + 0.0050329118967056274, + -0.07179195964304001 + ], + [ + -0.17539961636066437, + -0.007475856691598892, + 0.984468936920166, + -0.6144738710537461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9822035431861877, + 0.01015639491379261, + 0.18754492700099945, + 0.22530192519937242 + ], + [ + -0.010848065838217735, + 0.9999375939369202, + 0.0026620146818459034, + -0.07308486907609872 + ], + [ + -0.18750618398189545, + -0.004649139475077391, + 0.9822524189949036, + -0.6281119529690061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9803085923194885, + 0.006517765112221241, + 0.19736412167549133, + 0.23204485509336364 + ], + [ + -0.00660854484885931, + 0.9999781250953674, + -0.0001986655406653881, + -0.06875205276973592 + ], + [ + -0.19736111164093018, + -0.0011095361551269889, + 0.980330228805542, + -0.6392848184390097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9783926606178284, + 0.0008287974051199853, + 0.2067537009716034, + 0.23827888127069297 + ], + [ + -0.001191071467474103, + 0.9999979734420776, + 0.0016277334652841091, + -0.07687501683137062 + ], + [ + -0.20675194263458252, + -0.0018388209864497185, + 0.9783916473388672, + -0.6540768333843776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9769348502159119, + -0.00464787008240819, + 0.21348710358142853, + 0.248773759862651 + ], + [ + 0.004427282605320215, + 0.9999890327453613, + 0.0015113442204892635, + -0.07640913910556422 + ], + [ + -0.2134917825460434, + -0.0005313170258887112, + 0.9769446849822998, + -0.669539942495201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9759691953659058, + -0.010879850015044212, + 0.21763667464256287, + 0.2627604899014005 + ], + [ + 0.010625684633851051, + 0.999940812587738, + 0.0023381405044347048, + -0.07866385179970946 + ], + [ + -0.21764922142028809, + 3.0585331842303276e-05, + 0.9760270714759827, + -0.6846668190837647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.97528076171875, + -0.01666366122663021, + 0.22034020721912384, + 0.27477273885507764 + ], + [ + 0.016211004927754402, + 0.9998611211776733, + 0.0038625074084848166, + -0.08476113534144919 + ], + [ + -0.2203739732503891, + -0.00019509275443851948, + 0.9754154086112976, + -0.7001092570631401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9750850796699524, + -0.02043946646153927, + 0.2208876609802246, + 0.28798592668142375 + ], + [ + 0.020036784932017326, + 0.9997909665107727, + 0.004063714295625687, + -0.08584251916093856 + ], + [ + -0.22092455625534058, + 0.0004634105134755373, + 0.9752907752990723, + -0.7127667076098992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9751011729240417, + -0.02305523492395878, + 0.2205587774515152, + 0.2996416978214098 + ], + [ + 0.02278214879333973, + 0.9997332692146301, + 0.0037821512669324875, + -0.08972979745486323 + ], + [ + -0.22058714926242828, + 0.001336822402663529, + 0.9753663539886475, + -0.7260242603302742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.975287139415741, + -0.025728177279233932, + 0.21943804621696472, + 0.30793147101905777 + ], + [ + 0.025660652667284012, + 0.9996657371520996, + 0.003158403327688575, + -0.09708370354882678 + ], + [ + -0.21944594383239746, + 0.002550572855398059, + 0.9756213426589966, + -0.7385274959647137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9763033986091614, + -0.026527201756834984, + 0.21477432548999786, + 0.3248338319870256 + ], + [ + 0.02745840884745121, + 0.9996220469474792, + -0.0013528794515877962, + -0.0951269050157681 + ], + [ + -0.214657261967659, + 0.00721818208694458, + 0.9766627550125122, + -0.7536025957568832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9774618744850159, + -0.02565848082304001, + 0.2095470428466797, + 0.3389087078363999 + ], + [ + 0.027303125709295273, + 0.9996148943901062, + -0.004959093406796455, + -0.09727423579796501 + ], + [ + -0.20933911204338074, + 0.010568613186478615, + 0.9777860045433044, + -0.7692307207895361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.97889643907547, + -0.02466599829494953, + 0.20286299288272858, + 0.35379075778197056 + ], + [ + 0.026845430955290794, + 0.9996076226234436, + -0.007998388260602951, + -0.09866625571866398 + ], + [ + -0.2025860995054245, + 0.013275537639856339, + 0.9791744947433472, + -0.7844072744250298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9808933138847351, + -0.022413400933146477, + 0.19325101375579834, + 0.37194067746956155 + ], + [ + 0.02487104944884777, + 0.9996376037597656, + -0.010300422087311745, + -0.09872894121669465 + ], + [ + -0.19295009970664978, + 0.01490996964275837, + 0.9810952544212341, + -0.8014331093115836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9875784516334534, + -0.02341410145163536, + 0.15537221729755402, + 0.506486967224512 + ], + [ + 0.02545148879289627, + 0.9996140003204346, + -0.011136333458125591, + -0.10081347740307357 + ], + [ + -0.15505151450634003, + 0.014952457509934902, + 0.9877932071685791, + -0.8225310053236736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9923753142356873, + -0.018689662218093872, + 0.12182730436325073, + 0.6109556925963171 + ], + [ + 0.020031917840242386, + 0.9997512698173523, + -0.009802132844924927, + -0.11013061770741243 + ], + [ + -0.12161380052566528, + 0.012167830020189285, + 0.9925029277801514, + -0.8392568560120481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9943088293075562, + -0.01156892441213131, + 0.10590606927871704, + 0.6391065033326238 + ], + [ + 0.013473240658640862, + 0.9997598528862, + -0.01728339120745659, + -0.07599758327770863 + ], + [ + -0.1056806892156601, + 0.018611926585435867, + 0.9942259192466736, + -0.894725491273107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9930580258369446, + -0.012940308079123497, + 0.11691151559352875, + 0.5648078954738119 + ], + [ + 0.013761676847934723, + 0.9998859763145447, + -0.006221037358045578, + -0.11698106633765357 + ], + [ + -0.11681768298149109, + 0.007786749862134457, + 0.9931228756904602, + -0.8786806742226856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9912800192832947, + -0.005553782917559147, + 0.13165509700775146, + 0.46977735109951185 + ], + [ + 0.007262718863785267, + 0.999895453453064, + -0.01250377856194973, + -0.08880092363561624 + ], + [ + -0.13157188892364502, + 0.013350920751690865, + 0.9912167191505432, + -0.8865053005840468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9938417673110962, + -0.0015152019914239645, + 0.11079799383878708, + 0.5171765885738112 + ], + [ + 0.002804115181788802, + 0.999930202960968, + -0.011478104628622532, + -0.09047715386248524 + ], + [ + -0.11077287048101425, + 0.01171811018139124, + 0.9937766790390015, + -0.9033095053264073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9952132701873779, + 0.004555829800665379, + 0.09762081503868103, + 0.5258697134367427 + ], + [ + -0.0037054680287837982, + 0.9999536275863647, + -0.008890394121408463, + -0.09986310395533624 + ], + [ + -0.09765678644180298, + 0.008486106991767883, + 0.9951839447021484, + -0.922284719181357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9963029026985168, + 0.009851059876382351, + 0.08534316718578339, + 0.5296024637192673 + ], + [ + -0.009315711446106434, + 0.9999343752861023, + -0.0066688694059848785, + -0.10846801782084733 + ], + [ + -0.08540326356887817, + 0.005849181674420834, + 0.9963293075561523, + -0.940107708540022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9979413747787476, + 0.014386736787855625, + 0.06249821558594704, + 0.5861306181605558 + ], + [ + -0.013804423622786999, + 0.9998573064804077, + -0.009739131666719913, + -0.09549231850918127 + ], + [ + -0.06262940913438797, + 0.008856330998241901, + 0.9979975819587708, + -0.9552602615184296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.998131275177002, + 0.020590243861079216, + 0.0575326606631279, + 0.5841477351159042 + ], + [ + -0.02027870900928974, + 0.9997764229774475, + -0.005993575323373079, + -0.10367042882749752 + ], + [ + -0.05764320492744446, + 0.004815686959773302, + 0.9983256459236145, + -0.9746344770703997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9982988238334656, + 0.02679283730685711, + 0.0517837256193161, + 0.5962131236280713 + ], + [ + -0.026623761281371117, + 0.9996377229690552, + -0.0039521935395896435, + -0.1044206983542868 + ], + [ + -0.05187085270881653, + 0.0025667930021882057, + 0.9986504912376404, + -0.9907832362822124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9981638193130493, + 0.03126271069049835, + 0.05188077688217163, + 0.5873243083124575 + ], + [ + -0.03116515465080738, + 0.999510645866394, + -0.002688535489141941, + -0.10803813430602136 + ], + [ + -0.05193944275379181, + 0.0010667263995856047, + 0.9986496567726135, + -1.0083826138921406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9981341361999512, + 0.03320863097906113, + 0.05123929679393768, + 0.5824670385129703 + ], + [ + -0.03309986740350723, + 0.9994476437568665, + -0.0029700682498514652, + -0.11361395877248012 + ], + [ + -0.05130962282419205, + 0.0012685126857832074, + 0.9986819624900818, + -1.0244873871853262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9985378980636597, + 0.033296119421720505, + 0.04258394613862038, + 0.6143344308278575 + ], + [ + -0.033066075295209885, + 0.9994345903396606, + -0.006095303688198328, + -0.11518199710372072 + ], + [ + -0.042762819677591324, + 0.004678307566791773, + 0.9990742802619934, + -1.0387673569206866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9986143112182617, + 0.03329489007592201, + 0.04075354337692261, + 0.6156733611355657 + ], + [ + -0.03291218355298042, + 0.999407947063446, + -0.010026061907410622, + -0.11890456066785021 + ], + [ + -0.04106323421001434, + 0.008670881390571594, + 0.9991189241409302, + -1.0558760792849968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9988586902618408, + 0.035193633288145065, + 0.03229045867919922, + 0.6425655248002236 + ], + [ + -0.034765321761369705, + 0.9993011951446533, + -0.013731352984905243, + -0.12419997708675284 + ], + [ + -0.03275115042924881, + 0.012593094259500504, + 0.9993842244148254, + -1.0715735725456883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9987989664077759, + 0.03712228313088417, + 0.031977251172065735, + 0.6362239518520995 + ], + [ + -0.03658750280737877, + 0.9991832971572876, + -0.017149880528450012, + -0.12580259830361198 + ], + [ + -0.032587774097919464, + 0.01595931500196457, + 0.9993414282798767, + -1.0889430575257872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9987178444862366, + 0.03990742936730385, + 0.03114585392177105, + 0.6377902945376331 + ], + [ + -0.03926607593894005, + 0.999009370803833, + -0.02093907818198204, + -0.12360678458621042 + ], + [ + -0.03195062652230263, + 0.019689254462718964, + 0.9992954730987549, + -1.1038498802492338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.998833179473877, + 0.04007822647690773, + 0.026944682002067566, + 0.6554520933524423 + ], + [ + -0.03939693048596382, + 0.9989018440246582, + -0.025357672944664955, + -0.11712657794680284 + ], + [ + -0.02793138101696968, + 0.024266546592116356, + 0.9993152618408203, + -1.117999066201889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9990053772926331, + 0.038542490452528, + 0.022421669214963913, + 0.6720155944735368 + ], + [ + -0.037901248782873154, + 0.9988791346549988, + -0.028353802859783173, + -0.11284359452424582 + ], + [ + -0.023489363491535187, + 0.027475792914628983, + 0.9993464350700378, + -1.132720850185948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9991675019264221, + 0.03656582534313202, + 0.01808842085301876, + 0.6882129619210403 + ], + [ + -0.036043405532836914, + 0.9989463090896606, + -0.028410257771611214, + -0.11934848174175121 + ], + [ + -0.019108204171061516, + 0.02773463912308216, + 0.9994326829910278, + -1.1485268142294163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9993433952331543, + 0.03383217379450798, + 0.012967751361429691, + 0.7068650785440244 + ], + [ + -0.03344381973147392, + 0.9990174770355225, + -0.029078064486384392, + -0.12121297904978627 + ], + [ + -0.013938785530626774, + 0.028625281527638435, + 0.9994930028915405, + -1.1637662694043254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9995027780532837, + 0.03030312992632389, + 0.008716443553566933, + 0.716543103745265 + ], + [ + -0.03003132902085781, + 0.9991050958633423, + -0.029784519225358963, + -0.11873200251981153 + ], + [ + -0.009611207991838455, + 0.029507942497730255, + 0.9995183348655701, + -1.1799345340163256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9996392726898193, + 0.026655958965420723, + 0.003277270123362541, + 0.730520815138491 + ], + [ + -0.026546144858002663, + 0.9991996884346008, + -0.029920466244220734, + -0.11759148309736148 + ], + [ + -0.004072206094861031, + 0.02982267364859581, + 0.9995468854904175, + -1.1944595376550227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9996704459190369, + 0.025596842169761658, + -0.0019492286955937743, + 0.7460689748666302 + ], + [ + -0.025643765926361084, + 0.999222457408905, + -0.029948126524686813, + -0.12126310083621777 + ], + [ + 0.001181135536171496, + 0.02998824417591095, + 0.9995495676994324, + -1.2100119841846881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.999579131603241, + 0.0280472282320261, + -0.007410785183310509, + 0.7600068216738494 + ], + [ + -0.02827453799545765, + 0.9990687370300293, + -0.03259148448705673, + -0.11704016544896623 + ], + [ + 0.006489782594144344, + 0.032787300646305084, + 0.9994412660598755, + -1.2234352397368007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9993692636489868, + 0.032415758818387985, + -0.014503424055874348, + 0.7767758347232889 + ], + [ + -0.032896410673856735, + 0.9988724589347839, + -0.03422997146844864, + -0.11878403219515862 + ], + [ + 0.013377479277551174, + 0.034685492515563965, + 0.9993087649345398, + -1.2373893767022615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9990783929824829, + 0.03768162056803703, + -0.02055489644408226, + 0.7868854016250705 + ], + [ + -0.038418691605329514, + 0.9985865354537964, + -0.03672714903950691, + -0.11847717123834983 + ], + [ + 0.01914190500974655, + 0.03748299553990364, + 0.999113917350769, + -1.2537717531464114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9987751245498657, + 0.04100837558507919, + -0.027685824781656265, + 0.8029468319430855 + ], + [ + -0.0420662984251976, + 0.9983620643615723, + -0.03877675160765648, + -0.12026053468540589 + ], + [ + 0.026050306856632233, + 0.039893899112939835, + 0.9988642930984497, + -1.2679756238825202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9984691143035889, + 0.043431419879198074, + -0.03425033763051033, + 0.8110784105632616 + ], + [ + -0.044803496450185776, + 0.9981799721717834, + -0.04036564379930496, + -0.12103585911833721 + ], + [ + 0.0324348621070385, + 0.0418383851647377, + 0.9985978007316589, + -1.284610195615277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9979355931282043, + 0.04649665579199791, + -0.04430127516388893, + 0.8287989830008204 + ], + [ + -0.04828355088829994, + 0.9980261325836182, + -0.04015680029988289, + -0.12246395863407517 + ], + [ + 0.04234667494893074, + 0.042212922126054764, + 0.9982107877731323, + -1.2975826360123313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9973918795585632, + 0.0516556091606617, + -0.05040969327092171, + 0.8362499923439499 + ], + [ + -0.053648073226213455, + 0.9977977871894836, + -0.03900635242462158, + -0.12359501183125543 + ], + [ + 0.04828378185629845, + 0.04160900413990021, + 0.9979665875434875, + -1.3115774826464817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9968169927597046, + 0.05788640305399895, + -0.05481801927089691, + 0.8476341993912406 + ], + [ + -0.05981895700097084, + 0.9976199865341187, + -0.03429384157061577, + -0.13234662810421507 + ], + [ + 0.0527024045586586, + 0.03746384009718895, + 0.997907280921936, + -1.3280943333778692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9964540004730225, + 0.06370768696069717, + -0.05496102198958397, + 0.851773829119546 + ], + [ + -0.06541716307401657, + 0.9974104166030884, + -0.02988460473716259, + -0.1352342997278486 + ], + [ + 0.0529148168861866, + 0.03337403014302254, + 0.9980411529541016, + -1.34467558073146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9962171912193298, + 0.06766312569379807, + -0.0545254684984684, + 0.8610794363925176 + ], + [ + -0.06909524649381638, + 0.9973012804985046, + -0.024820476770401, + -0.13843896953122956 + ], + [ + 0.05269888415932655, + 0.028494033962488174, + 0.9982038736343384, + -1.3596300200530276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9960407018661499, + 0.07028655707836151, + -0.054430652409791946, + 0.8718650359544695 + ], + [ + -0.0714321881532669, + 0.997256875038147, + -0.019393863156437874, + -0.1374967924926592 + ], + [ + 0.0529182143509388, + 0.02320517785847187, + 0.998329222202301, + -1.3724340515338487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9960828423500061, + 0.07086188346147537, + -0.052891962230205536, + 0.8767594171236761 + ], + [ + -0.07162799686193466, + 0.9973501563072205, + -0.012729909271001816, + -0.14097546626414573 + ], + [ + 0.05184974521398544, + 0.01646859012544155, + 0.9985191226005554, + -1.388242770958206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9962140917778015, + 0.0695352703332901, + -0.05217645689845085, + 0.8857562680422149 + ], + [ + -0.06992985308170319, + 0.997535228729248, + -0.00577306654304266, + -0.14610920650248202 + ], + [ + 0.05164642259478569, + 0.009399901144206524, + 0.9986211657524109, + -1.4001964284026105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9964604377746582, + 0.06606130301952362, + -0.05198557302355766, + 0.8940137874265636 + ], + [ + -0.0661160945892334, + 0.9978117346763611, + 0.0006668762071058154, + -0.1506052600485938 + ], + [ + 0.051915865391492844, + 0.0027725673280656338, + 0.9986476302146912, + -1.4147779572199775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.996610701084137, + 0.06109753996133804, + -0.05508404225111008, + 0.9096275339955869 + ], + [ + -0.060860417783260345, + 0.9981284141540527, + 0.005973570980131626, + -0.15000921416541804 + ], + [ + 0.055345915257930756, + -0.002600886858999729, + 0.9984638690948486, + -1.4254598344797673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.996771514415741, + 0.05717329680919647, + -0.056372009217739105, + 0.9179838795469414 + ], + [ + -0.05664233863353729, + 0.9983342289924622, + 0.010973426513373852, + -0.15385166659303334 + ], + [ + 0.05690549314022064, + -0.0077449562959373, + 0.9983495473861694, + -1.4380843565608403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9968143701553345, + 0.05391128361225128, + -0.058776579797267914, + 0.9296302484429401 + ], + [ + -0.053219325840473175, + 0.998494565486908, + 0.013276366516947746, + -0.1503231612421711 + ], + [ + 0.05940384417772293, + -0.010106023401021957, + 0.9981828927993774, + -1.4481811193020449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9968206286430359, + 0.050776150077581406, + -0.061403609812259674, + 0.9405315816402435 + ], + [ + -0.049888502806425095, + 0.9986281394958496, + 0.015904605388641357, + -0.1505573295265066 + ], + [ + 0.062126949429512024, + -0.01279070507735014, + 0.9979863166809082, + -1.458207511670471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9968370199203491, + 0.04821512848138809, + -0.06317615509033203, + 0.9509793771720081 + ], + [ + -0.047214336693286896, + 0.9987359642982483, + 0.017240405082702637, + -0.1483187869006062 + ], + [ + 0.0639275461435318, + -0.014203053899109364, + 0.9978534579277039, + -1.468570299863075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9969294667243958, + 0.04546001926064491, + -0.06375765055418015, + 0.9588597010751688 + ], + [ + -0.044307973235845566, + 0.9988301396369934, + 0.01936887763440609, + -0.1518409612964584 + ], + [ + 0.0645635798573494, + -0.01648443378508091, + 0.9977774620056152, + -1.480459826930154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9969777464866638, + 0.04202656447887421, + -0.065338633954525, + 0.969363884674096 + ], + [ + -0.04079360514879227, + 0.9989655613899231, + 0.020091883838176727, + -0.14996428139831708 + ], + [ + 0.06611543148756027, + -0.01736576482653618, + 0.9976608753204346, + -1.490028243664629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9969890117645264, + 0.03886786103248596, + -0.06709803640842438, + 0.9789053046185038 + ], + [ + -0.03754114359617233, + 0.9990760087966919, + 0.020922262221574783, + -0.15038333849414534 + ], + [ + 0.06784924864768982, + -0.018340330570936203, + 0.997527003288269, + -1.4992198730292527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9967585802078247, + 0.03610583022236824, + -0.07189396023750305, + 0.9940842665500522 + ], + [ + -0.034577857702970505, + 0.9991512894630432, + 0.02238590270280838, + -0.15481466045198233 + ], + [ + 0.07264120876789093, + -0.019827403128147125, + 0.9971610307693481, + -1.5087922497380595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9962562918663025, + 0.03413957357406616, + -0.07942237704992294, + 1.007441595807579 + ], + [ + -0.03228559345006943, + 0.9991780519485474, + 0.024511801078915596, + -0.16367859718684824 + ], + [ + 0.0801939144730568, + -0.021855836734175682, + 0.9965396523475647, + -1.514667223815037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9954590201377869, + 0.03354937583208084, + -0.08908271044492722, + 1.0205281738909135 + ], + [ + -0.03138972073793411, + 0.9991809725761414, + 0.02553490735590458, + -0.16869903358613483 + ], + [ + 0.08986643701791763, + -0.022622672840952873, + 0.9956968426704407, + -1.5238314736889016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9945300817489624, + 0.034421078860759735, + -0.09861590713262558, + 1.0334857574160794 + ], + [ + -0.03201302886009216, + 0.999151885509491, + 0.025898080319166183, + -0.1690934574567013 + ], + [ + 0.09942371398210526, + -0.02259942516684532, + 0.9947885274887085, + -1.5312082585849747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9936463236808777, + 0.03632473573088646, + -0.10652457177639008, + 1.044672095257303 + ], + [ + -0.033704083412885666, + 0.9990857839584351, + 0.026299919933080673, + -0.1654008007058816 + ], + [ + 0.10738252103328705, + -0.022542506456375122, + 0.9939621686935425, + -1.5405488431638812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9928276538848877, + 0.03657230734825134, + -0.11382344365119934, + 1.0570477763318127 + ], + [ + -0.03334087133407593, + 0.998988687992096, + 0.030165880918502808, + -0.16697730446083944 + ], + [ + 0.11481156945228577, + -0.026154547929763794, + 0.9930429458618164, + -1.5490475058740711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9919579029083252, + 0.03717278689146042, + -0.12098617106676102, + 1.0672104156535605 + ], + [ + -0.03316322714090347, + 0.9988373517990112, + 0.03498782217502594, + -0.16782535055409306 + ], + [ + 0.1221461072564125, + -0.030694156885147095, + 0.9920374155044556, + -1.5571768268294957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9910035133361816, + 0.03836609050631523, + -0.1282188892364502, + 1.0783835449574157 + ], + [ + -0.033509526401758194, + 0.9986447095870972, + 0.03982279822230339, + -0.1669350276290445 + ], + [ + 0.12957295775413513, + -0.03516798093914986, + 0.9909460544586182, + -1.5670949092748003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9902188777923584, + 0.04028557613492012, + -0.13357999920845032, + 1.087470319108193 + ], + [ + -0.03470613434910774, + 0.9984356164932251, + 0.04383803904056549, + -0.16680146572845322 + ], + [ + 0.13513708114624023, + -0.03877320885658264, + 0.9900679588317871, + -1.5756096626660838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9896323680877686, + 0.042236704379320145, + -0.1372729390859604, + 1.0963922909327917 + ], + [ + -0.03622259572148323, + 0.9982836246490479, + 0.046018946915864944, + -0.16603992373815604 + ], + [ + 0.13898102939128876, + -0.04056945815682411, + 0.9894636869430542, + -1.5840348569410188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9892308115959167, + 0.04316286742687225, + -0.1398548185825348, + 1.1055398869958724 + ], + [ + -0.03686787933111191, + 0.9982003569602966, + 0.04729437828063965, + -0.16666000437292253 + ], + [ + 0.14164450764656067, + -0.04162890464067459, + 0.9890419244766235, + -1.5938656975023495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9889639019966125, + 0.04314858466386795, + -0.14173421263694763, + 1.1116434615961512 + ], + [ + -0.036593303084373474, + 0.9981508255004883, + 0.04853692278265953, + -0.16805830963465 + ], + [ + 0.14356642961502075, + -0.042814742773771286, + 0.9887140989303589, + -1.604959000526748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9887217283248901, + 0.04402574896812439, + -0.1431470364332199, + 1.1183000989582228 + ], + [ + -0.037207141518592834, + 0.9980575442314148, + 0.04996766522526741, + -0.16687851748111085 + ], + [ + 0.14506883919239044, + -0.044078025966882706, + 0.9884392619132996, + -1.6162857029193676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9887306094169617, + 0.04483237490057945, + -0.1428348869085312, + 1.1195616978666056 + ], + [ + -0.03754127398133278, + 0.9978705048561096, + 0.053339194506406784, + -0.16940894711600699 + ], + [ + 0.14492203295230865, + -0.047375891357660294, + 0.9883081912994385, + -1.6280845817664396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9887280464172363, + 0.044520363211631775, + -0.14295035600662231, + 1.1197725786185413 + ], + [ + -0.036575645208358765, + 0.997661828994751, + 0.05773264542222023, + -0.1717808369709098 + ], + [ + 0.1451863944530487, + -0.05185338482260704, + 0.9880446195602417, + -1.6369256936245082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9882256984710693, + 0.04529272019863129, + -0.1461457461118698, + 1.1382390370280107 + ], + [ + -0.03689809888601303, + 0.9975371956825256, + 0.05964955314993858, + -0.15939007273279363 + ], + [ + 0.14848752319812775, + -0.053554717451334, + 0.987463116645813, + -1.6454528941408448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9885210394859314, + 0.04562442749738693, + -0.14402976632118225, + 1.1350553984227387 + ], + [ + -0.036339595913887024, + 0.9971277117729187, + 0.06645102798938751, + -0.1691330013067826 + ], + [ + 0.1466478705406189, + -0.06045425310730934, + 0.9873396754264832, + -1.6569016021971377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9886595010757446, + 0.0456719771027565, + -0.14306116104125977, + 1.134932641731286 + ], + [ + -0.035975344479084015, + 0.9969226717948914, + 0.06964899599552155, + -0.16523907794993117 + ], + [ + 0.14580193161964417, + -0.0637124627828598, + 0.987260103225708, + -1.664741646003279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.988811731338501, + 0.04617193341255188, + -0.14184322953224182, + 1.1345206044475484 + ], + [ + -0.03600653260946274, + 0.9966511726379395, + 0.07341650128364563, + -0.1663967602371429 + ], + [ + 0.14475801587104797, + -0.06748782098293304, + 0.9871628880500793, + -1.6747873863818483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9890400767326355, + 0.04792289435863495, + -0.13965342938899994, + 1.1346192787522855 + ], + [ + -0.037501007318496704, + 0.9963774085044861, + 0.07632672786712646, + -0.16781377912678333 + ], + [ + 0.1428053230047226, + -0.07025304436683655, + 0.9872543215751648, + -1.6819000722180983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9894677400588989, + 0.050139520317316055, + -0.13579267263412476, + 1.1317000783008078 + ], + [ + -0.03970474377274513, + 0.9961237907409668, + 0.07849176973104477, + -0.1687433605932671 + ], + [ + 0.13920184969902039, + -0.07227345556020737, + 0.9876230955123901, + -1.6926741623360178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.989823043346405, + 0.052191369235515594, + -0.1323874294757843, + 1.1287422033940784 + ], + [ + -0.04171893745660782, + 0.9958664178848267, + 0.08068187534809113, + -0.16887127949121575 + ], + [ + 0.13605108857154846, + -0.07433772087097168, + 0.9879088997840881, + -1.6980621366952517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9901947975158691, + 0.05520729720592499, + -0.12832163274288177, + 1.1252486822768029 + ], + [ + -0.044818706810474396, + 0.99558424949646, + 0.08248228579759598, + -0.1696475755353892 + ], + [ + 0.13230861723423004, + -0.07592231780290604, + 0.988296627998352, + -1.7048683983939035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9906690120697021, + 0.057696226984262466, + -0.12347514927387238, + 1.1233531307729876 + ], + [ + -0.04756985977292061, + 0.9953762888908386, + 0.08344569802284241, + -0.17017117599198908 + ], + [ + 0.1277187317609787, + -0.076793372631073, + 0.9888330101966858, + -1.7111333988930868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9911962151527405, + 0.0599324069917202, + -0.11805982887744904, + 1.1195282762095053 + ], + [ + -0.0501835010945797, + 0.9952108263969421, + 0.08388698101043701, + -0.1718592457473278 + ], + [ + 0.12252196669578552, + -0.07722380757331848, + 0.989456832408905, + -1.7172672565309157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.991736888885498, + 0.06188993155956268, + -0.11237262934446335, + 1.1152773304755643 + ], + [ + -0.0526694655418396, + 0.9951361417770386, + 0.08324676007032394, + -0.17165945338906707 + ], + [ + 0.11697820574045181, + -0.07664027065038681, + 0.9901729226112366, + -1.7219766819005058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9924451112747192, + 0.0626441240310669, + -0.1054910346865654, + 1.1090929135032321 + ], + [ + -0.05404229834675789, + 0.9951234459877014, + 0.08251529186964035, + -0.17135485652255716 + ], + [ + 0.1101456955075264, + -0.07619092613458633, + 0.9909908771514893, + -1.7292025106849138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9933603405952454, + 0.061684004962444305, + -0.09710993617773056, + 1.1024373611678249 + ], + [ + -0.05383121222257614, + 0.9952179193496704, + 0.08150796592235565, + -0.1687505717186824 + ], + [ + 0.10167328268289566, + -0.07573923468589783, + 0.9919304847717285, + -1.7329700309621252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9944319128990173, + 0.05909181758761406, + -0.0872541293501854, + 1.0974206615679012 + ], + [ + -0.0520249642431736, + 0.9953426122665405, + 0.081157386302948, + -0.16791601874720977 + ], + [ + 0.09164348989725113, + -0.07616610825061798, + 0.9928747415542603, + -1.7388844656000226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9956738948822021, + 0.05426562577486038, + -0.07542362809181213, + 1.0907395656064431 + ], + [ + -0.04809488356113434, + 0.9955242872238159, + 0.08135282248258591, + -0.16611533880418872 + ], + [ + 0.0795007199048996, + -0.07737339287996292, + 0.9938274621963501, + -1.7427245118880865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9968345165252686, + 0.04877382889389992, + -0.06278583407402039, + 1.083567838787292 + ], + [ + -0.043542105704545975, + 0.9956678152084351, + 0.08215636759996414, + -0.16579117630579457 + ], + [ + 0.06652091443538666, + -0.07916247099637985, + 0.9946397542953491, + -1.7488609655303244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9977208971977234, + 0.044163934886455536, + -0.05101567879319191, + 1.076483949852286 + ], + [ + -0.03982553631067276, + 0.9957422614097595, + 0.0831337571144104, + -0.1661544882779166 + ], + [ + 0.05446998402476311, + -0.08091256022453308, + 0.9952317476272583, + -1.7552576786173242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9983034729957581, + 0.04085274040699005, + -0.04148799926042557, + 1.0675031185150146 + ], + [ + -0.037252992391586304, + 0.9957595467567444, + 0.08411385118961334, + -0.16435443205492836 + ], + [ + 0.044748350977897644, + -0.08242559432983398, + 0.9955921173095703, + -1.760106787937028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9988146424293518, + 0.033849846571683884, + -0.03497917950153351, + 1.0592681029198332 + ], + [ + -0.030646856874227524, + 0.9956165552139282, + 0.08836513012647629, + -0.16447920994775267 + ], + [ + 0.03781699389219284, + -0.08718838542699814, + 0.9954738020896912, + -1.7653022590399898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9992650151252747, + 0.02437904290854931, + -0.029581008478999138, + 1.0523280553195788 + ], + [ + -0.02147759310901165, + 0.9952720403671265, + 0.09472194314002991, + -0.1623531973556332 + ], + [ + 0.031750380992889404, + -0.09401699900627136, + 0.9950641989707947, + -1.7674621188122293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9995095729827881, + 0.015457728877663612, + -0.027234364300966263, + 1.0452059739865132 + ], + [ + -0.01265111193060875, + 0.9948697090148926, + 0.10037019848823547, + -0.1601138199777892 + ], + [ + 0.028646141290664673, + -0.09997642040252686, + 0.9945773482322693, + -1.7663860301608625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9995870590209961, + 0.00957112479954958, + -0.02709363028407097, + 1.0388880711164534 + ], + [ + -0.006788403727114201, + 0.9948636293411255, + 0.10099655389785767, + -0.16033975791926525 + ], + [ + 0.027921117842197418, + -0.10077092051506042, + 0.9945178031921387, + -1.7630502161494694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9995908737182617, + 0.004620170686393976, + -0.02822575904428959, + 1.0360574472765005 + ], + [ + -0.001931289560161531, + 0.9955174922943115, + 0.09455766528844833, + -0.1596355683567228 + ], + [ + 0.028536109253764153, + -0.09446447342634201, + 0.9951191544532776, + -1.7587081736277628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9994587898254395, + -0.003989527001976967, + -0.03265359625220299, + 1.0302480308905893 + ], + [ + 0.006808403879404068, + 0.9962132573127747, + 0.08667650073766708, + -0.15852733000835276 + ], + [ + 0.03218415006995201, + -0.08685190230607986, + 0.995701253414154, + -1.7577597738422963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9992589354515076, + -0.009954337030649185, + -0.03718176856637001, + 1.027270362428997 + ], + [ + 0.012946667149662971, + 0.9966198205947876, + 0.08112534880638123, + -0.15981137430330056 + ], + [ + 0.03624853864312172, + -0.0815466046333313, + 0.9960101246833801, + -1.7563993195361047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9993240237236023, + -0.007765917107462883, + -0.035932507365942, + 1.0264963922293289 + ], + [ + 0.01053193025290966, + 0.996941328048706, + 0.07744093984365463, + -0.1587962861965347 + ], + [ + 0.035221200436353683, + -0.0777670368552208, + 0.9963492155075073, + -1.7553489231035946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9995747208595276, + -0.0012780249817296863, + -0.02913345955312252, + 1.026813704293707 + ], + [ + 0.0034938957542181015, + 0.9970913529396057, + 0.07613591104745865, + -0.1600746027234456 + ], + [ + 0.028951415792107582, + -0.07620532065629959, + 0.996671736240387, + -1.7556529803687464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9997527599334717, + 0.00533309206366539, + -0.021585613489151, + 1.0284209304714795 + ], + [ + -0.0037002554163336754, + 0.9971774220466614, + 0.0749896988272667, + -0.16254569479721304 + ], + [ + 0.021924614906311035, + -0.07489129155874252, + 0.996950626373291, + -1.7531865053295348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9998153448104858, + 0.010697348043322563, + -0.015965458005666733, + 1.0300195406682744 + ], + [ + -0.00953993946313858, + 0.9974386096000671, + 0.07088872790336609, + -0.16366731621186184 + ], + [ + 0.016682885587215424, + -0.07072332501411438, + 0.9973564743995667, + -1.7507417748479739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9997952580451965, + 0.016546914353966713, + -0.011648226529359818, + 1.0322228447991129 + ], + [ + -0.015747955068945885, + 0.9977198839187622, + 0.06562831252813339, + -0.16511857774548278 + ], + [ + 0.012707613408565521, + -0.06543143838644028, + 0.9977761507034302, + -1.749290275416389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9997062087059021, + 0.02297280728816986, + -0.007730357348918915, + 1.0349673035352127 + ], + [ + -0.02246139571070671, + 0.9978992342948914, + 0.060766760259866714, + -0.16558062133628018 + ], + [ + 0.00911010056734085, + -0.060575272887945175, + 0.9981220364570618, + -1.7487942646425334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9995614886283875, + 0.029364990070462227, + -0.0038168097380548716, + 1.037953099404803 + ], + [ + -0.02909681387245655, + 0.9979168772697449, + 0.05757857859134674, + -0.16637958518651702 + ], + [ + 0.005499653518199921, + -0.05744227021932602, + 0.9983336925506592, + -1.7474911750103377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9993981122970581, + 0.03468935191631317, + 0.00026970141334459186, + 1.0406309919327683 + ], + [ + -0.03465103358030319, + 0.9978634119033813, + 0.05538859963417053, + -0.16661197557490065 + ], + [ + 0.0016522693913429976, + -0.05536460876464844, + 0.998464822769165, + -1.7483194883746493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9992638826370239, + 0.038174718618392944, + 0.0037937071174383163, + 1.0437738822854083 + ], + [ + -0.038324326276779175, + 0.9977951645851135, + 0.054185472428798676, + -0.166508317252864 + ], + [ + -0.001716827624477446, + -0.054290980100631714, + 0.9985236525535583, + -1.7478562072395225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9991336464881897, + 0.041039831936359406, + 0.006904717534780502, + 1.0471619654516255 + ], + [ + -0.041349321603775024, + 0.9977319240570068, + 0.05311567336320877, + -0.1669696619421799 + ], + [ + -0.004709198139607906, + -0.05335516482591629, + 0.9985644817352295, + -1.7468336991393094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9989609122276306, + 0.04461156576871872, + 0.009322838857769966, + 1.0494764020724325 + ], + [ + -0.04503774642944336, + 0.9976288676261902, + 0.052040427923202515, + -0.16790595300819564 + ], + [ + -0.00697912834584713, + -0.052406229078769684, + 0.9986014366149902, + -1.748269283757632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9987697601318359, + 0.048627570271492004, + 0.009709878824651241, + 1.0538647982644738 + ], + [ + -0.04905848205089569, + 0.9975122809410095, + 0.05062151700258255, + -0.1694268342038119 + ], + [ + -0.007224122527986765, + -0.05103559046983719, + 0.9986706972122192, + -1.746949848338603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9985873103141785, + 0.05234432592988014, + 0.009132697246968746, + 1.0580373269430599 + ], + [ + -0.052728068083524704, + 0.9974243640899658, + 0.04862511530518532, + -0.17071018454543552 + ], + [ + -0.006563925184309483, + -0.04903797432780266, + 0.9987753629684448, + -1.7453054927786962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9984991550445557, + 0.054215915501117706, + 0.00774791743606329, + 1.0627175937528195 + ], + [ + -0.05451900511980057, + 0.9974262714385986, + 0.04656730592250824, + -0.17148378298427008 + ], + [ + -0.0052032871171832085, + -0.046919822692871094, + 0.9988850951194763, + -1.7442180647919683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9984903931617737, + 0.054628342390060425, + 0.005716124549508095, + 1.0663901567459106 + ], + [ + -0.05483022332191467, + 0.9974883198738098, + 0.044840890914201736, + -0.1717864861769706 + ], + [ + -0.0032521840184926987, + -0.04508661851286888, + 0.998977780342102, + -1.7443229180315267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9984708428382874, + 0.05525980517268181, + -0.0015291966265067458, + 1.0760800302028657 + ], + [ + -0.05513254180550575, + 0.9974347352981567, + 0.04565489664673805, + -0.1723486963659525 + ], + [ + 0.0040481542237102985, + -0.045500773936510086, + 0.9989560842514038, + -1.7441365912090987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/orbit_left/transforms.json b/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..aa54c9b1ef974e50f9b584088ba43749189f14fa --- /dev/null +++ b/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/orbit_left/transforms.json @@ -0,0 +1,5683 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 162, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -0.0001700655120657757, + -9.52671398408711e-05, + 0.0003572060668375343 + ], + [ + 0.00017006041889544576, + 1.0, + -5.3571839089272544e-05, + 0.000157554866746068 + ], + [ + 9.527624933980405e-05, + 5.355563553166576e-05, + 1.0, + 0.00020568887703120708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999932161669225, + 0.0003728344163391739, + 0.0036653306623867106, + 0.007327471990898666 + ], + [ + -0.0003707282688203698, + 0.9999997615814209, + -0.0005752729885249592, + -0.0029858511947584787 + ], + [ + -0.003665544206790875, + 0.0005739102489314973, + 0.9999930966102341, + -0.010509121737195738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999837941592556, + 0.0011963817523792386, + 0.005564478769969371, + 0.015003337263642523 + ], + [ + -0.0011830620065776364, + 0.9999964237213135, + -0.002396400866306777, + -0.0023755212856082196 + ], + [ + -0.005567325814526774, + 0.0023897788487374783, + 0.9999816391216012, + -0.021214925404694385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999801561515396, + 0.0014018012443557384, + 0.006140363946366982, + 0.020150248697331914 + ], + [ + -0.0013830272623626821, + 0.9999943375587466, + -0.0030606534277684387, + -0.0032994129444844323 + ], + [ + -0.006144619707368308, + 0.0030521003063768157, + 0.9999764398587632, + -0.0333352898042666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999910533380626, + 0.0020221506711095576, + 0.003711260886651335, + 0.029378040122477533 + ], + [ + -0.002012020991430563, + 0.999994218349457, + -0.0027311805974259942, + -0.003741949214307404 + ], + [ + -0.003716762800850133, + 0.0027236891910433774, + 0.9999894081918261, + -0.0444511462675662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999906404803632, + 0.004193398170173168, + 0.0010596161484990748, + 0.037781399508028904 + ], + [ + -0.004190818756535439, + 0.9999882578849792, + -0.002424932892050611, + -0.0038169969966525765 + ], + [ + -0.0010697728501393572, + 0.0024204696528613567, + 0.9999965185618237, + -0.05657245063840534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999708102664968, + 0.007084221113473179, + -0.002864060363530153, + 0.04635695700580245 + ], + [ + -0.007088153050727672, + 0.9999739527702334, + -0.0013648937810074111, + -0.005364279100324351 + ], + [ + 0.0028543171951295964, + 0.0013851549010723831, + 0.9999949754493405, + -0.07073184381383628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.999908659471371, + 0.010625211521983147, + -0.008356639259821387, + 0.05443602411861052 + ], + [ + -0.010629455641948591, + 0.9999433755874634, + -0.0004636244066692257, + -0.004847608754180787 + ], + [ + 0.008351240567940574, + 0.0005524085718207061, + 0.9999649876645923, + -0.08433404802644713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9997825680450454, + 0.01481644157320261, + -0.014671077850034353, + 0.06196402480205768 + ], + [ + -0.01479525018085393, + 0.9998893141746521, + 0.0015518646991971195, + -0.0053410334297082016 + ], + [ + 0.014692447252709311, + -0.0013344651088118553, + 0.9998911568520286, + -0.09919091253401863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9996148738608363, + 0.018113205209374428, + -0.02102357938390117, + 0.07087804045323007 + ], + [ + -0.018048829378227476, + 0.9998318552970886, + 0.00324778451157395, + -0.004640883685294048 + ], + [ + 0.021078868722028698, + -0.0028670828323811293, + 0.9997737119001382, + -0.11146778843605858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9994093183236901, + 0.021844234317541122, + -0.026529723135106976, + 0.07786448271588879 + ], + [ + -0.02170544433561, + 0.9997492432594299, + 0.005508294772932586, + -0.005435047514751909 + ], + [ + 0.026643397744216934, + -0.004929202143102884, + 0.9996328659137975, + -0.12487454337747317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9991429701631303, + 0.02683545462787152, + -0.03151505439939454, + 0.0845241671064957 + ], + [ + -0.02658367306252643, + 0.9996114373207095, + 0.008381271449684159, + -0.005171453749798242 + ], + [ + 0.03172772320613483, + -0.007536302320659162, + 0.9994681546077274, + -0.1389864312566481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9988678464114341, + 0.031133845448493964, + -0.035968235936420484, + 0.09253003178465163 + ], + [ + -0.03072173488653149, + 0.9994564652442934, + 0.011954210724650282, + -0.005196346968856132 + ], + [ + 0.03632086380692497, + -0.01083567086607218, + 0.9992814284229669, + -0.15175315882009674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9986548483261446, + 0.035524770617485046, + -0.03776837274803, + 0.09772127937699684 + ], + [ + -0.03493472015272078, + 0.9992587566375732, + 0.01616979840049478, + -0.007374977143099488 + ], + [ + 0.038314809474760604, + -0.014828619547188282, + 0.999155685853919, + -0.16519658295525977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9985065542204318, + 0.03937753662467003, + -0.03786929046059703, + 0.10406508226953319 + ], + [ + -0.0386730259322037, + 0.9990682005882263, + 0.019160034587858633, + -0.007228997150183754 + ], + [ + 0.03858848026442028, + -0.017666900530457497, + 0.9990989788642578, + -0.17822513299154963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9984670050245618, + 0.04101075977087021, + -0.037171844026400884, + 0.10795180338859896 + ], + [ + -0.04022082058390706, + 0.9989539384841919, + 0.021755704242529827, + -0.011165011254976232 + ], + [ + 0.038025177380760666, + -0.02022727206349373, + 0.9990720627153066, + -0.19118354508330088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9984725643095667, + 0.04214884713292122, + -0.03572149007170213, + 0.11026125122081962 + ], + [ + -0.04137975553607535, + 0.9989011883735657, + 0.02200303926436194, + -0.01318101976612002 + ], + [ + 0.036609643216091586, + -0.020491285249590874, + 0.9991195314290484, + -0.2027422224298172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9985053165919423, + 0.04329197853803635, + -0.03336091315253159, + 0.11283257734173854 + ], + [ + -0.04264476584293515, + 0.9988926053047182, + 0.01987399426770702, + -0.013443798796656763 + ], + [ + 0.03418435394133478, + -0.018421621993184093, + 0.9992457608021174, + -0.21474105531389115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9985698138663206, + 0.04354104027152062, + -0.03102442434540504, + 0.11574028628984441 + ], + [ + -0.04302456844037793, + 0.9989272356033327, + 0.01712505322280314, + -0.014518602188155247 + ], + [ + 0.031736785355473224, + -0.01576574891805649, + 0.9993718853329926, + -0.22645717362611847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9987182622634446, + 0.04202692583203316, + -0.02820532349949596, + 0.11738704297516883 + ], + [ + -0.04165682353584379, + 0.9990396499633789, + 0.013583805570714222, + -0.014591614082812222 + ], + [ + 0.028749118777085685, + -0.012391451746225357, + 0.9995098217624239, + -0.23872392520939412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9989104739781094, + 0.03999634459614754, + -0.024044559071463512, + 0.11713168496078193 + ], + [ + -0.03973945999495517, + 0.9991487860679626, + 0.011068462620671985, + -0.0170236184051428 + ], + [ + 0.024466792065385143, + -0.010100885294377804, + 0.9996496250261461, + -0.24977532346151096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9991297348414367, + 0.037298623472452164, + -0.01867017878447221, + 0.1179544367703427 + ], + [ + -0.03714052495816811, + 0.999271810054779, + 0.008744497783777444, + -0.01893787142897821 + ], + [ + 0.01898274274895012, + -0.008043467998504639, + 0.9997874403409522, + -0.2625861189625154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9993501509307812, + 0.033962756395339966, + -0.012073847435290507, + 0.11726563137391637 + ], + [ + -0.033879492057276306, + 0.9994011521339417, + 0.007035383622087804, + -0.020456566325384562 + ], + [ + 0.012305559869559241, + -0.006621755659580231, + 0.9999023860927354, + -0.27480398895691593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9995242077792594, + 0.03044758550822735, + -0.004933503994933621, + 0.11707994747828321 + ], + [ + -0.030415786156703675, + 0.9995168447494507, + 0.006397292601788533, + -0.022983187494479747 + ], + [ + 0.005125900796217494, + -0.006244192831218243, + 0.999967361969701, + -0.2866614567611071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9996025698483947, + 0.028058107942342765, + 0.0027317624485964616, + 0.11547464927255187 + ], + [ + -0.028073765742010356, + 0.9995886087417605, + 0.005872175831144934, + -0.02337512032050406 + ], + [ + -0.0025658795573999154, + -0.005946532823145391, + 0.9999790562251017, + -0.30000180112037944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9996150779374822, + 0.025857117027044296, + 0.010057505822420139, + 0.11363271771960962 + ], + [ + -0.025920761956165248, + 0.9996444582939148, + 0.006249894747660001, + -0.024839660181198545 + ], + [ + -0.009892326461156398, + -0.006508186925202608, + 0.9999299090706307, + -0.31277269232163163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.999577990158705, + 0.023852512240409858, + 0.01658126144962514, + 0.11440311014337426 + ], + [ + -0.023967794971685913, + 0.9996896982192995, + 0.00678897140974077, + -0.026360004593330228 + ], + [ + -0.016414181789862523, + -0.0071835224516689795, + 0.9998394993670092, + -0.32518657066922696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9994617565509347, + 0.02139987051486969, + 0.024865287528346394, + 0.11116244089338925 + ], + [ + -0.021568138993742218, + 0.9997461438179016, + 0.006518779004940955, + -0.026741766796362167 + ], + [ + -0.024719475236393593, + -0.007051568012684584, + 0.9996695818218785, + -0.33885403892942206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9992860810174339, + 0.019409574568271637, + 0.0324129958359405, + 0.1125379944293388 + ], + [ + -0.019616549761040533, + 0.9997891187667847, + 0.006079803946188093, + -0.02706627875085373 + ], + [ + -0.03228815354000148, + -0.006711294408887625, + 0.9994560905415499, + -0.3519932619253547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9989138732551587, + 0.018336135894060135, + 0.04283493918715074, + 0.10873078783053505 + ], + [ + -0.018604654672229867, + 0.9998096227645874, + 0.005878423996495226, + -0.028378918209055776 + ], + [ + -0.04271899877709355, + -0.006668968591839075, + 0.9990648821615541, + -0.366289074875567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9983803582554691, + 0.016671868041157722, + 0.054394199602456436, + 0.10686118073709305 + ], + [ + -0.01701218228007626, + 0.9998384714126587, + 0.005799401082007231, + -0.030507214595015913 + ], + [ + -0.05428872594334414, + -0.006715372204780579, + 0.9985027105594975, + -0.3809567125747434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9977403209601945, + 0.014401845633983612, + 0.06562680919006916, + 0.10700807579485636 + ], + [ + -0.014792877420160536, + 0.9998756051063538, + 0.005476362567625176, + -0.03199875020593475 + ], + [ + -0.06553977426359699, + -0.006434796843677759, + 0.9978292195090404, + -0.3951541003206928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9970106591353758, + 0.012659292668104172, + 0.07622007719506325, + 0.10823046407699347 + ], + [ + -0.013107564074651093, + 0.9998996257781982, + 0.005383864748936191, + -0.0360699495772311 + ], + [ + -0.07614427021665104, + -0.0063668303191661835, + 0.9970765010795094, + -0.4088153941864702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.996078740929487, + 0.011428670957684519, + 0.08772958914944097, + 0.1077831977186624 + ], + [ + -0.011785684179262906, + 0.9999242424964907, + 0.003552567162069666, + -0.038469845488624525 + ], + [ + -0.08768234021088744, + -0.004572590347379447, + 0.9961379848138122, + -0.42432348603668907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9949411318845927, + 0.009468458592891693, + 0.10001267615327046, + 0.10647357923375875 + ], + [ + -0.009621931368763869, + 0.9999531507492065, + 0.0010522615203473308, + -0.04097701025481262 + ], + [ + -0.09999802575044069, + -0.0020092532504349947, + 0.9949855803556803, + -0.4384687274321794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9936929888687261, + 0.00842290371656418, + 0.11181811174024979, + 0.10667847828754623 + ], + [ + -0.008301033500127557, + 0.9999643564224245, + -0.001555426923783634, + -0.043458263484955406 + ], + [ + -0.11182722463934264, + 0.0006174109876155854, + 0.9937274546325037, + -0.45360890392154146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9922762200746987, + 0.009423973970115185, + 0.12368931535472151, + 0.10749393770533494 + ], + [ + -0.008933113839744324, + 0.9999498724937439, + -0.0045225038237651505, + -0.04400857415158181 + ], + [ + -0.12372574135310532, + 0.003382642287760973, + 0.9923106856349756, + -0.4673722176705147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9905427229427889, + 0.012311662547290325, + 0.13665126386216114, + 0.10862290615551379 + ], + [ + -0.011543284267463436, + 0.9999127984046936, + -0.006413944680591404, + -0.04689237458018041 + ], + [ + -0.13671831961003783, + 0.004775881767272949, + 0.9905984560534892, + -0.48207531889728505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9883277613416436, + 0.01600943692028523, + 0.15149907924467215, + 0.1092858396001207 + ], + [ + -0.014898638574157123, + 0.9998531937599184, + -0.00846440487841441, + -0.04527373572082864 + ], + [ + -0.15161235010044313, + 0.006108475849032404, + 0.9884211402756167, + -0.4968083892163918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9857426313995928, + 0.01903253979980946, + 0.16718022282284276, + 0.10937721949984369 + ], + [ + -0.01792466607027299, + 0.9998062849044802, + -0.008133415737030652, + -0.045046752662885714 + ], + [ + -0.1673026404468149, + 0.005020805168896914, + 0.9858928294275019, + -0.5099651366124588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9833225710496938, + 0.020494209602475166, + 0.18071161014277637, + 0.11334369987634836 + ], + [ + -0.020052738697387825, + 0.999789834022522, + -0.004269744031446709, + -0.049337235513512746 + ], + [ + -0.1807611278496338, + 0.000574773526750505, + 0.9835268510244162, + -0.5241256558966294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9807857376708977, + 0.02058982476592064, + 0.1939982980418912, + 0.11154588529068742 + ], + [ + -0.02075413339908049, + 0.9997839331626892, + -0.001185666921147901, + -0.04776044057715186 + ], + [ + -0.1939807793878832, + -0.0028633810579776764, + 0.9810011255221193, + -0.5376894781706474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9781250198354323, + 0.018947115167975426, + 0.20715311104756956, + 0.11161389709163219 + ], + [ + -0.019968600732805732, + 0.9997965693473816, + 0.002841028008457242, + -0.05268958362107053 + ], + [ + -0.20705715641042804, + -0.006915438920259476, + 0.9783044224777466, + -0.5494144202653032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9754693321214204, + 0.018185194581747055, + 0.21938289430593055, + 0.11665749486277958 + ], + [ + -0.01958841383976641, + 0.9997991919517517, + 0.004222547006801084, + -0.05691934026354479 + ], + [ + -0.21926204572452543, + -0.008416328579187393, + 0.9756296819857434, + -0.5615273344487386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9725104784452446, + 0.01652028039097786, + 0.2322724848032648, + 0.12191609331587264 + ], + [ + -0.01827930478752227, + 0.9998182058334351, + 0.00542267727815791, + -0.06602758541943148 + ], + [ + -0.23214066470916225, + -0.00951938983052969, + 0.9726356165706663, + -0.5742767426053449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9689286639288686, + 0.013262657448649406, + 0.24698451196549273, + 0.12361062263620881 + ], + [ + -0.014698086141097013, + 0.9998841285705566, + 0.003968978467510257, + -0.07030298640088394 + ], + [ + -0.2469032534178805, + -0.007475856691598892, + 0.9690112985057789, + -0.5875069395068006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9654418529236322, + 0.010156394913792612, + 0.26042067605068525, + 0.1264325254733312 + ], + [ + -0.01101666505224495, + 0.9999375939369204, + 0.0018438941735670832, + -0.07194681234010762 + ], + [ + -0.26038569385867993, + -0.0046491394750773915, + 0.9654934873351173, + -0.5993261731290014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9623779810788567, + 0.006517765112221243, + 0.2716360694656347, + 0.13132228639228816 + ], + [ + -0.006574085834036525, + 0.9999781250953677, + -0.0007026581410281116, + -0.06806179430863053 + ], + [ + -0.27163472019630225, + -0.001109536155126989, + 0.9623997842279199, + -0.6088600929601334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.959292776013331, + 0.0008287974051199853, + 0.28241221840587094, + 0.13571362650420768 + ], + [ + -0.0013143641171906382, + 0.9999979734420776, + 0.001529906677571675, + -0.07673106369861261 + ], + [ + -0.28241038641396315, + -0.0018388209864497185, + 0.9592919029217082, + -0.6220198629760354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9568431598243986, + -0.00464787008240819, + 0.2905677416012217, + 0.14430075838414697 + ], + [ + 0.004292942904860805, + 0.9999890327453613, + 0.0018589335210766758, + -0.07687695078292676 + ], + [ + -0.2905731885076354, + -0.0005313170258887112, + 0.9568525909722764, + -0.6360940945314074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9550699369599113, + -0.010879850015044214, + 0.29618070154558934, + 0.1563069045371056 + ], + [ + 0.01040069296882021, + 0.9999408125877383, + 0.003193377635806703, + -0.07982317720597353 + ], + [ + -0.29619790726259587, + 3.058533184230328e-05, + 0.9551266029025155, + -0.6500848309541437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9536770446680839, + -0.01666366122663021, + 0.30037054710677175, + 0.16629751241001434 + ], + [ + 0.01583534025020767, + 0.9998611211776733, + 0.005192075058050537, + -0.08656203896602412 + ], + [ + -0.3004153505972956, + -0.00019509275443851948, + 0.9538084317975031, + -0.6645325273193812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9529461381056089, + -0.020439466461539272, + 0.3024498788855406, + 0.17741243787519773 + ], + [ + 0.019621994948101074, + 0.9997909665107729, + 0.005741414333166116, + -0.08811989705615182 + ], + [ + -0.3025040144906558, + 0.0004634105134755374, + 0.9531479828217243, + -0.6764299584683132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9524974122307298, + -0.02305523492395878, + 0.3036727703343061, + 0.18693620575009462 + ], + [ + 0.022372043447928872, + 0.9997332692146301, + 0.005729104974759388, + -0.09237841326477242 + ], + [ + -0.30372386250798394, + 0.001336822402663529, + 0.9527591669756128, + -0.6890277344892465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9522858893263424, + -0.02572817727923394, + 0.30412110322566416, + 0.193064270908136 + ], + [ + 0.025284811776071375, + 0.9996657371520998, + 0.005396563752980867, + -0.10013584757845322 + ], + [ + -0.30415827859974787, + 0.0025505728553980593, + 0.9526181124015402, + -0.7009673515133812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9532188440226169, + -0.026527201756834984, + 0.3011148824380299, + 0.20766060369563438 + ], + [ + 0.027469501357678876, + 0.9996220469474792, + 0.0011049861559285327, + -0.09850844791059184 + ], + [ + -0.3010303828322683, + 0.00721818208694458, + 0.9535872197947813, + -0.7159217575120586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.954356964531111, + -0.02565848082304001, + 0.29756421741955624, + 0.21939851858830822 + ], + [ + 0.027640959036224013, + 0.9996148943901062, + -0.0024557411249353485, + -0.10074062136510077 + ], + [ + -0.29738662282853856, + 0.010568613186478615, + 0.9546986598264956, + -0.7315152041088607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9559188819473796, + -0.02466599829494953, + 0.2925931021956002, + 0.23188358442876678 + ], + [ + 0.02747048472018256, + 0.9996076226234436, + -0.005479402082422183, + -0.10217306224779016 + ], + [ + -0.29234313252786015, + 0.013275537639856339, + 0.9562213717191793, + -0.7468593873544805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9583350275908147, + -0.022413400933146477, + 0.2847659081314575, + 0.24751866908362202 + ], + [ + 0.02573054090743832, + 0.9996376037597656, + -0.007912462352166609, + -0.10207031206113602 + ], + [ + -0.28448534875190595, + 0.01490996964275837, + 0.9585644086706844, + -0.7644484976469428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9681535812431276, + -0.02341410145163536, + 0.24925963805797863, + 0.37856771973161363 + ], + [ + 0.026401216791035388, + 0.9996140003204346, + -0.008647077923682836, + -0.10429921948807802 + ], + [ + -0.24896098187226895, + 0.014952457509934902, + 0.9683980698990953, + -0.789808478933637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9757886540359559, + -0.018689662218093872, + 0.21791548602036723, + 0.4798009107680853 + ], + [ + 0.020891480739823852, + 0.9997512698173523, + -0.007804202276039895, + -0.11293378536268082 + ], + [ + -0.21771542841145117, + 0.012167830020189285, + 0.975936458158054, + -0.8103912417465711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9789336824875453, + -0.01156892441213131, + 0.20385040799666113, + 0.5052974023704042 + ], + [ + 0.015118562527950402, + 0.9997598528862, + -0.015864201605000326, + -0.07805240147606327 + ], + [ + -0.20361792530850173, + 0.018611926585435867, + 0.9788734990120284, + -0.8675226471060378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9762487993169741, + -0.012940308079123497, + 0.21626563987307912, + 0.4291224476799858 + ], + [ + 0.014317923908815375, + 0.9998859763145447, + -0.004804384499449886, + -0.11896426859912879 + ], + [ + -0.21617881062719893, + 0.007786749862134457, + 0.9763227637992792, + -0.8495074596130754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9726194181192712, + -0.005553782917559147, + 0.23233727358247874, + 0.3323496553722242 + ], + [ + 0.008503330727247828, + 0.999895453453064, + -0.011695508974119036, + -0.08998738102400014 + ], + [ + -0.23224802840095027, + 0.013350920751690865, + 0.9725649590553702, + -0.8548153652807905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9769548894660327, + -0.0015152019914239645, + 0.2134403847428009, + 0.37691959325825997 + ], + [ + 0.003981307545761716, + 0.999930202960968, + -0.011124708447613594, + -0.09103259311232369 + ], + [ + -0.21340863583862513, + 0.01171811018139124, + 0.9768927631965995, + -0.8740485722379261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9793605507974251, + 0.004555829800665379, + 0.2020697607947202, + 0.3830412461465783 + ], + [ + -0.0027468642507425946, + 0.9999536275863647, + -0.009231702862110834, + -0.09944861402803096 + ], + [ + -0.20210243765611538, + 0.008486106991767883, + 0.9793275940279252, + -0.8944472840557601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9814291647712992, + 0.009851059876382351, + 0.1915717219401158, + 0.3842448597057403 + ], + [ + -0.00854777433342109, + 0.9999343752861023, + -0.007628358463398739, + -0.10719088975201171 + ], + [ + -0.19163430093497746, + 0.005849181674420834, + 0.9814489804511999, + -0.9136284202470322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9852290947645559, + 0.014386736787855625, + 0.17063600228597137, + 0.43800202598976173 + ], + [ + -0.012663621374851518, + 0.9998573064804077, + -0.011182374115252542, + -0.09356911170814391 + ], + [ + -0.17077252952731567, + 0.008856330998241901, + 0.9852707037372612, + -0.9317567581683477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9856870060711479, + 0.020590243861079216, + 0.1673235655606925, + 0.43370802669522707 + ], + [ + -0.019493484246741785, + 0.9997764229774475, + -0.008194696831636017, + -0.10068342920289082 + ], + [ + -0.16745488324124305, + 0.004815686959773302, + 0.9858679913973123, + -0.9515311175455328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9862237926557338, + 0.02679283730685711, + 0.16323212522673833, + 0.44345134804261055 + ], + [ + -0.026013851379462407, + 0.9996377229690552, + -0.0069082584599196705, + -0.10038422198108173 + ], + [ + -0.1633580787360584, + 0.0025667930021882057, + 0.9865634937101534, + -0.9682230476453968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9858119059198427, + 0.03126271069049835, + 0.16491667999992757, + 0.43237109357417397 + ], + [ + -0.030658115358981778, + 0.999510645866394, + -0.006210881589636223, + -0.10321594238993873 + ], + [ + -0.16503014774392324, + 0.0010667263995856047, + 0.986287936163295, + -0.9854847777472254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9855868446609868, + 0.03320863097906113, + 0.16587884438577366, + 0.42529526418728314 + ], + [ + -0.0325373771250835, + 0.9994476437568665, + -0.006763254938166197, + -0.10842096576799558 + ], + [ + -0.16601180941939486, + 0.0012685126857832074, + 0.9861229227285514, + -1.0013616144510853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9867278443323836, + 0.03329611942172051, + 0.15893233641174512, + 0.4547522881826548 + ], + [ + -0.032127714782598786, + 0.9994345903396609, + -0.0099160478683716, + -0.10996890860015776 + ], + [ + -0.15917264059824623, + 0.004678307566791774, + 0.987239660220749, + -1.0166813592915993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9867607445124761, + 0.03329489007592201, + 0.15872815426660092, + 0.45383408853289403 + ], + [ + -0.03149323720401606, + 0.999407947063446, + -0.01385314960606012, + -0.11370483482639417 + ], + [ + -0.15909542482304403, + 0.008670881390571594, + 0.9872251311533208, + -1.0337591549030125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9877598553488506, + 0.035193633288145065, + 0.15195994536235785, + 0.4783364281896261 + ], + [ + -0.03286562441204501, + 0.9993011951446533, + -0.01780529089832634, + -0.11868142706367826 + ], + [ + -0.15248039098640892, + 0.012593094259500504, + 0.9882262879666242, + -1.0505203757379966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9874902727934206, + 0.03712228313088417, + 0.15324777658464953, + 0.46978055450834744 + ], + [ + -0.03422939693228888, + 0.9991832971572876, + -0.021473522055589084, + -0.11995915506831012 + ], + [ + -0.1539197576181043, + 0.01595931500196457, + 0.9879544329127256, + -1.0676333460005212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9872617551700676, + 0.03990742936730385, + 0.15401825830163185, + 0.46912801958306477 + ], + [ + -0.036385491961565083, + 0.999009370803833, + -0.025619634842609394, + -0.11729267905492437 + ], + [ + -0.1548880963564876, + 0.019689254462718964, + 0.9877357757507295, + -1.0823646987356084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.987649084342304, + 0.04007822647690774, + 0.1514695431560267, + 0.48448232166094324 + ], + [ + -0.035921813617534694, + 0.9989018440246584, + -0.03007911260844573, + -0.11077894318743994 + ], + [ + -0.1525087211313602, + 0.024266546592116363, + 0.9880041723456333, + -1.096920601585481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9881444283612468, + 0.038542490452528, + 0.14861044313441193, + 0.49872083582077215 + ], + [ + -0.034010193152384786, + 0.9988791346549988, + -0.03292035172427797, + -0.10672298903100731 + ], + [ + -0.14971270292547129, + 0.027475792914628983, + 0.9883476888560931, + -1.1121403152150295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9886173797285104, + 0.036565825343132026, + 0.14594027673530402, + 0.5125954805880701 + ], + [ + -0.03210684953764018, + 0.9989463090896609, + -0.032793597573631185, + -0.11347745478853875 + ], + [ + -0.14698562902202145, + 0.027734639123082168, + 0.9887497338347496, + -1.1284523595478924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9892174224776179, + 0.03383217379450799, + 0.14249307084289606, + 0.528906530770339 + ], + [ + -0.029389233058683784, + 0.9990174770355227, + -0.033170708354330065, + -0.11574243572549232 + ], + [ + -0.14347530752614074, + 0.028625281527638442, + 0.9892398034356975, + -1.1443583688242631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9897007452472462, + 0.030303129926323898, + 0.13990787891144668, + 0.5362584219457903 + ], + [ + -0.025859542501150454, + 0.9991050958633425, + -0.03347061950242314, + -0.11382122411263246 + ], + [ + -0.14079693637835639, + 0.029507942497730262, + 0.9895986558994377, + -1.1610648314491574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.990330323888349, + 0.026655958965420723, + 0.13614428225412278, + 0.54789105738589 + ], + [ + -0.022332760903039612, + 0.9991996884346008, + -0.033184030760913884, + -0.11325936341318575 + ], + [ + -0.13691987968119307, + 0.02982267364859581, + 0.990133074745087, + -1.1763686470743464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9908417768440598, + 0.025596842169761658, + 0.1325796862154235, + 0.5611144488178 + ], + [ + -0.021380876817329374, + 0.999222457408905, + -0.03312629046160821, + -0.11704555948980874 + ], + [ + -0.13332452954434215, + 0.02998824417591095, + 0.990618646700665, + -1.1926721955560429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9912780994161142, + 0.0280472282320261, + 0.1287675801267494, + 0.5727439281670916 + ], + [ + -0.023573314191095318, + 0.9990687370300293, + -0.03613797473537417, + -0.11232629684705182 + ], + [ + -0.1296612317590335, + 0.032787300646305084, + 0.9910161081234836, + -1.206882294839282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9918367410704935, + 0.03241575881838799, + 0.12332539680992785, + 0.5871957853342712 + ], + [ + -0.027866568099807976, + 0.9988724589347842, + -0.03843590982782388, + -0.1131679604121438 + ], + [ + -0.12443226834249846, + 0.03468549251556397, + 0.9916216895681323, + -1.2219465523600637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9921903627941563, + 0.03768162056803703, + 0.11890510111298123, + 0.5950206055905736 + ], + [ + -0.03292432692915889, + 0.9985865354537964, + -0.04172371073499375, + -0.1117820386653781 + ], + [ + -0.12030925040643416, + 0.03748299553990364, + 0.9920285866032509, + -1.2392556469688898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9927009081679993, + 0.04100837558507919, + 0.1134158773535245, + 0.6087785524291197 + ], + [ + -0.036178614592378665, + 0.9983620643615723, + -0.04432062470922309, + -0.11281803416510722 + ], + [ + -0.11504762887192468, + 0.039893899112939835, + 0.9925585814476333, + -1.2546348335663646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.993148438161219, + 0.043431419879198074, + 0.10848888248999884, + 0.6146160678431927 + ], + [ + -0.038589131878056016, + 0.9981799721717834, + -0.046342393058539585, + -0.11300057263872847 + ], + [ + -0.11030415427106997, + 0.0418383851647377, + 0.9930169089479558, + -1.2723731950944193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.993892282999535, + 0.04649665579199791, + 0.1000808713354356, + 0.6300206195898821 + ], + [ + -0.04198751741629448, + 0.9980261325836182, + -0.046700302760518515, + -0.11364314771918277 + ], + [ + -0.10205472607696785, + 0.042212922126054764, + 0.993882714705937, + -1.287179910087054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9940810918043014, + 0.0516556091606617, + 0.09557448143830088, + 0.6352308722102257 + ], + [ + -0.04738646540059436, + 0.9977977871894836, + -0.04641265115458518, + -0.11357715030302792 + ], + [ + -0.09776147467175039, + 0.04160900413990021, + 0.9943396439414174, + -1.3022534008291882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9940056989983911, + 0.05788640305399896, + 0.092745903683159, + 0.6444132253679067 + ], + [ + -0.054109164560177815, + 0.9976199865341189, + -0.04273843114755257, + -0.12087517561300108 + ], + [ + -0.09499914439813353, + 0.037463840097188957, + 0.9947721585000754, + -1.3195639371052819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9935159478517598, + 0.06370768696069719, + 0.0941666095866763, + 0.6463913009201632 + ], + [ + -0.06023243819797784, + 0.9974104166030886, + -0.03930074062502767, + -0.12240308214245552 + ], + [ + -0.09642651307224197, + 0.033374030143022544, + 0.9947804021052989, + -1.3360923901317228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9930617889637982, + 0.06766312569379808, + 0.09617693120457445, + 0.6535221452468098 + ], + [ + -0.06456746920416954, + 0.9973012804985049, + -0.034946402901012266, + -0.12460625747420864 + ], + [ + -0.09828196272114702, + 0.02849403396248818, + 0.9947506227863925, + -1.3509055751621426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9927152163579577, + 0.07028655707836151, + 0.09785844320824452, + 0.662114806233767 + ], + [ + -0.06764649471965416, + 0.997256875038147, + -0.03004382107252947, + -0.12291780137478149 + ], + [ + -0.0997016915426529, + 0.02320517785847187, + 0.9947467748209475, + -1.363659250674022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9923596673044871, + 0.07086188346147539, + 0.10099940197821299, + 0.6647998164828195 + ], + [ + -0.06881637275502246, + 0.9973501563072207, + -0.02359930857764828, + -0.12606593714492698 + ], + [ + -0.10240406467422665, + 0.016468590125441555, + 0.9946065763988973, + -1.3791445808512788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9922125353262166, + 0.06953527033329011, + 0.10334013766522558, + 0.6715519696360348 + ], + [ + -0.06818199773526057, + 0.9975352287292483, + -0.016574915811789718, + -0.1312647141985592 + ], + [ + -0.10423795661719873, + 0.009399901144206526, + 0.9945079356424537, + -1.3909568928787317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9922564884784157, + 0.06606130301952362, + 0.1051806299901962, + 0.6775288571383042 + ], + [ + -0.06540010543278992, + 0.9978117346763611, + -0.009726710491632037, + -0.1362984003798503 + ], + [ + -0.10559302961299744, + 0.0027725673280656338, + 0.9944055804901312, + -1.4054998821671676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9927241766765859, + 0.06109753996133804, + 0.10375861539135896, + 0.6908137163186914 + ], + [ + -0.06103719680338261, + 0.9981284141540527, + -0.003759602291839076, + -0.13659269673746408 + ], + [ + -0.10379412582459216, + -0.002600886858999729, + 0.9945954190865257, + -1.4168390831758406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.992919323639515, + 0.05717329680919647, + 0.10412719201602742, + 0.6968747998597716 + ], + [ + -0.05766887787383471, + 0.9983342289924622, + 0.0017524668594480388, + -0.14112416491659885 + ], + [ + -0.10385354532864505, + -0.0077449562959373, + 0.9945624641209682, + -1.4297221394302302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9931802642640482, + 0.05391128361225128, + 0.10337571067342778, + 0.7062273019623473 + ], + [ + -0.05466662268745338, + 0.998494565486908, + 0.004485411324995156, + -0.13818124267196802 + ], + [ + -0.10297827470407588, + -0.010106023401021957, + 0.9946322833687817, + -1.4402947673509536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9934465397875847, + 0.05077615007758142, + 0.10239991001142885, + 0.7148370422556697 + ], + [ + -0.05181755056950946, + 0.9986281394958498, + 0.007533965609917216, + -0.13898757173913617 + ], + [ + -0.10187689037359711, + -0.012790705077350143, + 0.9947148060301252, + -1.4508594627818059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9935875311309228, + 0.048215128481388106, + 0.10226968679348773, + 0.723008247636933 + ], + [ + -0.049412807257808236, + 0.9987359642982485, + 0.009208671766624698, + -0.1372135490867116 + ], + [ + -0.10169642233720712, + -0.014203053899109367, + 0.994714075671005, + -1.4615616891670977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9936080097559886, + 0.04546001926064491, + 0.10332725959939246, + 0.7286196628134628 + ], + [ + -0.04691684781368728, + 0.9988301396369934, + 0.011711503076561568, + -0.14124762040052355 + ], + [ + -0.10267397248586406, + -0.01648443378508091, + 0.994578491072643, + -1.4735301657455642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9937523602336755, + 0.042026564478874213, + 0.10339250749773685, + 0.7368425173051161 + ], + [ + -0.043593283302580214, + 0.9989655613899233, + 0.0129393843788389, + -0.1400667520459598 + ], + [ + -0.10274176722528465, + -0.017365764826536182, + 0.9945564849184524, + -1.4833935643252156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9938929639036379, + 0.03886786103248597, + 0.10327638825944375, + 0.7441064207093975 + ], + [ + -0.04055018689257453, + 0.9990760087966921, + 0.014239412275583712, + -0.1411333040846244 + ], + [ + -0.10262750935537523, + -0.018340330570936206, + 0.9945507715319732, + -1.4929301083896644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9943192583381559, + 0.03610583022236824, + 0.10012802422104276, + 0.7569960487909937 + ], + [ + -0.03790494481789349, + 0.9991512894630432, + 0.016123648516974367, + -0.14614374522139553 + ], + [ + -0.09946087381594416, + -0.019827403128147125, + 0.994843907895112, + -1.503582850759227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.994963699748562, + 0.03413957357406616, + 0.0942430328571235, + 0.7680659920679718 + ], + [ + -0.03604148159196249, + 0.9991780519485474, + 0.018552615481697524, + -0.1554243744894131 + ], + [ + -0.09353219808206224, + -0.021855836734175682, + 0.9953763461834197, + -1.5112238432508482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9957119400976593, + 0.03354937583208084, + 0.08620975826931011, + 0.7788865088111231 + ], + [ + -0.03536826148343147, + 0.9991809725761414, + 0.019657877335046595, + -0.1605599184747245 + ], + [ + -0.08547963757063376, + -0.022622672840952873, + 0.9960830339720544, + -1.5227033378453692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9963369142146146, + 0.034421078860759735, + 0.0782811217119949, + 0.7896124140048869 + ], + [ + -0.03607775652154692, + 0.999151885509491, + 0.019847923452770956, + -0.16071918370138952 + ], + [ + -0.07753153859608983, + -0.02259942516684532, + 0.9967337406991255, + -1.5324123531639444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9967457321709102, + 0.03632473573088646, + 0.07196142269121095, + 0.7985939226016548 + ], + [ + -0.03784555188926301, + 0.9990857839584351, + 0.019883793133763743, + -0.15652577177835625 + ], + [ + -0.07117335572686899, + -0.022542506456375122, + 0.9972091816925932, + -1.5437343707823148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9971322987421659, + 0.03657230734825135, + 0.06625485226270396, + 0.80876358958289 + ], + [ + -0.038214527744597965, + 0.9989886879920962, + 0.02369058762804441, + -0.15802062684561657 + ], + [ + -0.06532142717544683, + -0.0261545479297638, + 0.9975214784443364, + -1.5541214192060255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9974651638741798, + 0.03717278689146042, + 0.0606743898950251, + 0.8167367521314641 + ], + [ + -0.03895162553400237, + 0.9988373517990112, + 0.028402785131202337, + -0.15871802629268367 + ], + [ + -0.05954803809619922, + -0.030694156885147095, + 0.9977534447134465, + -1.5641510837652128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9977483875761737, + 0.03836609050631523, + 0.0550109270130025, + 0.8257408913112423 + ], + [ + -0.04022165235110009, + 0.9986447095870972, + 0.033029718437668575, + -0.15754354484218328 + ], + [ + -0.05366915442359839, + -0.03516798093914986, + 0.9979393048135309, + -1.5760279291390045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9978745490419035, + 0.04028557613492012, + 0.0512193957335015, + 0.8326618948181448 + ], + [ + -0.042191478859781154, + 0.9984356164932251, + 0.03669016952815973, + -0.15692597360678362 + ], + [ + -0.04966117410928757, + -0.03877320885658264, + 0.9980132071231091, + -1.586056601990289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9979002184349538, + 0.042236704379320145, + 0.04910435642357798, + 0.8394091457242026 + ], + [ + -0.04414656451048627, + 0.9982836246490479, + 0.038482473386837864, + -0.15563605602449707 + ], + [ + -0.047394684373595605, + -0.04056945815682411, + 0.9980520318113338, + -1.5955733445867266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9979087432647131, + 0.04316286742687225, + 0.048115579673435944, + 0.8463625333317634 + ], + [ + -0.045082074929332173, + 0.9982003569602966, + 0.039542448879549025, + -0.15596753208941302 + ], + [ + -0.04632221651018361, + -0.04162890464067459, + 0.9980587894390007, + -1.6062034579604016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9979224952554838, + 0.04314858466386795, + 0.04784224019890777, + 0.8502548813534002 + ], + [ + -0.045111665364170724, + 0.9981508255004883, + 0.040741138323637335, + -0.15731449060262404 + ], + [ + -0.04599584324908626, + -0.042814742773771286, + 0.9980236828552125, + -1.6179123926225447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9978750803790754, + 0.04402574896812439, + 0.048031802587717, + 0.8547058331010599 + ], + [ + -0.04605327363533094, + 0.9980575442314148, + 0.04195515386121622, + -0.15584570958253738 + ], + [ + -0.046091401943585915, + -0.044078025966882706, + 0.9979642905751743, + -1.6297517832070738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9977443468775361, + 0.04483237490057945, + 0.04996239776199965, + 0.8537390884747269 + ], + [ + -0.047097671913664194, + 0.9978705048561096, + 0.04512456341114711, + -0.15810911137517442 + ], + [ + -0.04783297483894479, + -0.047375891357660294, + 0.9977311677714866, + -1.6416291473445188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9976816592197804, + 0.044520363211631775, + 0.051470971536692396, + 0.8517139186850337 + ], + [ + -0.04707554636219277, + 0.997661828994751, + 0.049545222822756425, + -0.1605327150256326 + ], + [ + -0.04914485516393769, + -0.05185338482260704, + 0.9974447566593023, + -1.6506614745575323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9977286522446208, + 0.045292720198631294, + 0.04986127470653656, + 0.8680001945536868 + ], + [ + -0.047847015367335974, + 0.9975371956825259, + 0.0512854951504542, + -0.1479121706759815 + ], + [ + -0.04741560375216884, + -0.053554717451334014, + 0.9974385754532429, + -1.6602082515518848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9975187784079076, + 0.04562442749738694, + 0.05361628312813834, + 0.8625575088018043 + ], + [ + -0.048723255892851654, + 0.9971277117729189, + 0.05798577142050156, + -0.15753648228132944 + ], + [ + -0.05081670121439121, + -0.060454253107309355, + 0.996876569833527, + -1.6712818901592879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9973735364956089, + 0.0456719771027565, + 0.05621506527663212, + 0.8601884210971411 + ], + [ + -0.04909585501180003, + 0.9969226717948914, + 0.06111305158665575, + -0.15356410837718462 + ], + [ + -0.05325090339646606, + -0.0637124627828598, + 0.9965465648792912, + -1.6790099803361327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9971860376151066, + 0.04617193341255189, + 0.05906054674876985, + 0.857532583724482 + ], + [ + -0.049980242532592256, + 0.9966511726379397, + 0.06471806863365981, + -0.15451938075248683 + ], + [ + -0.055874597123977576, + -0.06748782098293306, + 0.9961543455200753, + -1.6888857807226887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9968702854366489, + 0.04792289435863495, + 0.06287279011512344, + 0.855391801179571 + ], + [ + -0.05213659129516922, + 0.9963774085044861, + 0.06718534650446338, + -0.15534728392450298 + ], + [ + -0.05942530345461118, + -0.07025304436683655, + 0.9957575453174581, + -1.695565751089132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9963999553425574, + 0.050139520317316055, + 0.068360716436657, + 0.8502216404857459 + ], + [ + -0.054843905360322326, + 0.9961237907409668, + 0.06877187389041182, + -0.1555005567680987 + ], + [ + -0.06464754139539418, + -0.07227345556020737, + 0.9952875107930548, + -1.705427423624088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9959369939858361, + 0.052191369235515594, + 0.07338659709511942, + 0.8450207708419202 + ], + [ + -0.057376133971393455, + 0.9958664178848267, + 0.07041316640153303, + -0.15489440292491508 + ], + [ + -0.06940829262929178, + -0.07433772087097168, + 0.9948147475225714, + -1.7100171296301712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9953399228364389, + 0.05520729720592499, + 0.07906084027661121, + 0.8392973140759943 + ], + [ + -0.06089545865135762, + 0.99558424949646, + 0.07144079413192689, + -0.15462759337206497 + ], + [ + -0.07476766992633663, + -0.07592231780290604, + 0.9943065878496096, + -1.7158393982165936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9946646849860405, + 0.057696226984262466, + 0.08551823434206987, + 0.8351637474404313 + ], + [ + -0.06390300539308624, + 0.9953762888908386, + 0.07171110080779632, + -0.15421658830172807 + ], + [ + -0.08098536118493121, + -0.076793372631073, + 0.9937525686865005, + -1.720855868979427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9939035355607516, + 0.0599324069917202, + 0.09254092136740465, + 0.8291011136553876 + ], + [ + -0.06666758081835834, + 0.9952108263969421, + 0.07149016039276147, + -0.1550115885067056 + ], + [ + -0.08781315334943424, + -0.07722380757331848, + 0.9931391169531568, + -1.7255422741948685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9930778672104741, + 0.06188993155956268, + 0.09982992666916582, + 0.8226159359279406 + ], + [ + -0.069078168338921, + 0.9951361417770386, + 0.07023035185451375, + -0.15397415079103488 + ], + [ + -0.0949978100965682, + -0.07664027065038681, + 0.992522913270817, + -1.7286769526617538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.992140422952304, + 0.0626441240310669, + 0.10831915082918399, + 0.814181360944007 + ], + [ + -0.07037780537042497, + 0.9951234459877014, + 0.06911083789229089, + -0.1531511167178909 + ], + [ + -0.10346155297966574, + -0.07619092613458633, + 0.9917109961532901, + -1.733921041707898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9910584087226857, + 0.061684004962444305, + 0.11831456576433484, + 0.8052562549026037 + ], + [ + -0.07006776425174387, + 0.9952179193496704, + 0.06805774262281969, + -0.1504998484853998 + ], + [ + -0.11355069445786257, + -0.07573923468589783, + 0.99064109687572, + -1.7351865036834841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9897803646121983, + 0.05909181758761406, + 0.12978036179946983, + 0.7979646012157648 + ], + [ + -0.06833901398560502, + 0.9953426122665405, + 0.06799189233654777, + -0.15007744030879122 + ], + [ + -0.1251581677684863, + -0.07616610825061798, + 0.9892088832485392, + -1.7380954828534116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9882039612434363, + 0.05426562577486038, + 0.1432067023822827, + 0.7890130948605577 + ], + [ + -0.06465627680369629, + 0.9955242872238159, + 0.06892724730123792, + -0.14932050834550945 + ], + [ + -0.1388253698057959, + -0.07737339287996292, + 0.9872896767308565, + -1.7382489875409743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9863300560379042, + 0.04877382889389992, + 0.15739801413232873, + 0.779618326193597 + ], + [ + -0.06050262817248999, + 0.9956678152084351, + 0.07060464354862017, + -0.15022876630633045 + ], + [ + -0.15327247711407008, + -0.07916247099637985, + 0.9850080307496732, + -1.7403947063949055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.984336843631518, + 0.044163934886455536, + 0.1706767894509995, + 0.7703701485503469 + ], + [ + -0.057208569783072684, + 0.9957422614097595, + 0.07228052613094207, + -0.15158409154657201 + ], + [ + -0.16675790434578827, + -0.08091256022453308, + 0.9826723828331931, + -1.7430324863430537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9825058689950267, + 0.04085274040699005, + 0.18169561268328058, + 0.7592540029179403 + ], + [ + -0.0550360748202298, + 0.9957595467567444, + 0.07371537066621908, + -0.15044026651142195 + ], + [ + -0.17791367139080885, + -0.08242559432983398, + 0.9805879891659074, + -1.7447918580661947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.981248620481004, + 0.03384984657168389, + 0.18975083065431142, + 0.7488184209393187 + ], + [ + -0.049670499199497446, + 0.9956165552139284, + 0.07924940105648244, + -0.15238565333224807 + ], + [ + -0.1862364944724463, + -0.08718838542699815, + 0.9786287262289834, + -1.7477325816661655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.980159210107072, + 0.02437904290854931, + 0.1967067089812411, + 0.7396643449256093 + ], + [ + -0.042301282782148876, + 0.9952720403671265, + 0.08743074398038712, + -0.1528452483162711 + ], + [ + -0.19364522447686888, + -0.09401699900627136, + 0.9765563853684466, + -1.7478852936124465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9795428792159443, + 0.015457728877663612, + 0.20064108467721922, + 0.7303021272771092 + ], + [ + -0.03513159996184403, + 0.9948697090148926, + 0.09486831958967935, + -0.1531430852024028 + ], + [ + -0.19814528527831715, + -0.09997642040252686, + 0.9750605873224247, + -1.7457084061987143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9792585467731498, + 0.009571124799549581, + 0.20238836907281327, + 0.72173057095937 + ], + [ + -0.02972205168621232, + 0.9948636293411257, + 0.09676252357171806, + -0.15515615581734382 + ], + [ + -0.2004227061764812, + -0.10077092051506045, + 0.9745132059323627, + -1.741998280851335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9791927518007546, + 0.004620170686393977, + 0.20287967644722432, + 0.7166309643751725 + ], + [ + -0.02366918601745687, + 0.9955174922943117, + 0.09156774310551966, + -0.15615830771224998 + ], + [ + -0.20154721558029942, + -0.09446447342634204, + 0.9749128991776534, + -1.73768578496583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9797604347444049, + -0.003989527001976967, + 0.20013400614835253, + 0.7084952422138961 + ], + [ + -0.013488255514106349, + 0.9962132573127747, + 0.08589084413776632, + -0.158070782780825 + ], + [ + -0.1997188099918282, + -0.08685190230607986, + 0.9759965176688341, + -1.7377434058127401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9802971770379745, + -0.009954337030649187, + 0.19727733951161683, + 0.7032088041362464 + ], + [ + -0.0063627054076219785, + 0.9966198205947878, + 0.08190515483861198, + -0.1615056511347632 + ], + [ + -0.19742581529128458, + -0.08154660463333131, + 0.9769202487829476, + -1.7375479181840356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9797445478248404, + -0.007765917107462883, + 0.20010065088408238, + 0.7002173492727963 + ], + [ + -0.007976372003502591, + 0.996941328048706, + 0.07774572791081469, + -0.1598303662182755 + ], + [ + -0.20009237815898648, + -0.0777670368552208, + 0.9766858923959557, + -1.7360227500865115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9780516688485288, + -0.0012780249817296863, + 0.2083586189950964, + 0.6984292671810982 + ], + [ + -0.014631720727250979, + 0.9970913529396057, + 0.07479837569845761, + -0.15885058401346505 + ], + [ + -0.2078481632511549, + -0.07620532065629959, + 0.9751881230459671, + -1.7341303118211222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9760854921459254, + 0.00533309206366539, + 0.2173214939359283, + 0.6979802801296137 + ], + [ + -0.0214669584891077, + 0.9971774220466614, + 0.071946622669707, + -0.15897628950127973 + ], + [ + -0.21632439066929335, + -0.07489129155874252, + 0.9734449127538992, + -1.729190925720698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9744431721398485, + 0.010697348043322565, + 0.22437941937234618, + 0.6975026290726989 + ], + [ + -0.026269122868227364, + 0.9974386096000674, + 0.06652935722259609, + -0.15826390358585812 + ], + [ + -0.22309300722471942, + -0.0707233250141144, + 0.9722282478027889, + -1.724830618686585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9730149159290555, + 0.016546914353966713, + 0.23014824042454363, + 0.6976180465221022 + ], + [ + -0.031131135776806214, + 0.9977198839187622, + 0.05988260080682824, + -0.15777053732163604 + ], + [ + -0.22863259412037584, + -0.06543143838644028, + 0.9713114162084596, + -1.7218629485453643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9716006602834423, + 0.02297280728816986, + 0.23550885139766953, + 0.6982869809126026 + ], + [ + -0.03655880997527188, + 0.9978992342948914, + 0.05348426743393828, + -0.15607966972426054 + ], + [ + -0.23378541280206808, + -0.060575272887945175, + 0.9703993890942563, + -1.7199623564664064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9701186249790721, + 0.029364990070462227, + 0.2408476511288603, + 0.6992180277690447 + ], + [ + -0.042299492325546986, + 0.9979168772697449, + 0.04871006301709397, + -0.15467045546201397 + ], + [ + -0.2389155615887272, + -0.05744227021932602, + 0.9693398590285027, + -1.7172384401275855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9685611279549947, + 0.03468935191631317, + 0.24634528819590576, + 0.6998554352168104 + ], + [ + -0.047222610118684206, + 0.9978634119033813, + 0.045151037542856966, + -0.15300279516101317 + ], + [ + -0.2442526873201257, + -0.05536460876464844, + 0.9681298244752604, + -1.7165515585126885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.967155950716526, + 0.038174718618392944, + 0.2513007488053419, + 0.7009319612317397 + ], + [ + -0.050556542532463125, + 0.9977951645851135, + 0.04299831873532237, + -0.15158866012688396 + ], + [ + -0.2491052140294348, + -0.054290980100631714, + 0.9669534758970263, + -1.7147223909573965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9658440824391584, + 0.041039831936359406, + 0.2558533312002837, + 0.7022408424405204 + ], + [ + -0.05328902553747729, + 0.9977319240570068, + 0.04112567216697613, + -0.15094324268727013 + ], + [ + -0.25358523936885885, + -0.05335516482591629, + 0.9658404252797167, + -1.7124496836937249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9646527155106406, + 0.044611565768718726, + 0.25972092318674567, + 0.7024698736005774 + ], + [ + -0.05665637676871984, + 0.9976288676261904, + 0.03907249305219388, + -0.15052926246934542 + ], + [ + -0.257362002674389, + -0.0524062290787697, + 0.9648929147949105, + -1.7128730165146882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9639464163496739, + 0.048627570271492004, + 0.2616154083902852, + 0.7047136143199438 + ], + [ + -0.06025193695581836, + 0.9975122809410095, + 0.03659203107034234, + -0.1505790290145974 + ], + [ + -0.25918520192094974, + -0.05103559046983719, + 0.964478294479371, + -1.7112386560680968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9634899365928759, + 0.05234432592988014, + 0.2625779209373216, + 0.7067071961846394 + ], + [ + -0.06335320427342886, + 0.9974243640899658, + 0.033630678116157296, + -0.15051690556939992 + ], + [ + -0.26014124882983974, + -0.04903797432780266, + 0.9643245519242085, + -1.7095958179956308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9633305196603367, + 0.054215915501117706, + 0.2627829955309772, + 0.709148494344128 + ], + [ + -0.06461308427688535, + 0.9974262714385986, + 0.031080303093139583, + -0.15059730613522343 + ], + [ + -0.26042161825895593, + -0.046919822692871094, + 0.9643542337710017, + -1.708760844796069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9634161469612151, + 0.054628342390060425, + 0.2623834352443483, + 0.7105316750589592 + ], + [ + -0.06452016541369342, + 0.9974883198738098, + 0.029226822312732107, + -0.15071613121399832 + ], + [ + -0.26012779701174554, + -0.04508661851286888, + 0.9645209751684716, + -1.7093353026429543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9648445591047615, + 0.05525980517268181, + 0.2569461795910976, + 0.7177575697014325 + ], + [ + -0.06507030275326275, + 0.9974347352981567, + 0.02982989194346666, + -0.15101043748213053 + ], + [ + -0.25463864311181866, + -0.045500773936510086, + 0.9659652205176377, + -1.7115505428977038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/orbit_right/transforms.json b/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..8278d59c3f4f7bd3dec9034674a9c9e576e1a95a --- /dev/null +++ b/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/orbit_right/transforms.json @@ -0,0 +1,5683 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 162, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -0.0001700655120657757, + -9.52671398408711e-05, + 0.0003572060668375343 + ], + [ + 0.00017006041889544576, + 1.0, + -5.3571839089272544e-05, + 0.000157554866746068 + ], + [ + 9.527624933980405e-05, + 5.355563553166576e-05, + 1.0, + 0.00020568887703120708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999998481584862, + 0.0003728344163391739, + 0.0004131727659119623, + 0.010542608509371956 + ], + [ + -0.00037259718843574076, + 0.9999997615814209, + -0.0005740642784556162, + -0.0029870461453137404 + ], + [ + -0.0004133866980043906, + 0.0005739102489314973, + 0.9999997292969107, + -0.01051567891978915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999988343708001, + 0.0011963817523792386, + -0.0009398202823575642, + 0.02143360225181489 + ], + [ + -0.0011986238595639975, + 0.9999964237213135, + -0.0023886552004689335, + -0.0023831787877381916 + ], + [ + 0.0009369592810411005, + 0.0023897788487374783, + 0.9999966978967256, + -0.021229812775903485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999924703417054, + 0.0014018012443557384, + -0.003616078835542973, + 0.02979566170222645 + ], + [ + -0.0014128222263385228, + 0.9999943375587466, + -0.0030470144683136914, + -0.003312896690542162 + ], + [ + 0.0036117870196601875, + 0.0030521003063768157, + 0.999988795746472, + -0.03334750508012669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999547197915178, + 0.0020221506711095576, + -0.00929723508381653, + 0.042238537137175486 + ], + [ + -0.0020473787633526297, + 0.999994218349457, + -0.002704776538844955, + -0.003768052871281143 + ], + [ + 0.009291712234589852, + 0.0027236891910433774, + 0.999953146355021, + -0.04441529698529416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998756667900223, + 0.004193398170173168, + -0.015200486700029133, + 0.053856573302882516 + ], + [ + -0.004229694399391816, + 0.9999882578849792, + -0.0023564691105193137, + -0.003884682127369207 + ], + [ + 0.015190426919429807, + 0.0024204696528613567, + 0.9998817092435105, + -0.05645894706697377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997245604642375, + 0.007084221113473179, + -0.022374705168724966, + 0.06564579726801033 + ], + [ + -0.007113435140613616, + 0.9999739527702334, + -0.0012263316045246718, + -0.00550126604848753 + ], + [ + 0.022365435360393766, + 0.0013851549010723831, + 0.9997489111530542, + -0.07048857687147288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9994593441475522, + 0.010625211521983147, + -0.031115592581494003, + 0.07693637377668316 + ], + [ + -0.010637254962963485, + 0.9999433755874634, + -0.00022154387267716262, + -0.005086938594320995 + ], + [ + 0.03111147749830327, + 0.0005524085718207061, + 0.9995157806367764, + -0.08388994521328755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9990625507600255, + 0.01481644157320261, + -0.04067485170100704, + 0.08767249493877582 + ], + [ + -0.01474987217806138, + 0.9998893141746521, + 0.001936228986851302, + -0.005721032804699261 + ], + [ + 0.04069903874375727, + -0.0013344651088118553, + 0.9991705469050295, + -0.09847848596821251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9985714559471662, + 0.018113205209374428, + -0.050268621440054104, + 0.09979118695977987 + ], + [ + -0.017946051237363137, + 0.9998318552970886, + 0.003774598143368888, + -0.00516171862505882 + ], + [ + 0.05032853554227839, + -0.0028670828323811293, + 0.9987286078927301, + -0.1104345450841512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9980182093537886, + 0.021844234317541122, + -0.059012418693913216, + 0.10997880820823654 + ], + [ + -0.021514859542205656, + 0.9997492432594299, + 0.006211154803331079, + -0.006129936759732049 + ], + [ + 0.05913330205178067, + -0.004929202143102884, + 0.9982379425001044, + -0.12349543909522116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9973765295847401, + 0.02683545462787152, + -0.06723043740523064, + 0.11983484653613728 + ], + [ + -0.026266898197671376, + 0.9996114373207095, + 0.009326705939491833, + -0.006106175188621126 + ], + [ + 0.0674546007549619, + -0.007536302320659162, + 0.9976938996164153, + -0.13723228097315757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9967039509921997, + 0.031133845448493964, + -0.07491276705297328, + 0.1310336589869945 + ], + [ + -0.03023193625568833, + 0.9994564652442934, + 0.013143750557571748, + -0.006372419627994607 + ], + [ + 0.07528126277949153, + -0.01083567086607218, + 0.9971034599343498, + -0.14959984783290858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9961661602290861, + 0.035524770617485046, + -0.07994333793248606, + 0.139419227242957 + ], + [ + -0.034220077176388086, + 0.9992587566375732, + 0.01763188505247247, + -0.008820526955009034 + ], + [ + 0.08051045455237814, + -0.014828619547188282, + 0.9966434547555469, + -0.1627127662903495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9957481699896141, + 0.03937753662467003, + -0.08327667106389272, + 0.1489594197173587 + ], + [ + -0.03776088676262927, + 0.9990682005882263, + 0.020900365811648582, + -0.008949664940171673 + ], + [ + 0.08402207952254949, + -0.017666900530457497, + 0.9963072470525478, + -0.17546494404531388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9954665826170851, + 0.04101075977087021, + -0.08581601833983674, + 0.1560469777493183 + ], + [ + -0.039112096049928456, + 0.9989539384841919, + 0.023691116860807628, + -0.013078580734770995 + ], + [ + 0.08669784106143874, + -0.02022727206349373, + 0.9960293092918207, + -0.18817513228763313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9952632172161691, + 0.04214884713292122, + -0.08760487993476905, + 0.16155978406041174 + ], + [ + -0.04017934404725299, + 0.9989011883735657, + 0.024125468223992818, + -0.015279523583482004 + ], + [ + 0.0885254804910229, + -0.020491285249590874, + 0.995863114771927, + -0.19952251382431513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9951361934122064, + 0.04329197853803635, + -0.08848601217033886, + 0.16733706975573706 + ], + [ + -0.0414813973206295, + 0.9988926053047182, + 0.022200121132095022, + -0.015743737777139652 + ], + [ + 0.08934911076092505, + -0.018421621993184093, + 0.9958300040376474, + -0.21136375364959883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9950442445199521, + 0.04354104027152062, + -0.08939317378133273, + 0.17345280183064793 + ], + [ + -0.04194895997375267, + 0.9989272356033327, + 0.019612896126913564, + -0.016978474528304668 + ], + [ + 0.09015124022044134, + -0.01576574891805649, + 0.9958032650204738, + -0.2229286749477023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9950705112535915, + 0.04202692583203316, + -0.08982419098295134, + 0.17831412932060087 + ], + [ + -0.040738497818522935, + 0.9990396499633789, + 0.016130267089220742, + -0.017109487051753497 + ], + [ + 0.09041582870587576, + -0.012391451746225357, + 0.9958269797256153, + -0.2350824296101206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9952353707860009, + 0.03999634459614754, + -0.0889203721346444, + 0.18128025447479285 + ], + [ + -0.0389360059608777, + 0.9991487860679626, + 0.013628022060825692, + -0.01955448574875575 + ], + [ + 0.08938975523733135, + -0.010100885294377804, + 0.9959455147685013, + -0.24611273546251855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9955264347627237, + 0.037298623472452164, + -0.08680967865845512, + 0.1853313253535279 + ], + [ + -0.03645719618967909, + 0.999271810054779, + 0.011258671397906827, + -0.021423906633100082 + ], + [ + 0.08716639737475927, + -0.008043467998504639, + 0.9961612768796484, + -0.2590005392038067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9959302527936325, + 0.033962756395339966, + -0.08348313319274091, + 0.18787704884721976 + ], + [ + -0.03328987746339397, + 0.9994011521339417, + 0.009439314765447949, + -0.022833637930853863 + ], + [ + 0.08375373023570658, + -0.006621755659580231, + 0.9964645107525172, + -0.27140452559169115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.996360654156738, + 0.03044758550822735, + -0.07961424650639694, + 0.19092773375316277 + ], + [ + -0.029852667174884284, + 0.9995168447494507, + 0.00865237902017773, + -0.025213121668353645 + ], + [ + 0.07983922228132764, + -0.006244192831218243, + 0.9967881913672175, + -0.283517745232696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9967722723168392, + 0.028058107942342765, + -0.07521833097001998, + 0.19255691825291665 + ], + [ + -0.02753042507738776, + 0.9995886087417605, + 0.008043287076034042, + -0.025522060415445223 + ], + [ + 0.0754130645128757, + -0.005946532823145391, + 0.9971346781290504, + -0.29718908970636954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9971298031852598, + 0.025857117027044296, + -0.07115906873373092, + 0.1939468363064666 + ], + [ + -0.025327553498700976, + 0.9996444582939148, + 0.008334393710129827, + -0.02690099677143156 + ], + [ + 0.07134927133605648, + -0.006508186925202608, + 0.9974301793391995, + -0.31030073889115967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9974071217820286, + 0.023852512240409858, + -0.06789793855093329, + 0.19794547861827477 + ], + [ + -0.023308797220577493, + 0.9996896982192995, + 0.00878893057982876, + -0.02833778522952402 + ], + [ + 0.06808650719292222, + -0.0071835224516689795, + 0.9976535858686473, + -0.3230248978440439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9977917198358579, + 0.02139987051486969, + -0.06287900411701908, + 0.19793571975948612 + ], + [ + -0.02091337480456802, + 0.9997461438179016, + 0.00838509711645024, + -0.028587431498943376 + ], + [ + 0.06304248002113393, + -0.007051568012684584, + 0.9979859573103607, + -0.3371890460677303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9980933527410881, + 0.019409574568271637, + -0.05859123849430023, + 0.20253732184373152 + ], + [ + -0.01898240917168109, + 0.9997891187667847, + 0.007838442612556484, + -0.028805497791626476 + ], + [ + 0.058731023341615146, + -0.006711294408887625, + 0.998251305371983, + -0.35080178049882704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9985084391855977, + 0.018336135894060135, + -0.051426209970515585, + 0.20195340785460508 + ], + [ + -0.017968383414318417, + 0.9998096227645874, + 0.007604356753305457, + -0.03008583537496145 + ], + [ + 0.051555856094977454, + -0.006668968591839075, + 0.9986478585203651, + -0.365876645822972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9989309254860876, + 0.016671868041157722, + -0.04311698978614993, + 0.20330054128535482 + ], + [ + -0.016366356358936733, + 0.9998384714126587, + 0.007428982324169214, + -0.032118883716692186 + ], + [ + 0.04323388021715986, + -0.006715372204780579, + 0.9990424217021935, + -0.3814904912908961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9992791544800579, + 0.014401845633983612, + -0.035125454813314715, + 0.20665556467890037 + ], + [ + -0.01416658645448182, + 0.9998756051063538, + 0.006937405679911898, + -0.033443772595563734 + ], + [ + 0.03522099512242742, + -0.006434796843677759, + 0.9993588418676895, + -0.3966669499671798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9995343675915138, + 0.012659292668104172, + -0.027763331943600086, + 0.2110765235690775 + ], + [ + -0.012477363548443192, + 0.9998996257781982, + 0.0067163706334524755, + -0.037387880779984464 + ], + [ + 0.02784556854612903, + -0.0063668303191661835, + 0.9995919783612343, + -0.4113033576828609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9997450825978468, + 0.011428670957684519, + -0.019470715585876854, + 0.21381400481562302 + ], + [ + -0.011337340806889766, + 0.9999242424964907, + 0.00479455821142843, + -0.039698287083971266 + ], + [ + 0.019524038624633703, + -0.004572590347379447, + 0.9997989245291097, + -0.42794448686970654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999012320026852, + 0.009468458592891693, + -0.010388337049100091, + 0.21567340164820625 + ], + [ + -0.009447054396261258, + 0.9999531507492065, + 0.00210760072273822, + -0.042020867101278725 + ], + [ + 0.010407802802111007, + -0.0020092532504349947, + 0.9999437923756256, + -0.443372992858428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999629571934417, + 0.00842290371656418, + -0.0017693165246639253, + 0.21903346388742004 + ], + [ + -0.008423981802686314, + 0.9999643564224245, + -0.0006025285665268019, + -0.044400822735069234 + ], + [ + 0.0017641772245282348, + 0.0006174109876155854, + 0.9999982349682689, + -0.4598116452379632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999315287373179, + 0.009423973970115185, + 0.006934082181668733, + 0.222985971382803 + ], + [ + -0.009400236348134616, + 0.9999498724937439, + -0.003448060369107644, + -0.045071392975864544 + ], + [ + -0.006966232868619056, + 0.003382642287760973, + 0.9999700132995745, + -0.47494867745348207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9997837812829636, + 0.012311662547290325, + 0.016758417991559527, + 0.22722242227159897 + ], + [ + -0.012229745243081352, + 0.9999127984046936, + -0.004981910209396057, + -0.048308961150563656 + ], + [ + -0.016818298661747857, + 0.004775881767272949, + 0.9998471607614202, + -0.4912242543078686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9994651865378986, + 0.01600943692028523, + 0.028514483150351752, + 0.23094777613419576 + ], + [ + -0.01582840307209032, + 0.9998531937599184, + -0.006563325185950333, + -0.04715436991597127 + ], + [ + -0.028615379503316395, + 0.006108475849032404, + 0.9995718159805281, + -0.5078391430100015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9989718519083194, + 0.01903253979980946, + 0.0411460977074567, + 0.23406012028212952 + ], + [ + -0.01880951625966446, + 0.9998062849044802, + -0.005800707143063853, + -0.04735445205707178 + ], + [ + -0.041248532731614655, + 0.005020805168896914, + 0.9991363286181373, + -0.5230666509371271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9984560627637302, + 0.020494209602475166, + 0.05162804960992365, + 0.24104778988924802 + ], + [ + -0.020437177693813962, + 0.999789834022522, + -0.0016324249665032012, + -0.05194637047904978 + ], + [ + -0.051650649713439335, + 0.000574773526750505, + 0.998665040146923, + -0.5391020685269651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9978707562849849, + 0.02058982476592064, + 0.06188664325223628, + 0.24225037627514218 + ], + [ + -0.020727537595871138, + 0.9997839331626892, + 0.0015839963404254245, + -0.05050060326286393 + ], + [ + -0.061840645566560014, + -0.0028633810579776764, + 0.9980819032541901, + -0.5545883230351941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9972220555986802, + 0.018947115167975426, + 0.07203566944434, + 0.2452970504583136 + ], + [ + -0.019395758844101208, + 0.9997965693473816, + 0.005533623969201186, + -0.055353597345010344 + ], + [ + -0.07191617987722393, + -0.006915438920259476, + 0.997386721453698, + -0.5682941582941056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9965259735847477, + 0.018185194581747055, + 0.08127272724861584, + 0.25330672577829083 + ], + [ + -0.01880861768825078, + 0.9997991919517517, + 0.006911711845832195, + -0.05958005898460851 + ], + [ + -0.08113070759200494, + -0.008416328579187393, + 0.9966679132752931, + -0.5823430222926796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9956945553837014, + 0.01652028039097786, + 0.09121123977742374, + 0.2614905385368017 + ], + [ + -0.017319163607846393, + 0.9998182058334351, + 0.007974019331731875, + -0.06855203606943941 + ], + [ + -0.09106292134192559, + -0.00951938983052969, + 0.9957996159820942, + -0.5971965911176396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.994587788242133, + 0.013262657448649406, + 0.10304967934659924, + 0.2660339554450422 + ], + [ + -0.013962189272915032, + 0.9998841285705566, + 0.00606990914215069, + -0.07238185461671652 + ], + [ + -0.10295723918778737, + -0.007475856691598892, + 0.9946576899009119, + -0.6128840109950204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9934723528165197, + 0.010156394913792612, + 0.11362035064424263, + 0.2716970872697664 + ], + [ + -0.010618799839639391, + 0.9999375939369204, + 0.0034652481242104897, + -0.07355120436379721 + ], + [ + -0.11357806346471841, + -0.0046491394750773915, + 0.9935181966891179, + -0.627057699694151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9925160865385428, + 0.006517765112221243, + 0.12193994695083024, + 0.2794584241213135 + ], + [ + -0.006604422670159271, + 0.9999781250953677, + 0.0003064868844160934, + -0.06906042302369948 + ], + [ + -0.12193529372385382, + -0.001109536155126989, + 0.9925374300461156, + -0.6386836740706681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9915350916011536, + 0.0008287974051199853, + 0.12983625587554595, + 0.28670591718132826 + ], + [ + -0.001060526358379451, + 0.9999979734420776, + 0.001715648949470476, + -0.07691487804685243 + ], + [ + -0.12983458189996333, + -0.0018388209864497185, + 0.9915339443047311, + -0.6539272460512794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9908276569098181, + -0.00464787008240819, + 0.1350518391750879, + 0.29820905537734654 + ], + [ + 0.0045335301459383075, + 0.9999890327453613, + 0.0011541650817997577, + -0.07617946770517407 + ], + [ + -0.1350557205087619, + -0.0005313170258887112, + 0.9908378328907872, + -0.6697280227984173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9904204932502453, + -0.010879850015044214, + 0.13765478198227407, + 0.31320095124150266 + ], + [ + 0.010780475317785415, + 0.9999408125877383, + 0.0014674559206858668, + -0.07811502220566678 + ], + [ + -0.13766258692760228, + 3.058533184230328e-05, + 0.9904791971562256, + -0.6850735040319736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9901809018916429, + -0.01666366122663021, + 0.13879536240496143, + 0.3262165559901411 + ], + [ + 0.016475243519537226, + 0.9998611211776733, + 0.002506390875387224, + -0.08390388297107708 + ], + [ + -0.1388178588866866, + -0.00019509275443851948, + 0.9903178830540343, + -0.7006677577222112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9902565381130269, + -0.020439466461539272, + 0.13774708741993621, + 0.3404344333922462 + ], + [ + 0.020308401808551424, + 0.9997909665107729, + 0.0023569769347226498, + -0.08476999792276643 + ], + [ + -0.13776647872938466, + 0.0004634105134755374, + 0.9904646148543577, + -0.7133657733734645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9904669416666615, + -0.02305523492395878, + 0.1358076183954323, + 0.3530959819748284 + ], + [ + 0.0230231465485185, + 0.9997332692146301, + 0.0018071233641538279, + -0.08849627585120703 + ], + [ + -0.13581305924498355, + 0.001336822402663529, + 0.9907335806620017, + -0.7266163584979597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9907734332963241, + -0.02572817727923394, + 0.1330641360828397, + 0.3623914243331665 + ], + [ + 0.025838768526256623, + 0.9996657371520998, + 0.0008959062104231113, + -0.09568070293891395 + ], + [ + -0.1330426950855081, + 0.0025505728553980593, + 0.9911070415452712, + -0.7390670613301938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9915841522145471, + -0.026527201756834984, + 0.12671703161943307, + 0.380303153195141 + ], + [ + 0.027227835427692696, + 0.9996220469474792, + -0.0037999312055349063, + -0.09365289817535885 + ], + [ + -0.12656833989418118, + 0.00721818208694458, + 0.991931616836823, + -0.753880221067009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9924672275080888, + -0.02565848082304001, + 0.1197934954826716, + 0.39538860483410426 + ], + [ + 0.026739050083976517, + 0.9996148943901062, + -0.007421353078887157, + -0.09582474733073981 + ], + [ + -0.11955695144721262, + 0.010568613186478615, + 0.9927711064855378, + -0.7692062991222015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9934704802976795, + -0.02466599829494953, + 0.11139136902413575, + 0.41127925364738727 + ], + [ + 0.025989917667789995, + 0.9996076226234436, + -0.010448710808713853, + -0.09725328334223489 + ], + [ + -0.11108992897921764, + 0.013275537639856339, + 0.9937217148417877, + -0.7839859591187933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9947331092251495, + -0.022413400933146477, + 0.10001844306270859, + 0.43043400460078307 + ], + [ + 0.02379049621263615, + 0.9996376037597656, + -0.01259682840322736, + -0.09743240058778442 + ], + [ + -0.09969984896349414, + 0.01490996964275837, + 0.9949058143067256, + -0.8004295077387894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9979203497077437, + -0.02341410145163536, + 0.06005580469748309, + 0.5659048948511191 + ], + [ + 0.02426767795533776, + 0.9996140003204346, + -0.013523165728538039, + -0.09947123847536894 + ], + [ + -0.05971600487360072, + 0.014952457509934902, + 0.9981033969689881, + -0.8192207374509985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9995231170190226, + -0.018689662218093872, + 0.024580377079542106, + 0.6712386483187396 + ], + [ + 0.01898182378419354, + 0.9997512698173523, + -0.011706831616351276, + -0.10906945603573646 + ], + [ + -0.02435545772913834, + 0.012167830020189285, + 0.9996293262051054, + -0.8338515903602415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9999091203710281, + -0.01156892441213131, + 0.0069205886937512215, + 0.7003049771038403 + ], + [ + 0.01169546599385221, + 0.9997598528862, + -0.01853267116910802, + -0.07540997901414949 + ], + [ + -0.006704526923144564, + 0.018611926585435867, + 0.9998042987973831, + -0.8882491400151431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9997822588308248, + -0.012940308079123497, + 0.016370097271525576, + 0.6270775341230637 + ], + [ + 0.013065673178367885, + 0.9998859763145447, + -0.00757451251720263, + -0.11622103118584805 + ], + [ + -0.016270214209736466, + 0.007786749862134457, + 0.9998373354733373, + -0.8727937670906186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9995466110180286, + -0.005553782917559147, + 0.02959245851197994, + 0.533137423387963 + ], + [ + 0.005945954180852944, + 0.999895453453064, + -0.013180940501339552, + -0.08851628801090826 + ], + [ + -0.02951615999885898, + 0.013350920751690865, + 0.9994751335463151, + -0.8814657823140056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9999746288114535, + -0.0015152019914239645, + 0.006956696352363564, + 0.5814215974905756 + ], + [ + 0.0015965804620312416, + 0.999930202960968, + -0.011707300228771984, + -0.09045559263434462 + ], + [ + -0.006938470392116246, + 0.01171811018139124, + 0.9999072828342676, + -0.8968422148207128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9999582925770291, + 0.004555829800665379, + -0.007917688570789895, + 0.5910252167939263 + ], + [ + -0.004622714625062056, + 0.9999536275863647, + -0.008449858604825906, + -0.10022299875220989 + ], + [ + 0.007878824107169915, + 0.008486106991767883, + 0.9999329256813964, + -0.9148560213719358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9997123316792595, + 0.009851059876382351, + -0.02186741866816586, + 0.5956598031841723 + ], + [ + -0.009976454056211177, + 0.9999343752861023, + -0.005632642662685705, + -0.10916767874209252 + ], + [ + 0.021810496416957485, + 0.005849181674420834, + 0.9997450218778702, + -0.9317509471325647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9988202282594629, + 0.014386736787855625, + -0.04638066479082121, + 0.6529731770100308 + ], + [ + -0.0147815352603262, + 0.9998573064804077, + -0.008180404178694325, + -0.09654278622486574 + ], + [ + 0.046256360607045924, + 0.008856330998241901, + 0.9988903671512038, + -0.9452480478468859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9983842882417252, + 0.020590243861079216, + -0.05296095280024865, + 0.6519292202346378 + ], + [ + -0.020816247981537223, + 0.9997764229774475, + -0.0037192478018469193, + -0.105116958332274 + ], + [ + 0.05287253214874211, + 0.004815686959773302, + 0.9985896703487822, + -0.9641336371654826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9978196680750222, + 0.02679283730685711, + -0.060315884383386476, + 0.6649188465953653 + ], + [ + -0.026898861937700472, + 0.9996377229690552, + -0.000946427492383172, + -0.1062905675284091 + ], + [ + 0.06026867938740847, + 0.0025667930021882057, + 0.9981788794073024, + -0.9797303315597534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9975971625012832, + 0.03126271069049835, + -0.061826584612929746, + 0.6570178818963379 + ], + [ + -0.03126884408110187, + 0.999510645866394, + 0.0008686065374248213, + -0.11022997331793381 + ], + [ + 0.06182347988702926, + 0.0010667263995856047, + 0.9980865193059624, + -0.9971742707704371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.997391927293285, + 0.03320863097906113, + -0.06408246838056639, + 0.6531445164245571 + ], + [ + -0.03322165468755798, + 0.9994476437568665, + 0.0008626629464591811, + -0.11597684404479187 + ], + [ + 0.06407571769858132, + 0.0012685126857832074, + 0.9979442078587428, + -1.0130743279723138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9966763655069156, + 0.03329611942172051, + -0.07434748669628147, + 0.685904151783115 + ], + [ + -0.033551708172263765, + 0.9994345903396609, + -0.002191105018729771, + -0.11762338515158619 + ], + [ + 0.0742324928706472, + 0.004678307566791774, + 0.997229970082131, + -1.0265805383617717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9964132617598737, + 0.03329489007592201, + -0.07779463771203904, + 0.6882143292686853 + ], + [ + -0.03386791993012127, + 0.999407947063446, + -0.006057866225264478, + -0.12142950431854016 + ], + [ + 0.0775468852277858, + 0.008670881390571594, + 0.9969509989822894, + -1.0433969205663065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9955121473707106, + 0.035193633288145065, + -0.08784600884883459, + 0.7159854999665005 + ], + [ + -0.036162247084760325, + 0.9993011951446533, + -0.009458833847170329, + -0.12695281372443615 + ], + [ + 0.08745173344310941, + 0.012593094259500504, + 0.9960891828453197, + -1.0583125495209524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9952706031290354, + 0.03712228313088417, + -0.08976829304898871, + 0.710626698671433 + ], + [ + -0.03840210505562594, + 0.9991832971572876, + -0.012571479273209136, + -0.12878171022914078 + ], + [ + 0.08922829748660241, + 0.01595931500196457, + 0.9958833085380855, + -1.0754914235539748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.994940328757811, + 0.03990742936730385, + -0.09220162321266237, + 0.7131656234538094 + ], + [ + -0.04154772810007959, + 0.999009370803833, + -0.01593913437033578, + -0.12688738003923994 + ], + [ + 0.09147419139328014, + 0.019689254462718964, + 0.9956127547394004, + -1.0901718630730823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9943788693578042, + 0.04007822647690774, + -0.09800204324799541, + 0.7317594996617761 + ], + [ + -0.042255222465999324, + 0.9989018440246584, + -0.020239216467871614, + -0.12053228537977238 + ], + [ + 0.09708327161811606, + 0.024266546592116363, + 0.9949803982820093, + -1.103835463063331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9938168727931687, + 0.038542490452528, + -0.10412731851722927, + 0.7492525897170044 + ], + [ + -0.04118340446032991, + 0.9988791346549988, + -0.023331737890040914, + -0.11622790917284273 + ], + [ + 0.10311134272545004, + 0.027475792914628983, + 0.994290248612439, + -1.1180310056629517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9932519062379334, + 0.036565825343132026, + -0.11006152202088908, + 0.7663803591090558 + ], + [ + -0.039385986497796406, + 0.9989463090896609, + -0.023558732916889525, + -0.12263234751372992 + ], + [ + 0.10908411312644999, + 0.027734639123082168, + 0.9936455442262615, + -1.1333057732797813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9925817775318689, + 0.03383217379450799, + -0.1167767060812043, + 0.7859491178846306 + ], + [ + -0.03693324978879943, + 0.9990174770355227, + -0.024494039530951223, + -0.12434456987454169 + ], + [ + 0.11583328362778388, + 0.028625281527638442, + 0.9928560837176874, + -1.147943584387916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.991990245271499, + 0.030303129926323898, + -0.12262598831669343, + 0.7965555489276348 + ], + [ + -0.033682877450748286, + 0.9991050958633425, + -0.025582456388757273, + -0.12164218152787942 + ], + [ + 0.12174101707163419, + 0.029507942497730262, + 0.9921231787504355, + -1.163567845829941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9912017110751454, + 0.026655958965420723, + -0.1296479231032887, + 0.811437714831526 + ], + [ + -0.030288257376256966, + 0.9991996884346008, + -0.026125726252168167, + -0.12025803577083442 + ], + [ + 0.12884776101759937, + 0.02982267364859581, + 0.991215825961644, + -1.1774422506572093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9903172178355903, + 0.025596842169761658, + -0.1364426912474599, + 0.8278834086822476 + ], + [ + -0.029440249014557458, + 0.999222457408905, + -0.026225269325318594, + -0.12388877546274224 + ], + [ + 0.13566531825223543, + 0.02998824417591095, + 0.9903007900596651, + -1.1923570013840739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9892598958449471, + 0.0280472282320261, + -0.14345110158714938, + 0.8427023104411344 + ], + [ + -0.03244906065444496, + 0.9990687370300293, + -0.02843787654820222, + -0.11996245920325978 + ], + [ + 0.1425199045767335, + 0.032787300646305084, + 0.989248724225068, + -1.2051295859690845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9878402527787559, + 0.03241575881838799, + -0.1520556129370659, + 0.8603106036498911 + ], + [ + -0.037298801458850936, + 0.9988724589347842, + -0.02937114556307029, + -0.12215812806210874 + ], + [ + 0.15093207069259845, + 0.03468549251556397, + 0.987935460778315, + -1.218290658632585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9864601592550116, + 0.03768162056803703, + -0.15961357490785294, + 0.8712681129976383 + ], + [ + -0.04316295984961148, + 0.9985865354537964, + -0.03101351702494249, + -0.12240489655957247 + ], + [ + 0.1582193289413972, + 0.03748299553990364, + 0.9866922905955715, + -1.2339628655584343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.984893626128397, + 0.04100837558507919, + -0.16823435893151417, + 0.8881534106739498 + ], + [ + -0.047113489705117244, + 0.9983620643615723, + -0.0324581117171884, + -0.12458471304061575 + ], + [ + 0.1666277525555595, + 0.039893899112939835, + 0.9852125083415626, + -1.247348107449126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9833797298794749, + 0.043431419879198074, + -0.1762894344768521, + 0.8971155510742544 + ], + [ + -0.05010201689350005, + 0.9981799721717834, + -0.03356376612803772, + -0.1256769433073897 + ], + [ + 0.17451086598872945, + 0.0418383851647377, + 0.9837660014240543, + -1.263196314555355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9811143112857735, + 0.04649665579199791, + -0.1877571814965545, + 0.9155776583298336 + ], + [ + -0.053570083752112536, + 0.9980261325836182, + -0.03277370933384522, + -0.12745937785112216 + ], + [ + 0.1858627021087939, + 0.042212922126054764, + 0.9816685151672665, + -1.2750625037312049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9793790400994015, + 0.0516556091606617, + -0.1953161396275454, + 0.9238390864640394 + ], + [ + -0.05876271812017069, + 0.9977977871894836, + -0.030766121781731062, + -0.12910091275718794 + ], + [ + 0.1932967607150989, + 0.04160900413990021, + 0.9802576170275801, + -1.288281865322869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9778416029900935, + 0.05788640305399896, + -0.20118382577396746, + 0.9360599982987268 + ], + [ + -0.06422133123481491, + 0.9976199865341189, + -0.025099717145471597, + -0.13837688946432805 + ], + [ + 0.19925207647304657, + 0.037463840097188957, + 0.9792318901998932, + -1.3041443702972624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9771329173143876, + 0.06370768696069719, + -0.2028609151549519, + 0.9411356127956082 + ], + [ + -0.06914057662558974, + 0.9974104166030886, + -0.01980089616229209, + -0.14175303377689305 + ], + [ + 0.20107411727448055, + 0.033374030143022544, + 0.9790073136592697, + -1.320440547413714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9766332664424423, + 0.06766312569379808, + -0.20398328773179963, + 0.951399391701313 + ], + [ + -0.07204587833741298, + 0.9973012804985049, + -0.014128006573538571, + -0.14526631227960884 + ], + [ + 0.20247684358543308, + 0.02849403396248818, + 0.9788724500883232, + -1.3351481694046776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9761402864194048, + 0.07028655707836151, + -0.2054505218411737, + 0.9631416946062229 + ], + [ + -0.07355220976851538, + 0.997256875038147, + -0.00829167478032481, + -0.14450628595089007 + ], + [ + 0.20430416142846577, + 0.02320517785847187, + 0.9786324043971539, + -1.347666123711997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9760833044709302, + 0.07086188346147539, + -0.2055236512563416, + 0.9690419898927967 + ], + [ + -0.07273372831145443, + 0.9973501563072207, + -0.0015573343946611174, + -0.1479438939932396 + ], + [ + 0.20486870136450755, + 0.016468590125441555, + 0.9786509334175075, + -1.3633076659843992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9759887092701609, + 0.06953527033329011, + -0.20642417176365643, + 0.9790372028702476 + ], + [ + -0.0699770837371071, + 0.9975352287292483, + 0.005169177979997829, + -0.1528488268529882 + ], + [ + 0.2062748120170319, + 0.009399901144206526, + 0.9784489192507098, + -1.3750160299373826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9759250276123512, + 0.06606130301952362, + -0.20786111789481607, + 0.9882938892099298 + ], + [ + -0.06519060379521206, + 0.9978117346763611, + 0.011043906212194306, + -0.15691795483136398 + ], + [ + 0.20813583290139026, + 0.0027725673280656338, + 0.9780960185356091, + -1.3893089377384615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.975242424489566, + 0.06109753996133804, + -0.21253083235580236, + 1.0048298571804044 + ], + [ + -0.05914139389425371, + 0.9981284141540527, + 0.015555369852639061, + -0.15576884395597318 + ], + [ + 0.2130834527604712, + -0.002600886858999729, + 0.9770305575483651, + -1.3994004677738094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9748478311484322, + 0.05717329680919647, + -0.21541346633646727, + 1.0141463738113379 + ], + [ + -0.05415106473235313, + 0.9983342289924622, + 0.01991062037389163, + -0.15915337589489784 + ], + [ + 0.2161929919409134, + -0.0077449562959373, + 0.9763199496841889, + -1.4116091665834183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.974149270345005, + 0.05391128361225128, + -0.21937815289389034, + 1.026717418022067 + ], + [ + -0.0503679300564343, + 0.998494565486908, + 0.02171704797243239, + -0.15529201918753469 + ], + [ + 0.22021869641061376, + -0.010106023401021957, + 0.9753981904492312, + -1.421195579493193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9733679180239097, + 0.05077615007758142, + -0.2235546133455389, + 1.0385340917914756 + ], + [ + -0.04661683750271385, + 0.9986281394958498, + 0.023847214639883152, + -0.15518783957085405 + ], + [ + 0.22445880616322827, + -0.012790705077350143, + 0.9743996564364756, + -1.4306850104790185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.972726630150893, + 0.048215128481388106, + -0.22688802051004864, + 1.049915593886622 + ], + [ + -0.04371998877634767, + 0.9987359642982485, + 0.024798946312268404, + -0.15269723719710604 + ], + [ + 0.227796914961435, + -0.014203053899109367, + 0.9736050637646984, + -1.4405969937912113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9723506207181801, + 0.04546001926064491, + -0.2290582240753363, + 1.0587625977085418 + ], + [ + -0.04045908527818737, + 0.9988301396369934, + 0.02648419021864489, + -0.1559206387148459 + ], + [ + 0.22999424064075677, + -0.01648443378508091, + 0.9730523977682008, + -1.4521493053608536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9717583669573087, + 0.042026564478874213, + -0.23220559925448633, + 1.070206866954193 + ], + [ + -0.03683004490439206, + 0.9989655613899233, + 0.02667114188674387, + -0.1537071103169358 + ], + [ + 0.23308629124260039, + -0.017365764826536182, + 0.9723010095956355, + -1.4612862225141379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9710916575019922, + 0.03886786103248597, + -0.2355211854570774, + 1.0806799998432242 + ], + [ + -0.03344036763309753, + 0.9990760087966921, + 0.026996672601267924, + -0.15380682095977824 + ], + [ + 0.23635288505502844, + -0.018340330570936206, + 0.9714941876087038, + -1.470024876547162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9696578184201017, + 0.03610583022236824, + -0.24178528473279653, + 1.096696558309952 + ], + [ + -0.030226016119391557, + 0.9991512894630432, + 0.027984724988764177, + -0.15792805900911738 + ], + [ + 0.24259048582129342, + -0.019827403128147125, + 0.9699261429022512, + -1.4788263489136342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9674653919484537, + 0.03413957357406616, + -0.2506895060457864, + 1.1107984259659713 + ], + [ + -0.02755479212434095, + 0.9991780519485474, + 0.029730815117313077, + -0.16653127550808047 + ], + [ + 0.2514984483570554, + -0.021855836734175682, + 0.9676109099702787, + -1.4836355050736603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.964583650708668, + 0.03354937583208084, + -0.2616348043732636, + 1.1245452085294003 + ], + [ + -0.02644556501712808, + 0.9991809725761414, + 0.030626428988783073, + -0.17145954350729725 + ], + [ + 0.26244802771422254, + -0.022622672840952873, + 0.9646808859696011, + -1.4914985216354277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9615616906036968, + 0.034421078860759735, + -0.27242300895216054, + 1.138146110193158 + ], + [ + -0.026945238651166145, + 0.999151885509491, + 0.03113677399871057, + -0.17193816991361963 + ], + [ + 0.2732637285657391, + -0.02259942516684532, + 0.9616736577319244, + -1.4975692497135094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9588406940000923, + 0.03632473573088646, + -0.28161147790189284, + 1.1500126206528183 + ], + [ + -0.028487152673676318, + 0.9990857839584351, + 0.031876843628814086, + -0.16844575259012848 + ], + [ + 0.2825119331824841, + -0.022542506456375122, + 0.9589988562177384, + -1.5057568481612087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9562658624518746, + 0.03657230734825135, + -0.2902035956916471, + 1.1630848354414582 + ], + [ + -0.027383964100132826, + 0.9989886879920962, + 0.035661079387300315, + -0.16991934765871522 + ], + [ + 0.29121431782401846, + -0.0261545479297638, + 0.956300271829044, + -1.5131473607497248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9536400504123399, + 0.03717278689146042, + -0.2986449212379607, + 1.1739368873838212 + ], + [ + -0.02627790205731609, + 0.9988373517990112, + 0.04041558113421724, + -0.17065997381425116 + ], + [ + 0.29980007507685724, + -0.030694156885147095, + 0.9535081647592566, + -1.5201667514617767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9508933178365713, + 0.03836609050631523, + -0.30713180410931384, + 1.1857835730588853 + ], + [ + -0.02566919444849566, + 0.9986447095870972, + 0.0452751153978622, + -0.1697179312973498 + ], + [ + 0.30845257948269594, + -0.03516798093914986, + 0.9505894173820412, + -1.5289526215704965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9486333206673002, + 0.04028557613492012, + -0.31380227061737226, + 1.1956032053867 + ], + [ + -0.026031582882219975, + 0.9984356164932251, + 0.0494837965502504, + -0.16964668633800956 + ], + [ + 0.31530485939948716, + -0.03877320885658264, + 0.948197995908627, + -1.5365253009440263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9468589529840582, + 0.042236704379320145, + -0.3188639316796982, + 1.2053172950256634 + ], + [ + -0.02703565174833967, + 0.9982836246490479, + 0.05195087535922478, + -0.16902905264702411 + ], + [ + 0.3205108841642567, + -0.04056945815682411, + 0.9463756587327523, + -1.5441862912804143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.945460642208461, + 0.04316286742687225, + -0.3228639696934833, + 1.2153027294686158 + ], + [ + -0.027345822745845565, + 0.9982003569602966, + 0.05336857428935556, + -0.1697176523567207 + ], + [ + 0.3245864967509702, + -0.04162890464067459, + 0.9449395224276484, + -1.5533761988210284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9443168902930076, + 0.04314858466386795, + -0.32619594907283117, + 1.2222751925634407 + ], + [ + -0.02675441018650867, + 0.9981508255004883, + 0.05458117110695512, + -0.1710798585540405 + ], + [ + 0.3279478674614156, + -0.042814742773771286, + 0.9437251111227178, + -1.5639067532692112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.943278061922448, + 0.04402574896812439, + -0.32907176724417125, + 1.229813927566465 + ], + [ + -0.026995348242574414, + 0.9980575442314148, + 0.05614614965704352, + -0.169961612526422 + ], + [ + 0.3309044337411537, + -0.044078025966882706, + 0.9426342866280553, + -1.5747145626455723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9428104582650109, + 0.04483237490057945, + -0.3303005641871196, + 1.2320294630207993 + ], + [ + -0.026583570400263146, + 0.9978705048561096, + 0.05956282991520838, + -0.1724724803859806 + ], + [ + 0.3322675263114286, + -0.047375891357660294, + 0.9419945687653839, + -1.5861816780304707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9422472127231047, + 0.044520363211631775, + -0.33194599586379264, + 1.2331822150921739 + ], + [ + -0.024687513669071334, + 0.997661828994751, + 0.06372882266835753, + -0.17464422841718935 + ], + [ + 0.3340070874363523, + -0.05185338482260704, + 0.941143201069053, + -1.594646064906527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9405888761935638, + 0.045292720198631294, + -0.3365132630464319, + 1.2524519638271092 + ], + [ + -0.024525350527880924, + 0.9975371956825259, + 0.06571184119984705, + -0.1622667249255831 + ], + [ + 0.3386607812602991, + -0.053554717451334014, + 0.9393832160080045, + -1.602441800935523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9407470073967605, + 0.04562442749738694, + -0.33602602156220046, + 1.250302412198413 + ], + [ + -0.022530458106481775, + 0.9971277117729189, + 0.07230963842768838, + -0.1717905978178379 + ], + [ + 0.33835994882985004, + -0.060454253107309355, + 0.9390728287162997, + -1.6137596300102666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9405274989721157, + 0.0456719771027565, + -0.3366335226074053, + 1.2511663177927304 + ], + [ + -0.021420492872853306, + 0.9969226717948914, + 0.07540802701740033, + -0.1677910130921315 + ], + [ + 0.33904162704951846, + -0.0637124627828598, + 0.9386114690397035, + -1.6213507634907214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9403719239491569, + 0.04617193341255189, + -0.3369996831525831, + 1.2517498533308042 + ], + [ + -0.020573879869809908, + 0.9966511726379397, + 0.07914018270379768, + -0.16887438537412416 + ], + [ + 0.3395252024535972, + -0.06748782098293306, + 0.938172738679365, + -1.6311739757736659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9404883771331967, + 0.04792289435863495, + -0.3364297344183063, + 1.2528800127138329 + ], + [ + -0.02132140408111402, + 0.9963774085044861, + 0.08232552863367583, + -0.17041867352785073 + ], + [ + 0.3391562628898114, + -0.07025304436683655, + 0.9381031313719933, + -1.638173301810189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9411442837907563, + 0.050139520317316055, + -0.33426560643650977, + 1.2510630075772486 + ], + [ + -0.022904660306474794, + 0.9961237907409668, + 0.08492821162497005, + -0.17158526891135426 + ], + [ + 0.3372281734279086, + -0.07227345556020737, + 0.9386446040944255, + -1.649035630869228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9416454875561936, + 0.052191369235515594, + -0.33253550846158286, + 1.249188497204929 + ], + [ + -0.02428884938885122, + 0.9958664178848267, + 0.08752192038317584, + -0.17192921355239082 + ], + [ + 0.33572883101536427, + -0.07433772087097168, + 0.9390207905042187, + -1.6544643118747138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9423073956491353, + 0.05520729720592499, + -0.3301650353417754, + 1.2468004545815008 + ], + [ + -0.02680733203909244, + 0.99558424949646, + 0.0899633864386252, + -0.17307221035498863 + ], + [ + 0.33367373370247094, + -0.07592231780290604, + 0.939626327081356, + -1.6613893272061715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.943242276256965, + 0.057696226984262466, + -0.3270553657180141, + 1.246047188377492 + ], + [ + -0.02915124509437161, + 0.9953762888908386, + 0.09152202459945152, + -0.1739463541773724 + ], + [ + 0.33082361830739637, + -0.076793372631073, + 0.9405628793798284, + -1.6678840778577562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9443609200705415, + 0.0599324069917202, + -0.32340456516754784, + 1.2433900519033185 + ], + [ + -0.03146525599414811, + 0.9952108263969421, + 0.09254916007386468, + -0.17598671842367522 + ], + [ + 0.327402418774431, + -0.07722380757331848, + 0.9417240103683878, + -1.6743319338823568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9455645706214713, + 0.06188993155956268, + -0.3194953949394382, + 1.2403194351730573 + ], + [ + -0.0338798462531191, + 0.9951361417770386, + 0.09250000908396779, + -0.17615767578315258 + ], + [ + 0.3236662366635458, + -0.07664027065038681, + 0.9430622909091376, + -1.6794076288917035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9472015352266853, + 0.0626441240310669, + -0.314459709591774, + 1.2353740053442055 + ], + [ + -0.035226520258907545, + 0.9951234459877014, + 0.09213270686016288, + -0.17608661037043064 + ], + [ + 0.31869780774461404, + -0.07619092613458633, + 0.9447892358484468, + -1.6871753262692615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9493813300701963, + 0.061684004962444305, + -0.30801005841707507, + 1.2300311176083383 + ], + [ + -0.03508664861870269, + 0.9952179193496704, + 0.09116070977597537, + -0.1735188324800961 + ], + [ + 0.31216027250201067, + -0.07573923468589783, + 0.9470055476619252, + -1.6917095770059114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9520560389528747, + 0.05909181758761406, + -0.3001623080501945, + 1.2263949245392873 + ], + [ + -0.03325061538082959, + 0.9953426122665405, + 0.09048488731730599, + -0.17249131496675485 + ], + [ + 0.30411125899968194, + -0.07616610825061798, + 0.9495868174140872, + -1.6986127897721788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9553551062002326, + 0.05426562577486038, + -0.2904338989883397, + 1.2211797346796147 + ], + [ + -0.029225110991400134, + 0.9955242872238159, + 0.0898737583401437, + -0.17019582136510336 + ], + [ + 0.29401106447317243, + -0.07737339287996292, + 0.9526651473883083, + -1.7037421483428237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9587860192388571, + 0.04877382889389992, + -0.2799115639066064, + 1.215493693226556 + ], + [ + -0.024460771823466555, + 0.9956678152084351, + 0.08970649000048211, + -0.1692679658833204 + ], + [ + 0.2830742625311791, + -0.07916247099637985, + 0.9558254206571729, + -1.7113078042920757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.96179451231854, + 0.044163934886455536, + -0.2701867951283004, + 1.209840909732231 + ], + [ + -0.020474202222020586, + 0.9957422614097595, + 0.0898782618755075, + -0.16912623064187016 + ], + [ + 0.2730057980868397, + -0.08091256022453308, + 0.958603695411108, + -1.7190398392930002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9640419723082091, + 0.04085274040699005, + -0.26259122968241605, + 1.2021910628092984 + ], + [ + -0.01760188936947939, + 0.9957595467567444, + 0.0902945119855056, + -0.16696903894228227 + ], + [ + 0.2651665041757313, + -0.08242559432983398, + 0.9606730994606939, + -1.7249374715461743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9655705357716802, + 0.03384984657168389, + -0.25792978381618736, + 1.1951936138129746 + ], + [ + -0.010064195815148932, + 0.9956165552139284, + 0.09298568718428023, + -0.1660818849122454 + ], + [ + 0.25994671558228477, + -0.08718838542699815, + 0.961678699323184, + -1.7308319804680574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9668069120584135, + 0.02437904290854931, + -0.2543422916308358, + 1.1894535919153126 + ], + [ + 0.0004543797724821043, + 0.9952720403671265, + 0.09712531625174604, + -0.16251274421118392 + ], + [ + 0.25550760855248156, + -0.09401699900627136, + 0.9622248743086903, + -1.7335938096294539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9671635420098305, + 0.015457728877663612, + -0.2536844104199393, + 1.183415021293046 + ], + [ + 0.010491514967494337, + 0.9948697090148926, + 0.10061886250269092, + -0.15887827983619784 + ], + [ + 0.2539382748616576, + -0.09997642040252686, + 0.9620395291191848, + -1.7327221013813756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9668573891660042, + 0.009571124799549581, + -0.25513749700761845, + 1.1780924078785808 + ], + [ + 0.016505573387799094, + 0.9948636293411257, + 0.09986967693722228, + -0.15825540401858526 + ], + [ + 0.25478288610433486, + -0.10077092051506045, + 0.9617332949607293, + -1.729250884301621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9661840605167011, + 0.004620170686393977, + -0.2578118878134289, + 1.1762083709135642 + ], + [ + 0.019910562337517222, + 0.9955174922943117, + 0.09245783607445753, + -0.15704624803930808 + ], + [ + 0.25708342215802876, + -0.09446447342634204, + 0.9617611736510608, + -1.724565866178699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9646077243970821, + -0.003989527001976967, + -0.26365899935526027, + 1.1712253244832072 + ], + [ + 0.02673346767538089, + 0.9962132573127747, + 0.08273144414043099, + -0.15491862351291805 + ], + [ + 0.26233053271826046, + -0.08685190230607986, + 0.9610616510765563, + -1.7228427670257844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9629255962609713, + -0.009954337030649187, + -0.26958338238633417, + 1.1690591184858052 + ], + [ + 0.031539621571177595, + 0.9966198205947878, + 0.07585638193578767, + -0.15546996934351212 + ], + [ + 0.2679170396287419, + -0.08154660463333131, + 0.9599846795142805, + -1.7206490018746405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9628430275679992, + -0.007765917107462883, + -0.26994990968774824, + 1.169310977557891 + ], + [ + 0.028449408144445975, + 0.996941328048706, + 0.07279183948047625, + -0.15488656294936762 + ], + [ + 0.2685589262793242, + -0.0777670368552208, + 0.9601189485258063, + -1.7194895333189584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9642561355139734, + -0.0012780249817296863, + -0.2649688399993362, + 1.1708543515281515 + ], + [ + 0.02142082898442199, + 0.9970913529396057, + 0.07314391529162236, + -0.15719927775097078 + ], + [ + 0.26410464880133, + -0.07620532065629959, + 0.9614787926825642, + -1.7204471175964904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9657958911386253, + 0.00533309206366539, + -0.25924856096812887, + 1.1737038588918427 + ], + [ + 0.014279724410499763, + 0.9971774220466614, + 0.07371048969522892, + -0.16073702357428166 + ], + [ + 0.25890992104090393, + -0.07489129155874252, + 0.9629937138691407, + -1.7187582900889564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9667822154297148, + 0.010697348043322565, + -0.25537769576972497, + 1.176470538024027 + ], + [ + 0.007746529893589975, + 0.9974386096000674, + 0.0711070563539621, + -0.16283407234741865 + ], + [ + 0.255484229471823, + -0.0707233250141144, + 0.9642230365374179, + -1.7168385760894616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9673887961641479, + 0.016546914353966713, + -0.2527551310003845, + 1.1797908179232564 + ], + [ + 0.000567487642081612, + 0.9977198839187622, + 0.0674888987309763, + -0.16536532743330434 + ], + [ + 0.25329554389074893, + -0.06543143838644028, + 0.965173610184295, + -1.715734428605109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9678424888778064, + 0.02297280728816986, + -0.25050584598504605, + 1.1836310051904753 + ], + [ + -0.007016592130233519, + 0.9978992342948914, + 0.06440404400836189, + -0.16698437761763646 + ], + [ + 0.25145912731902675, + -0.060575272887945175, + 0.9659704451387178, + -1.7155395242058638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9682510160628408, + 0.029364990070462227, + -0.2482492849513387, + 1.187705525920897 + ], + [ + -0.014125631394265755, + 0.9979168772697449, + 0.06294746879614467, + -0.16889012075969395 + ], + [ + 0.24958059974516558, + -0.05744227021932602, + 0.9666488152899676, + -1.7145507495568995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9686939462429073, + 0.03468935191631317, + -0.2458224931004465, + 1.1914762993236914 + ], + [ + -0.019945708295841028, + 0.9978634119033813, + 0.06221543070810451, + -0.17004822566697128 + ], + [ + 0.24745548230536346, + -0.05536460876464844, + 0.9673161409687226, + -1.7157387792049086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9690361710394818, + 0.038174718618392944, + -0.2439499919525578, + 1.1956995721891432 + ], + [ + -0.023701378621343288, + 0.9977951645851135, + 0.0619924516239587, + -0.17056426375169922 + ], + [ + 0.24577865717224698, + -0.054290980100631714, + 0.9678043624021327, + -1.7155724474008924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9692879183274153, + 0.041039831936359406, + -0.24248020548805116, + 1.200156327268474 + ], + [ + -0.02679675250302785, + 0.9977319240570068, + 0.061749293187946475, + -0.17154956255850667 + ], + [ + 0.24446441749489206, + -0.05335516482591629, + 0.9681892115228039, + -1.7147964995407092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9693319825572158, + 0.044611565768718726, + -0.2416719410165894, + 1.2035110793895185 + ], + [ + -0.030536536751560036, + 0.9976288676261904, + 0.061677586407815115, + -0.17311850144838054 + ], + [ + 0.24385043554347774, + -0.0524062290787697, + 0.9683958397924098, + -1.7163734846901257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9688505054542554, + 0.048627570271492004, + -0.24282506786085445, + 1.2088701334299001 + ], + [ + -0.03468494127308237, + 0.9975122809410095, + 0.06136959747027543, + -0.17534264774924263 + ], + [ + 0.24520524143137284, + -0.05103559046983719, + 0.968126922976126, + -1.7148852306969211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9681312456109649, + 0.05234432592988014, + -0.2449120530951303, + 1.2139822201462247 + ], + [ + -0.038641535850775253, + 0.9974243640899658, + 0.06042749961198656, + -0.17730237712932057 + ], + [ + 0.24744429504977986, + -0.04903797432780266, + 0.9676603906505069, + -1.7129302438097391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9672924378585058, + 0.054215915501117706, + -0.2478022044111722, + 1.2195890540614522 + ], + [ + -0.040800768477629486, + 0.9974262714385986, + 0.05895874143643322, + -0.17846784698444518 + ], + [ + 0.2503609331674922, + -0.046919822692871094, + 0.9670149484843404, + -1.7114208057735485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9663570704964316, + 0.054628342390060425, + -0.2513359337973257, + 1.2241780454483668 + ], + [ + -0.04144970389952034, + 0.9974883198738098, + 0.057436755950806134, + -0.1789220562682809 + ], + [ + 0.25384233081185775, + -0.04508661851286888, + 0.9661942110187406, + -1.711008300729243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9640529886834687, + 0.05525980517268181, + -0.2599003606211316, + 1.2346041099136618 + ], + [ + -0.04143758924453672, + 0.9974347352981567, + 0.05836859559181826, + -0.17954914113048215 + ], + [ + 0.26245907653878453, + -0.045500773936510086, + 0.9638697416964208, + -1.709455064076487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/pan_right/transforms.json b/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..9f73c42eaedecdcb8dd373678f22350b0a246f37 --- /dev/null +++ b/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/pan_right/transforms.json @@ -0,0 +1,5683 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 162, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -0.0001700655120657757, + -9.52671398408711e-05, + 0.0003572060668375343 + ], + [ + 0.00017006041889544576, + 1.0, + -5.3571839089272544e-05, + 0.000157554866746068 + ], + [ + 9.527624933980405e-05, + 5.355563553166576e-05, + 1.0, + 0.00020568887703120708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999932161669225, + 0.0003728344163391739, + 0.0036653306623867106, + 0.008934608660638332 + ], + [ + -0.0003707282688203698, + 0.9999997615814209, + -0.0005752729885249592, + -0.0029863270465284586 + ], + [ + -0.003665544206790875, + 0.0005739102489314973, + 0.9999930966102341, + -0.010724040679633617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999837941592556, + 0.0011963817523792386, + 0.005564478769969371, + 0.01821749098598957 + ], + [ + -0.0011830620065776364, + 0.9999964237213135, + -0.002396400866306777, + -0.0023783373180776834 + ], + [ + -0.005567325814526774, + 0.0023897788487374783, + 0.9999816391216012, + -0.021645648404955864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999801561515396, + 0.0014018012443557384, + 0.006140363946366982, + 0.024972153827548027 + ], + [ + -0.0013830272623626821, + 0.9999943375587466, + -0.0030606534277684387, + -0.003304215846583247 + ], + [ + -0.006144619707368308, + 0.0030521003063768157, + 0.9999764398587632, + -0.03397631645202637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999910533380626, + 0.0020221506711095576, + 0.003711260886651335, + 0.03581065312027931 + ], + [ + -0.002012020991430563, + 0.999994218349457, + -0.0027311805974259942, + -0.003752700053155422 + ], + [ + -0.003716762800850133, + 0.0027236891910433774, + 0.9999894081918261, + -0.04527977854013443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999906404803632, + 0.004193398170173168, + 0.0010596161484990748, + 0.045826468616724014 + ], + [ + -0.004190818756535439, + 0.9999882578849792, + -0.002424932892050611, + -0.0038483096286654472 + ], + [ + -0.0010697728501393572, + 0.0024204696528613567, + 0.9999965185618237, + -0.05757387354969978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999708102664968, + 0.007084221113473179, + -0.002864060363530153, + 0.056017402559518814 + ], + [ + -0.007088153050727672, + 0.9999739527702334, + -0.0013648937810074111, + -0.005431127268821001 + ], + [ + 0.0028543171951295964, + 0.0013851549010723831, + 0.9999949754493405, + -0.07187995314598083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.999908659471371, + 0.010625211521983147, + -0.008356639259821387, + 0.06571543961763382 + ], + [ + -0.010629455641948591, + 0.9999433755874634, + -0.0004636244066692257, + -0.004966766107827425 + ], + [ + 0.008351240567940574, + 0.0005524085718207061, + 0.9999649876645923, + -0.08559319376945496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9997825680450454, + 0.01481644157320261, + -0.014671077850034353, + 0.07486511766910553 + ], + [ + -0.01479525018085393, + 0.9998893141746521, + 0.0015518646991971195, + -0.005533986259251833 + ], + [ + 0.014692447252709311, + -0.0013344651088118553, + 0.9998911568520286, + -0.10052717477083206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9996148738608363, + 0.018113205209374428, + -0.02102357938390117, + 0.08540251851081848 + ], + [ + -0.018048829378227476, + 0.9998318552970886, + 0.00324778451157395, + -0.004907989874482155 + ], + [ + 0.021078868722028698, + -0.0028670828323811293, + 0.9997737119001382, + -0.11285471171140671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9994093183236901, + 0.021844234317541122, + -0.026529723135106976, + 0.09401217848062515 + ], + [ + -0.02170544433561, + 0.9997492432594299, + 0.005508294772932586, + -0.005794895347207785 + ], + [ + 0.026643397744216934, + -0.004929202143102884, + 0.9996328659137975, + -0.1262994259595871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9991429701631303, + 0.02683545462787152, + -0.03151505439939454, + 0.10229446738958359 + ], + [ + -0.02658367306252643, + 0.9996114373207095, + 0.008381271449684159, + -0.0056594302877783775 + ], + [ + 0.03172772320613483, + -0.007536302320659162, + 0.9994681546077274, + -0.14043447375297546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9988678464114341, + 0.031133845448493964, + -0.035968235936420484, + 0.11192267388105392 + ], + [ + -0.03072173488653149, + 0.9994564652442934, + 0.011954210724650282, + -0.005816259887069464 + ], + [ + 0.03632086380692497, + -0.01083567086607218, + 0.9992814284229669, + -0.15321208536624908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9986548483261446, + 0.035524770617485046, + -0.03776837274803, + 0.11873222142457962 + ], + [ + -0.03493472015272078, + 0.9992587566375732, + 0.01616979840049478, + -0.008144262246787548 + ], + [ + 0.038314809474760604, + -0.014828619547188282, + 0.999155685853919, + -0.1667008399963379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9985065542204318, + 0.03937753662467003, + -0.03786929046059703, + 0.1266917735338211 + ], + [ + -0.0386730259322037, + 0.9990682005882263, + 0.019160034587858633, + -0.008148695342242718 + ], + [ + 0.03858848026442028, + -0.017666900530457497, + 0.9990989788642578, + -0.17980197072029114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9984670050245618, + 0.04101075977087021, + -0.037171844026400884, + 0.1321946680545807 + ], + [ + -0.04022082058390706, + 0.9989539384841919, + 0.021755704242529827, + -0.012193955481052399 + ], + [ + 0.038025177380760666, + -0.02022727206349373, + 0.9990720627153066, + -0.1928471177816391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9984725643095667, + 0.04214884713292122, + -0.03572149007170213, + 0.13611939549446106 + ], + [ + -0.04137975553607535, + 0.9989011883735657, + 0.02200303926436194, + -0.014308399520814419 + ], + [ + 0.036609643216091586, + -0.020491285249590874, + 0.9991195314290484, + -0.20451126992702484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9985053165919423, + 0.04329197853803635, + -0.03336091315253159, + 0.1403041034936905 + ], + [ + -0.04264476584293515, + 0.9988926053047182, + 0.01987399426770702, + -0.014669486321508884 + ], + [ + 0.03418435394133478, + -0.018421621993184093, + 0.9992457608021174, + -0.2166428118944168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9985698138663206, + 0.04354104027152062, + -0.03102442434540504, + 0.1448260098695755 + ], + [ + -0.04302456844037793, + 0.9989272356033327, + 0.01712505322280314, + -0.01581854559481144 + ], + [ + 0.031736785355473224, + -0.01576574891805649, + 0.9993718853329926, + -0.22849489748477936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9987182622634446, + 0.04202692583203316, + -0.02820532349949596, + 0.1480880081653595 + ], + [ + -0.04165682353584379, + 0.9990396499633789, + 0.013583805570714222, + -0.015910321846604347 + ], + [ + 0.028749118777085685, + -0.012391451746225357, + 0.9995098217624239, + -0.2409168928861618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9989104739781094, + 0.03999634459614754, + -0.024044559071463512, + 0.14944517612457275 + ], + [ + -0.03973945999495517, + 0.9991487860679626, + 0.011068462620671985, + -0.018341347575187683 + ], + [ + 0.024466792065385143, + -0.010100885294377804, + 0.9996496250261461, + -0.25216975808143616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9991297348414367, + 0.037298623472452164, + -0.01867017878447221, + 0.15187741816043854 + ], + [ + -0.03714052495816811, + 0.999271810054779, + 0.008744497783777444, + -0.020225366577506065 + ], + [ + 0.01898274274895012, + -0.008043467998504639, + 0.9997874403409522, + -0.2652313709259033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9993501509307812, + 0.033962756395339966, + -0.012073847435290507, + 0.15279394388198853 + ], + [ + -0.033879492057276306, + 0.9994011521339417, + 0.007035383622087804, + -0.021683480590581894 + ], + [ + 0.012305559869559241, + -0.006621755659580231, + 0.9999023860927354, + -0.27775487303733826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9995242077792594, + 0.03044758550822735, + -0.004933503994933621, + 0.15420976281166077 + ], + [ + -0.030415786156703675, + 0.9995168447494507, + 0.006397292601788533, + -0.024134809151291847 + ], + [ + 0.005125900796217494, + -0.006244192831218243, + 0.999967361969701, + -0.2899528443813324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9996025698483947, + 0.028058107942342765, + 0.0027317624485964616, + 0.15420001745224 + ], + [ + -0.028073765742010356, + 0.9995886087417605, + 0.005872175831144934, + -0.02448395825922489 + ], + [ + -0.0025658795573999154, + -0.005946532823145391, + 0.9999790562251017, + -0.30367136001586914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9996150779374822, + 0.025857117027044296, + 0.010057505822420139, + 0.15395155549049377 + ], + [ + -0.025920761956165248, + 0.9996444582939148, + 0.006249894747660001, + -0.0259089432656765 + ], + [ + -0.009892326461156398, + -0.006508186925202608, + 0.9999299090706307, + -0.31682512164115906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.999577990158705, + 0.023852512240409858, + 0.01658126144962514, + 0.1563156098127365 + ], + [ + -0.023967794971685913, + 0.9996896982192995, + 0.00678897140974077, + -0.027391793206334114 + ], + [ + -0.016414181789862523, + -0.0071835224516689795, + 0.9998394993670092, + -0.32960641384124756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9994617565509347, + 0.02139987051486969, + 0.024865287528346394, + 0.15465779602527618 + ], + [ + -0.021568138993742218, + 0.9997461438179016, + 0.006518779004940955, + -0.02770722284913063 + ], + [ + -0.024719475236393593, + -0.007051568012684584, + 0.9996695818218785, + -0.34373465180397034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9992860810174339, + 0.019409574568271637, + 0.0324129958359405, + 0.1576153039932251 + ], + [ + -0.019616549761040533, + 0.9997891187667847, + 0.006079803946188093, + -0.027977170422673225 + ], + [ + -0.03228815354000148, + -0.006711294408887625, + 0.9994560905415499, + -0.3573228120803833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9989138732551587, + 0.018336135894060135, + 0.04283493918715074, + 0.15536849200725555 + ], + [ + -0.018604654672229867, + 0.9998096227645874, + 0.005878423996495226, + -0.029273798689246178 + ], + [ + -0.04271899877709355, + -0.006668968591839075, + 0.9990648821615541, + -0.3722202479839325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9983803582554691, + 0.016671868041157722, + 0.054394199602456436, + 0.1550450176000595 + ], + [ + -0.01701218228007626, + 0.9998384714126587, + 0.005799401082007231, + -0.03135509416460991 + ], + [ + -0.05428872594334414, + -0.006715372204780579, + 0.9985027105594975, + -0.38757258653640747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9977403209601945, + 0.014401845633983612, + 0.06562680919006916, + 0.15673163533210754 + ], + [ + -0.014792877420160536, + 0.9998756051063538, + 0.005476362567625176, + -0.032762035727500916 + ], + [ + -0.06553977426359699, + -0.006434796843677759, + 0.9978292195090404, + -0.40247049927711487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9970106591353758, + 0.012659292668104172, + 0.07622007719506325, + 0.15948918461799622 + ], + [ + -0.013107564074651093, + 0.9998996257781982, + 0.005383864748936191, + -0.03676994517445564 + ], + [ + -0.07614427021665104, + -0.0063668303191661835, + 0.9970765010795094, + -0.41682976484298706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.996078740929487, + 0.011428670957684519, + 0.08772958914944097, + 0.16055989265441895 + ], + [ + -0.011785684179262906, + 0.9999242424964907, + 0.003552567162069666, + -0.039113257080316544 + ], + [ + -0.08768234021088744, + -0.004572590347379447, + 0.9961379848138122, + -0.4331139922142029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9949411318845927, + 0.009468458592891693, + 0.10001267615327046, + 0.16075053811073303 + ], + [ + -0.009621931368763869, + 0.9999531507492065, + 0.0010522615203473308, + -0.04151032492518425 + ], + [ + -0.09999802575044069, + -0.0020092532504349947, + 0.9949855803556803, + -0.44810938835144043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9936929888687261, + 0.00842290371656418, + 0.11181811174024979, + 0.1624477207660675 + ], + [ + -0.008301033500127557, + 0.9999643564224245, + -0.001555426923783634, + -0.043921537697315216 + ], + [ + -0.11182722463934264, + 0.0006174109876155854, + 0.9937274546325037, + -0.4641064405441284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9922762200746987, + 0.009423973970115185, + 0.12368931535472151, + 0.16474148631095886 + ], + [ + -0.008933113839744324, + 0.9999498724937439, + -0.0045225038237651505, + -0.04450956732034683 + ], + [ + -0.12372574135310532, + 0.003382642287760973, + 0.9923106856349756, + -0.4787631332874298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9905427229427889, + 0.012311662547290325, + 0.13665126386216114, + 0.16732092201709747 + ], + [ + -0.011543284267463436, + 0.9999127984046936, + -0.006413944680591404, + -0.047555968165397644 + ], + [ + -0.13671831961003783, + 0.004775881767272949, + 0.9905984560534892, + -0.4944572150707245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9883277613416436, + 0.01600943692028523, + 0.15149907924467215, + 0.16939155757427216 + ], + [ + -0.014898638574157123, + 0.9998531937599184, + -0.00846440487841441, + -0.04615350812673569 + ], + [ + -0.15161235010044313, + 0.006108475849032404, + 0.9884211402756167, + -0.5103331208229065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9857426313995928, + 0.01903253979980946, + 0.16718022282284276, + 0.17085717618465424 + ], + [ + -0.01792466607027299, + 0.9998062849044802, + -0.008133415737030652, + -0.046142980456352234 + ], + [ + -0.1673026404468149, + 0.005020805168896914, + 0.9858928294275019, + -0.5247246026992798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9833225710496938, + 0.020494209602475166, + 0.18071161014277637, + 0.1762102097272873 + ], + [ + -0.020052738697387825, + 0.999789834022522, + -0.004269744031446709, + -0.05061676725745201 + ], + [ + -0.1807611278496338, + 0.000574773526750505, + 0.9835268510244162, + -0.5400218963623047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9807857376708977, + 0.02058982476592064, + 0.1939982980418912, + 0.17578546702861786 + ], + [ + -0.02075413339908049, + 0.9997839331626892, + -0.001185666921147901, + -0.04913225397467613 + ], + [ + -0.1939807793878832, + -0.0028633810579776764, + 0.9810011255221193, + -0.55474454164505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9781250198354323, + 0.018947115167975426, + 0.20715311104756956, + 0.177211731672287 + ], + [ + -0.019968600732805732, + 0.9997965693473816, + 0.002841028008457242, + -0.054058898240327835 + ], + [ + -0.20705715641042804, + -0.006915438920259476, + 0.9783044224777466, + -0.5676556825637817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9754693321214204, + 0.018185194581747055, + 0.21938289430593055, + 0.1836106926202774 + ], + [ + -0.01958841383976641, + 0.9997991919517517, + 0.004222547006801084, + -0.05830048769712448 + ], + [ + -0.21926204572452543, + -0.008416328579187393, + 0.9756296819857434, + -0.5809316635131836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9725104784452446, + 0.01652028039097786, + 0.2322724848032648, + 0.1901932805776596 + ], + [ + -0.01827930478752227, + 0.9998182058334351, + 0.00542267727815791, + -0.06735234707593918 + ], + [ + -0.23214066470916225, + -0.00951938983052969, + 0.9726356165706663, + -0.5949254035949707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9689286639288686, + 0.013262657448649406, + 0.24698451196549273, + 0.19315098226070404 + ], + [ + -0.014698086141097013, + 0.9998841285705566, + 0.003968978467510257, + -0.07139035314321518 + ], + [ + -0.2469032534178805, + -0.007475856691598892, + 0.9690112985057789, + -0.6095713973045349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9654418529236322, + 0.010156394913792612, + 0.26042067605068525, + 0.1972389668226242 + ], + [ + -0.01101666505224495, + 0.9999375939369204, + 0.0018438941735670832, + -0.07277492433786392 + ], + [ + -0.26038569385867993, + -0.0046491394750773915, + 0.9654934873351173, + -0.6227546334266663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9623779810788567, + 0.006517765112221243, + 0.2716360694656347, + 0.20342715084552765 + ], + [ + -0.006574085834036525, + 0.9999781250953677, + -0.0007026581410281116, + -0.06855913251638412 + ], + [ + -0.27163472019630225, + -0.001109536155126989, + 0.9623997842279199, + -0.6335233449935913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.959292776013331, + 0.0008287974051199853, + 0.28241221840587094, + 0.20910941064357758 + ], + [ + -0.0013143641171906382, + 0.9999979734420776, + 0.001529906677571675, + -0.07683950662612915 + ], + [ + -0.28241038641396315, + -0.0018388209864497185, + 0.9592919029217082, + -0.6479128003120422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9568431598243986, + -0.00464787008240819, + 0.2905677416012217, + 0.21904096007347107 + ], + [ + 0.004292942904860805, + 0.9999890327453613, + 0.0018589335210766758, + -0.0765438824892044 + ], + [ + -0.2905731885076354, + -0.0005313170258887112, + 0.9568525909722764, + -0.6630423665046692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9550699369599113, + -0.010879850015044214, + 0.29618070154558934, + 0.23245088756084442 + ], + [ + 0.01040069296882021, + 0.9999408125877383, + 0.003193377635806703, + -0.07899384200572968 + ], + [ + -0.29619790726259587, + 3.058533184230328e-05, + 0.9551266029025155, + -0.6779075264930725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9536770446680839, + -0.01666366122663021, + 0.30037054710677175, + 0.24387875199317932 + ], + [ + 0.01583534025020767, + 0.9998611211776733, + 0.005192075058050537, + -0.08527465164661407 + ], + [ + -0.3004153505972956, + -0.00019509275443851948, + 0.9538084317975031, + -0.6931284666061401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9529461381056089, + -0.020439466461539272, + 0.3024498788855406, + 0.2564924955368042 + ], + [ + 0.019621994948101074, + 0.9997909665107729, + 0.005741414333166116, + -0.08648966997861862 + ], + [ + -0.3025040144906558, + 0.0004634105134755374, + 0.9531479828217243, + -0.7056312561035156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9524974122307298, + -0.02305523492395878, + 0.3036727703343061, + 0.2675420939922333 + ], + [ + 0.022372043447928872, + 0.9997332692146301, + 0.005729104974759388, + -0.0904797688126564 + ], + [ + -0.30372386250798394, + 0.001336822402663529, + 0.9527591669756128, + -0.7187626957893372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9522858893263424, + -0.02572817727923394, + 0.30412110322566416, + 0.27521997690200806 + ], + [ + 0.025284811776071375, + 0.9996657371520998, + 0.005396563752980867, + -0.09794437140226364 + ], + [ + -0.30415827859974787, + 0.0025505728553980593, + 0.9526181124015402, + -0.731167197227478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9532188440226169, + -0.026527201756834984, + 0.3011148824380299, + 0.2914818525314331 + ], + [ + 0.027469501357678876, + 0.9996220469474792, + 0.0011049861559285327, + -0.09606492519378662 + ], + [ + -0.3010303828322683, + 0.00721818208694458, + 0.9535872197947813, + -0.7462695837020874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.954356964531111, + -0.02565848082304001, + 0.29756421741955624, + 0.3049100339412689 + ], + [ + 0.027640959036224013, + 0.9996148943901062, + -0.0024557411249353485, + -0.09822390973567963 + ], + [ + -0.29738662282853856, + 0.010568613186478615, + 0.9546986598264956, + -0.761949360370636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9559188819473796, + -0.02466599829494953, + 0.2925931021956002, + 0.3191341757774353 + ], + [ + 0.02747048472018256, + 0.9996076226234436, + -0.005479402082422183, + -0.09961668401956558 + ], + [ + -0.29234313252786015, + 0.013275537639856339, + 0.9562213717191793, + -0.7772349715232849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9583350275908147, + -0.022413400933146477, + 0.2847659081314575, + 0.33660414814949036 + ], + [ + 0.02573054090743832, + 0.9996376037597656, + -0.007912462352166609, + -0.09962491691112518 + ], + [ + -0.28448534875190595, + 0.01490996964275837, + 0.9585644086706844, + -0.7944821119308472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9681535812431276, + -0.02341410145163536, + 0.24925963805797863, + 0.4702962040901184 + ], + [ + 0.026401216791035388, + 0.9996140003204346, + -0.008647077923682836, + -0.10174617171287537 + ], + [ + -0.24896098187226895, + 0.014952457509934902, + 0.9683980698990953, + -0.8168489933013916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9757886540359559, + -0.018689662218093872, + 0.21791548602036723, + 0.573972761631012 + ], + [ + 0.020891480739823852, + 0.9997512698173523, + -0.007804202276039895, + -0.1108771488070488 + ], + [ + -0.21771542841145117, + 0.012167830020189285, + 0.975936458158054, + -0.8347246646881104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9789336824875453, + -0.01156892441213131, + 0.20385040799666113, + 0.6014339327812195 + ], + [ + 0.015118562527950402, + 0.9997598528862, + -0.015864201605000326, + -0.0765080600976944 + ], + [ + -0.20361792530850173, + 0.018611926585435867, + 0.9788734990120284, + -0.8907214403152466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9762487993169741, + -0.012940308079123497, + 0.21626563987307912, + 0.5265659093856812 + ], + [ + 0.014317923908815375, + 0.9998859763145447, + -0.004804384499449886, + -0.11751101911067963 + ], + [ + -0.21617881062719893, + 0.007786749862134457, + 0.9763227637992792, + -0.8741821050643921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9726194181192712, + -0.005553782917559147, + 0.23233727358247874, + 0.4309881329536438 + ], + [ + 0.008503330727247828, + 0.999895453453064, + -0.011695508974119036, + -0.08908511698246002 + ], + [ + -0.23224802840095027, + 0.013350920751690865, + 0.9725649590553702, + -0.8813568353652954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9769548894660327, + -0.0015152019914239645, + 0.2134403847428009, + 0.4776698350906372 + ], + [ + 0.003981307545761716, + 0.999930202960968, + -0.011124708447613594, + -0.09058862179517746 + ], + [ + -0.21340863583862513, + 0.01171811018139124, + 0.9768927631965995, + -0.8989061117172241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9793605507974251, + 0.004555829800665379, + 0.2020697607947202, + 0.48569029569625854 + ], + [ + -0.0027468642507425946, + 0.9999536275863647, + -0.009231702862110834, + -0.09971350431442261 + ], + [ + -0.20210243765611538, + 0.008486106991767883, + 0.9793275940279252, + -0.9183420538902283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9814291647712992, + 0.009851059876382351, + 0.1915717219401158, + 0.48876023292541504 + ], + [ + -0.00854777433342109, + 0.9999343752861023, + -0.007628358463398739, + -0.10808613151311874 + ], + [ + -0.19163430093497746, + 0.005849181674420834, + 0.9814489804511999, + -0.9366067051887512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9852290947645559, + 0.014386736787855625, + 0.17063600228597137, + 0.5446013808250427 + ], + [ + -0.012663621374851518, + 0.9998573064804077, + -0.011182374115252542, + -0.09491784870624542 + ], + [ + -0.17077252952731567, + 0.008856330998241901, + 0.9852707037372612, + -0.9526539444923401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9856870060711479, + 0.020590243861079216, + 0.1673235655606925, + 0.5419906377792358 + ], + [ + -0.019493484246741785, + 0.9997764229774475, + -0.008194696831636017, + -0.10281393676996231 + ], + [ + -0.16745488324124305, + 0.004815686959773302, + 0.9858679913973123, + -0.9721998572349548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9862237926557338, + 0.02679283730685711, + 0.16323212522673833, + 0.5534288883209229 + ], + [ + -0.026013851379462407, + 0.9996377229690552, + -0.0069082584599196705, + -0.10327968001365662 + ], + [ + -0.1633580787360584, + 0.0025667930021882057, + 0.9865634937101534, + -0.9885601997375488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9858119059198427, + 0.03126271069049835, + 0.16491667999992757, + 0.5439258813858032 + ], + [ + -0.030658115358981778, + 0.999510645866394, + -0.006210881589636223, + -0.10668312758207321 + ], + [ + -0.16503014774392324, + 0.0010667263995856047, + 0.986287936163295, + -1.0061243772506714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9855868446609868, + 0.03320863097906113, + 0.16587884438577366, + 0.5384499430656433 + ], + [ + -0.0325373771250835, + 0.9994476437568665, + -0.006763254938166197, + -0.1121542751789093 + ], + [ + -0.16601180941939486, + 0.0012685126857832074, + 0.9861229227285514, + -1.0222246646881104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9867278443323836, + 0.03329611942172051, + 0.15893233641174512, + 0.569679319858551 + ], + [ + -0.032127714782598786, + 0.9994345903396609, + -0.0099160478683716, + -0.11370326578617096 + ], + [ + -0.15917264059824623, + 0.004678307566791774, + 0.987239660220749, + -1.0368549823760986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9867607445124761, + 0.03329489007592201, + 0.15872815426660092, + 0.5703945755958557 + ], + [ + -0.03149323720401606, + 0.999407947063446, + -0.01385314960606012, + -0.117412269115448 + ], + [ + -0.15909542482304403, + 0.008670881390571594, + 0.9872251311533208, + -1.0540142059326172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9877598553488506, + 0.035193633288145065, + 0.15195994536235785, + 0.5966552495956421 + ], + [ + -0.03286562441204501, + 0.9993011951446533, + -0.01780529089832634, + -0.12260206788778305 + ], + [ + -0.15248039098640892, + 0.012593094259500504, + 0.9882262879666242, + -1.0700682401657104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9874902727934206, + 0.03712228313088417, + 0.15324777658464953, + 0.5896960496902466 + ], + [ + -0.03422939693228888, + 0.9991832971572876, + -0.021473522055589084, + -0.12409821152687073 + ], + [ + -0.1539197576181043, + 0.01595931500196457, + 0.9879544329127256, + -1.0874249935150146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9872617551700676, + 0.03990742936730385, + 0.15401825830163185, + 0.5906458497047424 + ], + [ + -0.036385491961565083, + 0.999009370803833, + -0.025619634842609394, + -0.12175323069095612 + ], + [ + -0.1548880963564876, + 0.019689254462718964, + 0.9877357757507295, + -1.102341651916504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.987649084342304, + 0.04007822647690774, + 0.1514695431560267, + 0.6076818108558655 + ], + [ + -0.035921813617534694, + 0.9989018440246584, + -0.03007911260844573, + -0.1152423769235611 + ], + [ + -0.1525087211313602, + 0.024266546592116363, + 0.9880041723456333, + -1.1166632175445557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9881444283612468, + 0.038542490452528, + 0.14861044313441193, + 0.6236165761947632 + ], + [ + -0.034010193152384786, + 0.9988791346549988, + -0.03292035172427797, + -0.11100738495588303 + ], + [ + -0.14971270292547129, + 0.027475792914628983, + 0.9883476888560931, + -1.1315828561782837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9886173797285104, + 0.036565825343132026, + 0.14594027673530402, + 0.6391854882240295 + ], + [ + -0.03210684953764018, + 0.9989463090896609, + -0.032793597573631185, + -0.11757989227771759 + ], + [ + -0.14698562902202145, + 0.027734639123082168, + 0.9887497338347496, + -1.1475892066955566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9892174224776179, + 0.03383217379450799, + 0.14249307084289606, + 0.657208263874054 + ], + [ + -0.029389233058683784, + 0.9990174770355227, + -0.033170708354330065, + -0.1195511743426323 + ], + [ + -0.14347530752614074, + 0.028625281527638442, + 0.9892398034356975, + -1.1630736589431763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9897007452472462, + 0.030303129926323898, + 0.13990787891144668, + 0.6662575602531433 + ], + [ + -0.025859542501150454, + 0.9991050958633425, + -0.03347061950242314, + -0.11722110956907272 + ], + [ + -0.14079693637835639, + 0.029507942497730262, + 0.9895986558994377, + -1.1794509887695312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.990330323888349, + 0.026655958965420723, + 0.13614428225412278, + 0.6796075105667114 + ], + [ + -0.022332760903039612, + 0.9991996884346008, + -0.033184030760913884, + -0.11623944342136383 + ], + [ + -0.13691987968119307, + 0.02982267364859581, + 0.990133074745087, + -1.1942521333694458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9908417768440598, + 0.025596842169761658, + 0.1325796862154235, + 0.6945331692695618 + ], + [ + -0.021380876817329374, + 0.999222457408905, + -0.03312629046160821, + -0.1199410930275917 + ], + [ + -0.13332452954434215, + 0.02998824417591095, + 0.990618646700665, + -1.2100728750228882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9912780994161142, + 0.0280472282320261, + 0.1287675801267494, + 0.7078548669815063 + ], + [ + -0.023573314191095318, + 0.9990687370300293, + -0.03613797473537417, + -0.1155649721622467 + ], + [ + -0.1296612317590335, + 0.032787300646305084, + 0.9910161081234836, + -1.2237738370895386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9918367410704935, + 0.03241575881838799, + 0.12332539680992785, + 0.7240141034126282 + ], + [ + -0.027866568099807976, + 0.9988724589347842, + -0.03843590982782388, + -0.1170472651720047 + ], + [ + -0.12443226834249846, + 0.03468549251556397, + 0.9916216895681323, + -1.2380956411361694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9921903627941563, + 0.03768162056803703, + 0.11890510111298123, + 0.7335184812545776 + ], + [ + -0.03292432692915889, + 0.9985865354537964, + -0.04172371073499375, + -0.11642499268054962 + ], + [ + -0.12030925040643416, + 0.03748299553990364, + 0.9920285866032509, + -1.2547942399978638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9927009081679993, + 0.04100837558507919, + 0.1134158773535245, + 0.7489757537841797 + ], + [ + -0.036178614592378665, + 0.9983620643615723, + -0.04432062470922309, + -0.11798738688230515 + ], + [ + -0.11504762887192468, + 0.039893899112939835, + 0.9925585814476333, + -1.2693833112716675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.993148438161219, + 0.043431419879198074, + 0.10848888248999884, + 0.756503701210022 + ], + [ + -0.038589131878056016, + 0.9981799721717834, + -0.046342393058539585, + -0.11858697235584259 + ], + [ + -0.11030415427106997, + 0.0418383851647377, + 0.9930169089479558, + -1.286383032798767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.993892282999535, + 0.04649665579199791, + 0.1000808713354356, + 0.773633599281311 + ], + [ + -0.04198751741629448, + 0.9980261325836182, + -0.046700302760518515, + -0.11979486793279648 + ], + [ + -0.10205472607696785, + 0.042212922126054764, + 0.993882714705937, + -1.2999235391616821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9940810918043014, + 0.0516556091606617, + 0.09557448143830088, + 0.7804951667785645 + ], + [ + -0.04738646540059436, + 0.9977977871894836, + -0.04641265115458518, + -0.12059605121612549 + ], + [ + -0.09776147467175039, + 0.04160900413990021, + 0.9943396439414174, + -1.3142765760421753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9940056989983911, + 0.05788640305399896, + 0.092745903683159, + 0.7912923693656921 + ], + [ + -0.054109164560177815, + 0.9976199865341189, + -0.04273843114755257, + -0.1289655566215515 + ], + [ + -0.09499914439813353, + 0.037463840097188957, + 0.9947721585000754, + -1.3310731649398804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9935159478517598, + 0.06370768696069719, + 0.0941666095866763, + 0.7948336005210876 + ], + [ + -0.06023243819797784, + 0.9974104166030886, + -0.03930074062502767, + -0.13149617612361908 + ], + [ + -0.09642651307224197, + 0.033374030143022544, + 0.9947804021052989, + -1.3476992845535278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9930617889637982, + 0.06766312569379808, + 0.09617693120457445, + 0.8035339713096619 + ], + [ + -0.06456746920416954, + 0.9973012804985049, + -0.034946402901012266, + -0.13444775342941284 + ], + [ + -0.09828196272114702, + 0.02849403396248818, + 0.9947506227863925, + -1.3626741170883179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9927152163579577, + 0.07028655707836151, + 0.09785844320824452, + 0.8137111067771912 + ], + [ + -0.06764649471965416, + 0.997256875038147, + -0.03004382107252947, + -0.1333262175321579 + ], + [ + -0.0997016915426529, + 0.02320517785847187, + 0.9947467748209475, + -1.3755236864089966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9923596673044871, + 0.07086188346147539, + 0.10099940197821299, + 0.8179843425750732 + ], + [ + -0.06881637275502246, + 0.9973501563072207, + -0.02359930857764828, + -0.13674896955490112 + ], + [ + -0.10240406467422665, + 0.016468590125441555, + 0.9946065763988973, + -1.391302227973938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9922125353262166, + 0.06953527033329011, + 0.10334013766522558, + 0.8263546824455261 + ], + [ + -0.06818199773526057, + 0.9975352287292483, + -0.016574915811789718, + -0.14193947613239288 + ], + [ + -0.10423795661719873, + 0.009399901144206526, + 0.9945079356424537, + -1.403275966644287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9922564884784157, + 0.06606130301952362, + 0.1051806299901962, + 0.8339785933494568 + ], + [ + -0.06540010543278992, + 0.9978117346763611, + -0.009726710491632037, + -0.14662186801433563 + ], + [ + -0.10559302961299744, + 0.0027725673280656338, + 0.9944055804901312, + -1.4179058074951172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9927241766765859, + 0.06109753996133804, + 0.10375861539135896, + 0.848964273929596 + ], + [ + -0.06103719680338261, + 0.9981284141540527, + -0.003759602291839076, + -0.1463046669960022 + ], + [ + -0.10379412582459216, + -0.002600886858999729, + 0.9945954190865257, + -1.4288287162780762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.992919323639515, + 0.05717329680919647, + 0.10412719201602742, + 0.8566917181015015 + ], + [ + -0.05766887787383471, + 0.9983342289924622, + 0.0017524668594480388, + -0.15036869049072266 + ], + [ + -0.10385354532864505, + -0.0077449562959373, + 0.9945624641209682, + -1.441583514213562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9931802642640482, + 0.05391128361225128, + 0.10337571067342778, + 0.8677163124084473 + ], + [ + -0.05466662268745338, + 0.998494565486908, + 0.004485411324995156, + -0.14701761305332184 + ], + [ + -0.10297827470407588, + -0.010106023401021957, + 0.9946322833687817, + -1.4518707990646362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9934465397875847, + 0.05077615007758142, + 0.10239991001142885, + 0.8779981136322021 + ], + [ + -0.05181755056950946, + 0.9986281394958498, + 0.007533965609917216, + -0.14742767810821533 + ], + [ + -0.10187689037359711, + -0.012790705077350143, + 0.9947148060301252, + -1.4621049165725708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9935875311309228, + 0.048215128481388106, + 0.10226968679348773, + 0.8878257274627686 + ], + [ + -0.049412807257808236, + 0.9987359642982485, + 0.009208671766624698, + -0.14532756805419922 + ], + [ + -0.10169642233720712, + -0.014203053899109367, + 0.994714075671005, + -1.4726203680038452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9936080097559886, + 0.04546001926064491, + 0.10332725959939246, + 0.8950809836387634 + ], + [ + -0.04691684781368728, + 0.9988301396369934, + 0.011711503076561568, + -0.14900635182857513 + ], + [ + -0.10267397248586406, + -0.01648443378508091, + 0.994578491072643, + -1.4845902919769287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9937523602336755, + 0.042026564478874213, + 0.10339250749773685, + 0.9049628376960754 + ], + [ + -0.043593283302580214, + 0.9989655613899233, + 0.0129393843788389, + -0.1473291665315628 + ], + [ + -0.10274176722528465, + -0.017365764826536182, + 0.9945564849184524, + -1.494299054145813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9938929639036379, + 0.03886786103248597, + 0.10327638825944375, + 0.9138842821121216 + ], + [ + -0.04055018689257453, + 0.9990760087966921, + 0.014239412275583712, + -0.14793500304222107 + ], + [ + -0.10262750935537523, + -0.018340330570936206, + 0.9945507715319732, + -1.5036448240280151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9943192583381559, + 0.03610583022236824, + 0.10012802422104276, + 0.9284591674804688 + ], + [ + -0.03790494481789349, + 0.9991512894630432, + 0.016123648516974367, + -0.15253810584545135 + ], + [ + -0.09946087381594416, + -0.019827403128147125, + 0.994843907895112, + -1.5135748386383057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.994963699748562, + 0.03413957357406616, + 0.0942430328571235, + 0.9412307739257812 + ], + [ + -0.03604148159196249, + 0.9991780519485474, + 0.018552615481697524, + -0.1615329086780548 + ], + [ + -0.09353219808206224, + -0.021855836734175682, + 0.9953763461834197, + -1.5199968814849854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9957119400976593, + 0.03354937583208084, + 0.08620975826931011, + 0.9537520408630371 + ], + [ + -0.03536826148343147, + 0.9991809725761414, + 0.019657877335046595, + -0.16659338772296906 + ], + [ + -0.08547963757063376, + -0.022622672840952873, + 0.9960830339720544, + -1.5298597812652588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9963369142146146, + 0.034421078860759735, + 0.0782811217119949, + 0.9661542177200317 + ], + [ + -0.03607775652154692, + 0.999151885509491, + 0.019847923452770956, + -0.16692611575126648 + ], + [ + -0.07753153859608983, + -0.02259942516684532, + 0.9967337406991255, + -1.537939429283142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9967457321709102, + 0.03632473573088646, + 0.07196142269121095, + 0.9767832159996033 + ], + [ + -0.03784555188926301, + 0.9990857839584351, + 0.019883793133763743, + -0.1630980372428894 + ], + [ + -0.07117335572686899, + -0.022542506456375122, + 0.9972091816925932, + -1.547885537147522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9971322987421659, + 0.03657230734825135, + 0.06625485226270396, + 0.9885981678962708 + ], + [ + -0.038214527744597965, + 0.9989886879920962, + 0.02369058762804441, + -0.1646786481142044 + ], + [ + -0.06532142717544683, + -0.0261545479297638, + 0.9975214784443364, + -1.5569630861282349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9974651638741798, + 0.03717278689146042, + 0.0606743898950251, + 0.9982046484947205 + ], + [ + -0.03895162553400237, + 0.9988373517990112, + 0.028402785131202337, + -0.16551834344863892 + ], + [ + -0.05954803809619922, + -0.030694156885147095, + 0.9977534447134465, + -1.5656739473342896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9977483875761737, + 0.03836609050631523, + 0.0550109270130025, + 1.0088286399841309 + ], + [ + -0.04022165235110009, + 0.9986447095870972, + 0.033029718437668575, + -0.16458311676979065 + ], + [ + -0.05366915442359839, + -0.03516798093914986, + 0.9979393048135309, + -1.5761891603469849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9978745490419035, + 0.04028557613492012, + 0.0512193957335015, + 1.0173554420471191 + ], + [ + -0.042191478859781154, + 0.9984356164932251, + 0.03669016952815973, + -0.16434401273727417 + ], + [ + -0.04966117410928757, + -0.03877320885658264, + 0.9980132071231091, + -1.5851783752441406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9979002184349538, + 0.042236704379320145, + 0.04910435642357798, + 1.025704264640808 + ], + [ + -0.04414656451048627, + 0.9982836246490479, + 0.038482473386837864, + -0.16345259547233582 + ], + [ + -0.047394684373595605, + -0.04056945815682411, + 0.9980520318113338, + -1.5939620733261108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9979087432647131, + 0.04316286742687225, + 0.048115579673435944, + 1.0342661142349243 + ], + [ + -0.045082074929332173, + 0.9982003569602966, + 0.039542448879549025, + -0.16400368511676788 + ], + [ + -0.04632221651018361, + -0.04162890464067459, + 0.9980587894390007, + -1.6040711402893066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9979224952554838, + 0.04314858466386795, + 0.04784224019890777, + 1.0397746562957764 + ], + [ + -0.045111665364170724, + 0.9981508255004883, + 0.040741138323637335, + -0.16539904475212097 + ], + [ + -0.04599584324908626, + -0.042814742773771286, + 0.9980236828552125, + -1.6153920888900757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9978750803790754, + 0.04402574896812439, + 0.048031802587717, + 1.0458347797393799 + ], + [ + -0.04605327363533094, + 0.9980575442314148, + 0.04195515386121622, + -0.16415153443813324 + ], + [ + -0.046091401943585915, + -0.044078025966882706, + 0.9979642905751743, + -1.626918077468872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9977443468775361, + 0.04483237490057945, + 0.04996239776199965, + 1.0464816093444824 + ], + [ + -0.047097671913664194, + 0.9978705048561096, + 0.04512456341114711, + -0.16663415729999542 + ], + [ + -0.04783297483894479, + -0.047375891357660294, + 0.9977311677714866, + -1.6387962102890015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9976816592197804, + 0.044520363211631775, + 0.051470971536692396, + 1.0460785627365112 + ], + [ + -0.04707554636219277, + 0.997661828994751, + 0.049545222822756425, + -0.16905470192432404 + ], + [ + -0.04914485516393769, + -0.05185338482260704, + 0.9974447566593023, + -1.6477470397949219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9977286522446208, + 0.045292720198631294, + 0.04986127470653656, + 1.0639686584472656 + ], + [ + -0.047847015367335974, + 0.9975371956825259, + 0.0512854951504542, + -0.15661698579788208 + ], + [ + -0.04741560375216884, + -0.053554717451334014, + 0.9974385754532429, + -1.656612515449524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9975187784079076, + 0.04562442749738694, + 0.05361628312813834, + 1.06014883518219 + ], + [ + -0.048723255892851654, + 0.9971277117729189, + 0.05798577142050156, + -0.16637931764125824 + ], + [ + -0.05081670121439121, + -0.060454253107309355, + 0.996876569833527, + -1.6680140495300293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9973735364956089, + 0.0456719771027565, + 0.05621506527663212, + 1.059401512145996 + ], + [ + -0.04909585501180003, + 0.9969226717948914, + 0.06111305158665575, + -0.16249065101146698 + ], + [ + -0.05325090339646606, + -0.0637124627828598, + 0.9965465648792912, + -1.6758805513381958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9971860376151066, + 0.04617193341255189, + 0.05906054674876985, + 1.058363676071167 + ], + [ + -0.049980242532592256, + 0.9966511726379397, + 0.06471806863365981, + -0.16362358629703522 + ], + [ + -0.055874597123977576, + -0.06748782098293306, + 0.9961543455200753, + -1.685936450958252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9968702854366489, + 0.04792289435863495, + 0.06287279011512344, + 1.0578304529190063 + ], + [ + -0.05213659129516922, + 0.9963774085044861, + 0.06718534650446338, + -0.1649022102355957 + ], + [ + -0.05942530345461118, + -0.07025304436683655, + 0.9957575453174581, + -1.6929874420166016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9963999553425574, + 0.050139520317316055, + 0.068360716436657, + 1.0542634725570679 + ], + [ + -0.054843905360322326, + 0.9961237907409668, + 0.06877187389041182, + -0.16563603281974792 + ], + [ + -0.06464754139539418, + -0.07227345556020737, + 0.9952875107930548, + -1.7035682201385498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9959369939858361, + 0.052191369235515594, + 0.07338659709511942, + 1.0506629943847656 + ], + [ + -0.057376133971393455, + 0.9958664178848267, + 0.07041316640153303, + -0.1655804067850113 + ], + [ + -0.06940829262929178, + -0.07433772087097168, + 0.9948147475225714, + -1.708794116973877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9953399228364389, + 0.05520729720592499, + 0.07906084027661121, + 1.0465251207351685 + ], + [ + -0.06089545865135762, + 0.99558424949646, + 0.07144079413192689, + -0.16608434915542603 + ], + [ + -0.07476766992633663, + -0.07592231780290604, + 0.9943065878496096, + -1.7153873443603516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9946646849860405, + 0.057696226984262466, + 0.08551823434206987, + 1.0439765453338623 + ], + [ + -0.06390300539308624, + 0.9953762888908386, + 0.07171110080779632, + -0.16635967791080475 + ], + [ + -0.08098536118493121, + -0.076793372631073, + 0.9937525686865005, + -1.7213667631149292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9939035355607516, + 0.0599324069917202, + 0.09254092136740465, + 1.0394937992095947 + ], + [ + -0.06666758081835834, + 0.9952108263969421, + 0.07149016039276147, + -0.16780716180801392 + ], + [ + -0.08781315334943424, + -0.07722380757331848, + 0.9931391169531568, + -1.7271603345870972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9930778672104741, + 0.06188993155956268, + 0.09982992666916582, + 1.0345832109451294 + ], + [ + -0.069078168338921, + 0.9951361417770386, + 0.07023035185451375, + -0.167373925447464 + ], + [ + -0.0949978100965682, + -0.07664027065038681, + 0.992522913270817, + -1.7314947843551636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.992140422952304, + 0.0626441240310669, + 0.10831915082918399, + 1.0277247428894043 + ], + [ + -0.07037780537042497, + 0.9951234459877014, + 0.06911083789229089, + -0.16692405939102173 + ], + [ + -0.10346155297966574, + -0.07619092613458633, + 0.9917109961532901, + -1.7382330894470215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9910584087226857, + 0.061684004962444305, + 0.11831456576433484, + 1.0203771591186523 + ], + [ + -0.07006776425174387, + 0.9952179193496704, + 0.06805774262281969, + -0.16430364549160004 + ], + [ + -0.11355069445786257, + -0.07573923468589783, + 0.99064109687572, + -1.7413691282272339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9897803646121983, + 0.05909181758761406, + 0.12978036179946983, + 1.014654278755188 + ], + [ + -0.06833901398560502, + 0.9953426122665405, + 0.06799189233654777, + -0.16358599066734314 + ], + [ + -0.1251581677684863, + -0.07616610825061798, + 0.9892088832485392, + -1.7465119361877441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9882039612434363, + 0.05426562577486038, + 0.1432067023822827, + 1.0072513818740845 + ], + [ + -0.06465627680369629, + 0.9955242872238159, + 0.06892724730123792, + -0.16208253800868988 + ], + [ + -0.1388253698057959, + -0.07737339287996292, + 0.9872896767308565, + -1.749390721321106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9863300560379042, + 0.04877382889389992, + 0.15739801413232873, + 0.9993631839752197 + ], + [ + -0.06050262817248999, + 0.9956678152084351, + 0.07060464354862017, + -0.16211308538913727 + ], + [ + -0.15327247711407008, + -0.07916247099637985, + 0.9850080307496732, + -1.7544801235198975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.984336843631518, + 0.044163934886455536, + 0.1706767894509995, + 0.9915847182273865 + ], + [ + -0.057208569783072684, + 0.9957422614097595, + 0.07228052613094207, + -0.16276560723781586 + ], + [ + -0.16675790434578827, + -0.08091256022453308, + 0.9826723828331931, + -1.7598927021026611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9825058689950267, + 0.04085274040699005, + 0.18169561268328058, + 0.9819342494010925 + ], + [ + -0.0550360748202298, + 0.9957595467567444, + 0.07371537066621908, + -0.16116131842136383 + ], + [ + -0.17791367139080885, + -0.08242559432983398, + 0.9805879891659074, + -1.7639423608779907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.981248620481004, + 0.03384984657168389, + 0.18975083065431142, + 0.9730350375175476 + ], + [ + -0.049670499199497446, + 0.9956165552139284, + 0.07924940105648244, + -0.16183330118656158 + ], + [ + -0.1862364944724463, + -0.08718838542699815, + 0.9786287262289834, + -1.7685672044754028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.980159210107072, + 0.02437904290854931, + 0.1967067089812411, + 0.9654354453086853 + ], + [ + -0.042301282782148876, + 0.9952720403671265, + 0.08743074398038712, + -0.16048558056354523 + ], + [ + -0.19364522447686888, + -0.09401699900627136, + 0.9765563853684466, + -1.7702230215072632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9795428792159443, + 0.015457728877663612, + 0.20064108467721922, + 0.9576712846755981 + ], + [ + -0.03513159996184403, + 0.9948697090148926, + 0.09486831958967935, + -0.15900586545467377 + ], + [ + -0.19814528527831715, + -0.09997642040252686, + 0.9750605873224247, + -1.7688947916030884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9792585467731498, + 0.009571124799549581, + 0.20238836907281327, + 0.9507257342338562 + ], + [ + -0.02972205168621232, + 0.9948636293411257, + 0.09676252357171806, + -0.15974102914333344 + ], + [ + -0.2004227061764812, + -0.10077092051506045, + 0.9745132059323627, + -1.7655128240585327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9791927518007546, + 0.004620170686393977, + 0.20287967644722432, + 0.9472739100456238 + ], + [ + -0.02366918601745687, + 0.9955174922943117, + 0.09156774310551966, + -0.159464031457901 + ], + [ + -0.20154721558029942, + -0.09446447342634204, + 0.9749128991776534, + -1.7612427473068237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9797604347444049, + -0.003989527001976967, + 0.20013400614835253, + 0.9408554434776306 + ], + [ + -0.013488255514106349, + 0.9962132573127747, + 0.08589084413776632, + -0.15913628041744232 + ], + [ + -0.1997188099918282, + -0.08685190230607986, + 0.9759965176688341, + -1.7606383562088013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9802971770379745, + -0.009954337030649187, + 0.19727733951161683, + 0.9372749924659729 + ], + [ + -0.0063627054076219785, + 0.9966198205947878, + 0.08190515483861198, + -0.16097737848758698 + ], + [ + -0.19742581529128458, + -0.08154660463333131, + 0.9769202487829476, + -1.7596639394760132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9797445478248404, + -0.007765917107462883, + 0.20010065088408238, + 0.9358744621276855 + ], + [ + -0.007976372003502591, + 0.996941328048706, + 0.07774572791081469, + -0.15975135564804077 + ], + [ + -0.20009237815898648, + -0.0777670368552208, + 0.9766858923959557, + -1.7585428953170776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9780516688485288, + -0.0012780249817296863, + 0.2083586189950964, + 0.9355481863021851 + ], + [ + -0.014631720727250979, + 0.9970913529396057, + 0.07479837569845761, + -0.1603936105966568 + ], + [ + -0.2078481632511549, + -0.07620532065629959, + 0.9751881230459671, + -1.7582963705062866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9760854921459254, + 0.00533309206366539, + 0.2173214939359283, + 0.9365181922912598 + ], + [ + -0.0214669584891077, + 0.9971774220466614, + 0.071946622669707, + -0.1622055470943451 + ], + [ + -0.21632439066929335, + -0.07489129155874252, + 0.9734449127538992, + -1.7552019357681274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9744431721398485, + 0.010697348043322565, + 0.22437941937234618, + 0.9374900460243225 + ], + [ + -0.026269122868227364, + 0.9974386096000674, + 0.06652935722259609, + -0.1627844274044037 + ], + [ + -0.22309300722471942, + -0.0707233250141144, + 0.9722282478027889, + -1.7522857189178467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9730149159290555, + 0.016546914353966713, + 0.23014824042454363, + 0.9390742182731628 + ], + [ + -0.031131135776806214, + 0.9977198839187622, + 0.05988260080682824, + -0.16365137696266174 + ], + [ + -0.22863259412037584, + -0.06543143838644028, + 0.9713114162084596, + -1.750474214553833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9716006602834423, + 0.02297280728816986, + 0.23550885139766953, + 0.9412060379981995 + ], + [ + -0.03655880997527188, + 0.9978992342948914, + 0.05348426743393828, + -0.16347399353981018 + ], + [ + -0.23378541280206808, + -0.060575272887945175, + 0.9703993890942563, + -1.7496486902236938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9701186249790721, + 0.029364990070462227, + 0.2408476511288603, + 0.9435845613479614 + ], + [ + -0.042299492325546986, + 0.9979168772697449, + 0.04871006301709397, + -0.1636325567960739 + ], + [ + -0.2389155615887272, + -0.05744227021932602, + 0.9693398590285027, + -1.7480103969573975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9685611279549947, + 0.03468935191631317, + 0.24634528819590576, + 0.9456571340560913 + ], + [ + -0.047222610118684206, + 0.9978634119033813, + 0.045151037542856966, + -0.16331905126571655 + ], + [ + -0.2442526873201257, + -0.05536460876464844, + 0.9681298244752604, + -1.748476505279541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.967155950716526, + 0.038174718618392944, + 0.2513007488053419, + 0.9481921195983887 + ], + [ + -0.050556542532463125, + 0.9977951645851135, + 0.04299831873532237, + -0.1628425121307373 + ], + [ + -0.2491052140294348, + -0.054290980100631714, + 0.9669534758970263, + -1.7476919889450073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9658440824391584, + 0.041039831936359406, + 0.2558533312002837, + 0.9509720802307129 + ], + [ + -0.05328902553747729, + 0.9977319240570068, + 0.04112567216697613, + -0.1629888266324997 + ], + [ + -0.25358523936885885, + -0.05335516482591629, + 0.9658404252797167, + -1.74638032913208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9646527155106406, + 0.044611565768718726, + 0.25972092318674567, + 0.9526826739311218 + ], + [ + -0.05665637676871984, + 0.9976288676261904, + 0.03907249305219388, + -0.16354204714298248 + ], + [ + -0.257362002674389, + -0.0524062290787697, + 0.9648929147949105, + -1.7475930452346802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9639464163496739, + 0.048627570271492004, + 0.2616154083902852, + 0.9564692378044128 + ], + [ + -0.06025193695581836, + 0.9975122809410095, + 0.03659203107034234, + -0.16464287042617798 + ], + [ + -0.25918520192094974, + -0.05103559046983719, + 0.964478294479371, + -1.7462453842163086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9634899365928759, + 0.05234432592988014, + 0.2625779209373216, + 0.9600393176078796 + ], + [ + -0.06335320427342886, + 0.9974243640899658, + 0.033630678116157296, + -0.16553562879562378 + ], + [ + -0.26014124882983974, + -0.04903797432780266, + 0.9643245519242085, + -1.7446613311767578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9633305196603367, + 0.054215915501117706, + 0.2627829955309772, + 0.9641080498695374 + ], + [ + -0.06461308427688535, + 0.9974262714385986, + 0.031080303093139583, + -0.16609960794448853 + ], + [ + -0.26042161825895593, + -0.046919822692871094, + 0.9643542337710017, + -1.7437041997909546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9634161469612151, + 0.054628342390060425, + 0.2623834352443483, + 0.9671612977981567 + ], + [ + -0.06452016541369342, + 0.9974883198738098, + 0.029226822312732107, + -0.1663375198841095 + ], + [ + -0.26012779701174554, + -0.04508661851286888, + 0.9645209751684716, + -1.743999719619751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9648445591047615, + 0.05525980517268181, + 0.2569461795910976, + 0.9762329459190369 + ], + [ + -0.06507030275326275, + 0.9974347352981567, + 0.02982989194346666, + -0.16683544218540192 + ], + [ + -0.25463864311181866, + -0.045500773936510086, + 0.9659652205176377, + -1.7445414066314697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/pull_out/transforms.json b/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..d014802fa25c6035ba91e36443e6acf35b80347a --- /dev/null +++ b/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/pull_out/transforms.json @@ -0,0 +1,5683 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 162, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -0.0001700655120657757, + -9.52671398408711e-05, + 0.0003572060668375343 + ], + [ + 0.00017006041889544576, + 1.0, + -5.3571839089272544e-05, + 0.000157554866746068 + ], + [ + 9.527624933980405e-05, + 5.355563553166576e-05, + 1.0, + 0.00020568887703120708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999978542327881, + 0.0003728344163391739, + 0.0020392544101923704, + 0.00893334204299225 + ], + [ + -0.00037166321999393404, + 0.9999997615814209, + -0.0005746693932451308, + -0.002985970109017126 + ], + [ + -0.0020394681487232447, + 0.0005739102489314973, + 0.9999977350234985, + -0.011345157285238276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999966025352478, + 0.0011963817523792386, + 0.002312341472133994, + 0.018214618512111144 + ], + [ + -0.0011908492306247354, + 0.9999964237213135, + -0.0023925406858325005, + -0.0023753652178468356 + ], + [ + -0.0023151955101639032, + 0.0023897788487374783, + 0.9999944567680359, + -0.022887877543798146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999982118606567, + 0.0014018012443557382, + 0.001262157573364675, + 0.02496980198113803 + ], + [ + -0.0013979413779452443, + 0.9999943375587463, + -0.0030538702849298716, + -0.0032985254050585332 + ], + [ + -0.0012664314126595855, + 0.003052100306376815, + 0.9999945163726807, + -0.035839660271354344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999940395355225, + 0.002022150671109557, + -0.0027930461801588535, + 0.03581759236544741 + ], + [ + -0.0020297428127378225, + 0.9999942183494568, + -0.002718036063015461, + -0.003745947168526812 + ], + [ + 0.0027875336818397045, + 0.002723689191043377, + 0.9999924302101135, + -0.04776423178289248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999662041664124, + 0.004193398170173168, + -0.00707066897302866, + 0.04584842721601914 + ], + [ + -0.004210395738482475, + 0.9999882578849792, + -0.00239078002050519, + -0.003840884845993071 + ], + [ + 0.007060560397803783, + 0.0024204696528613567, + 0.9999721646308899, + -0.0606793771665659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998952746391296, + 0.007084221113473177, + -0.012619983404874802, + 0.056064433553574246 + ], + [ + -0.007101132068783045, + 0.9999739527702332, + -0.0012956743594259024, + -0.005426298668723762 + ], + [ + 0.012610476464033127, + 0.001385154901072383, + 0.9999195337295532, + -0.07560636134621519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997487664222717, + 0.010625211521983147, + -0.019737394526600838, + 0.06580125437644513 + ], + [ + -0.0106340441852808, + 0.9999433755874634, + -0.00034260633401572704, + -0.004965276515070835 + ], + [ + 0.019732637330889702, + 0.0005524085718207061, + 0.9998051524162292, + -0.08994017269300378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9995071291923523, + 0.01481644157320261, + -0.027675306424498558, + 0.07500263471966205 + ], + [ + -0.014773811213672161, + 0.9998893141746521, + 0.0017441944219172, + -0.005542653063832788 + ], + [ + 0.027698086574673653, + -0.0013344651088118553, + 0.9996154308319092, + -0.10549420796751235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999200165271759, + 0.018113205209374428, + -0.035649918019771576, + 0.08560180376682963 + ], + [ + -0.01799936778843403, + 0.9998318552970886, + 0.0035115673672407866, + -0.004927619754174805 + ], + [ + 0.03570752590894699, + -0.0028670828323811293, + 0.9993581771850586, + -0.11844118599380765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9988458156585693, + 0.021844234317541122, + -0.04277672618627548, + 0.09427787243209271 + ], + [ + -0.02161300927400589, + 0.9997492432594299, + 0.005860499572008848, + -0.005831295965667467 + ], + [ + 0.042894020676612854, + -0.004929202143102884, + 0.999067485332489, + -0.13250481406724232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.998419463634491, + 0.026835454627871513, + -0.04938064515590668, + 0.10263185067946866 + ], + [ + -0.026429513469338417, + 0.9996114373207092, + 0.008855405263602734, + -0.005719933056660136 + ], + [ + 0.049599096179008484, + -0.007536302320659161, + 0.9987407922744751, + -0.14725816860702468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9979758858680725, + 0.031133845448493958, + -0.055451057851314545, + 0.11233597369112583 + ], + [ + -0.030482638627290726, + 0.9994564652442932, + 0.012551370076835155, + -0.0059098104714930795 + ], + [ + 0.05581168830394745, + -0.010835670866072178, + 0.9983825087547302, + -0.16065344567994894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9976333975791931, + 0.035524770617485046, + -0.05886900797486305, + 0.11920756124052571 + ], + [ + -0.034585125744342804, + 0.9992587566375732, + 0.016904618591070175, + -0.008280759167088115 + ], + [ + 0.05942590907216072, + -0.014828619547188282, + 0.9981225728988647, + -0.17476021480856474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9973857998847961, + 0.03937753662467003, + -0.06058868020772934, + 0.12721863162258398 + ], + [ + -0.038226861506700516, + 0.9990682005882263, + 0.0200353916734457, + -0.008322916139403115 + ], + [ + 0.06132116913795471, + -0.017666900530457497, + 0.997961699962616, + -0.18847989854605302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9972634315490723, + 0.04101075977087021, + -0.06151222810149193, + 0.13276776334745174 + ], + [ + -0.03967826068401337, + 0.9989539384841919, + 0.02273017168045044, + -0.012405727266895105 + ], + [ + 0.06238006427884102, + -0.02022727206349373, + 0.9978474974632263, + -0.2021438335965139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.997205376625061, + 0.04214884713292122, + -0.06168406084179878, + 0.13673240479475224 + ], + [ + -0.04079335555434227, + 0.9989011883735657, + 0.02307206206023693, + -0.014537687094083854 + ], + [ + 0.06258874386548996, + -0.020491285249590874, + 0.997829020023346, + -0.21442758316949287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9972017407417297, + 0.043291978538036346, + -0.0609467476606369, + 0.14094764058079037 + ], + [ + -0.04207915812730789, + 0.998892605304718, + 0.021045098081231117, + -0.014891701642863499 + ], + [ + 0.0617903396487236, + -0.01842162199318409, + 0.9979191422462463, + -0.22717984631565047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9972341656684875, + 0.043541040271520615, + -0.06023459881544113, + 0.14549944016689098 + ], + [ + -0.042504969984292984, + 0.9989272356033325, + 0.018376845866441727, + -0.016024001014436254 + ], + [ + 0.06097012758255005, + -0.015765748918056488, + 0.9980150461196899, + -0.23965282967742185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9973703622817993, + 0.04202692583203316, + -0.05904293432831764, + 0.14878478813569368 + ], + [ + -0.04121733084321022, + 0.9990396499633789, + 0.014864129945635796, + -0.016085737044720546 + ], + [ + 0.05961092188954353, + -0.012391451746225357, + 0.9981447458267212, + -0.2526962408182784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9976004362106323, + 0.03999634459614754, + -0.05651234835386276, + 0.1501471928743102 + ], + [ + -0.03935854509472847, + 0.9991487860679626, + 0.012354775331914425, + -0.018494823045149354 + ], + [ + 0.0569583922624588, + -0.010100885294377804, + 0.9983254671096802, + -0.2645713166790719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9979098439216614, + 0.037298623472452164, + -0.052770692855119705, + 0.15256573154550532 + ], + [ + -0.03682032600045204, + 0.999271810054779, + 0.010007418692111969, + -0.020355898125664046 + ], + [ + 0.05310552939772606, + -0.008043467998504639, + 0.9985564947128296, + -0.27825602085694023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9982789158821106, + 0.033962756395339966, + -0.04780907928943634, + 0.1534472356486765 + ], + [ + -0.033606186509132385, + 0.9994011521339417, + 0.008242622949182987, + -0.02179611270541545 + ], + [ + 0.04806039482355118, + -0.006621755659580231, + 0.9988225102424622, + -0.2914033793884775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.998640775680542, + 0.03044758550822735, + -0.042303457856178284, + 0.1548140979238919 + ], + [ + -0.03015531413257122, + 0.9995168447494507, + 0.007530101574957371, + -0.024242382030934095 + ], + [ + 0.04251229017972946, + -0.006244192831218243, + 0.9990764260292053, + -0.3042253647531782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9989480376243591, + 0.028058107942342758, + -0.036270901560783386, + 0.1547407016991088 + ], + [ + -0.027823280543088913, + 0.9995886087417603, + 0.006963033229112625, + -0.024587755027857625 + ], + [ + 0.036451347172260284, + -0.0059465328231453896, + 0.9993177652359009, + -0.3185680223547894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9991979598999023, + 0.025857117027044296, + -0.03057604283094406, + 0.1544263387642662 + ], + [ + -0.025645345449447632, + 0.9996444582939148, + 0.007298173848539591, + -0.026022268946554444 + ], + [ + 0.030753880739212036, + -0.006508186925202608, + 0.9995058178901672, + -0.3323453983164722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9993855953216553, + 0.02385251224040985, + -0.025681287050247192, + 0.15673033867193306 + ], + [ + -0.023659437894821167, + 0.9996896982192993, + 0.007795917335897684, + -0.02751769000803184 + ], + [ + 0.025859270244836807, + -0.007183522451668978, + 0.9996398091316223, + -0.3457496654172862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9995899796485901, + 0.02139987051486969, + -0.01902519166469574, + 0.1549768520345599 + ], + [ + -0.021261245012283325, + 0.9997461438179016, + 0.0074591259472072124, + -0.02783231378116454 + ], + [ + 0.01917998492717743, + -0.007051568012684584, + 0.9997912049293518, + -0.36050133660713335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9997257590293884, + 0.019409574568271637, + -0.013102700002491474, + 0.1578431770367467 + ], + [ + -0.019319500774145126, + 0.9997891187667847, + 0.006966342683881521, + -0.02809832420847986 + ], + [ + 0.013235150836408138, + -0.006711294408887625, + 0.9998899102210999, + -0.37471220182335896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9998226165771484, + 0.018336135894060135, + -0.0043004159815609455, + 0.1554459529162402 + ], + [ + -0.018306870013475418, + 0.9998096227645874, + 0.006748892832547426, + -0.029395362597410074 + ], + [ + 0.004423345904797316, + -0.006668968591839075, + 0.9999679923057556, + -0.39023209380807344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9998450875282288, + 0.016671868041157722, + 0.005645320750772953, + 0.1549398252879333 + ], + [ + -0.01670914702117443, + 0.9998384714126587, + 0.006622069515287876, + -0.03147848676427366 + ], + [ + -0.005534006282687187, + -0.006715372204780579, + 0.9999621510505676, + -0.40620542164915097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9997797012329102, + 0.014401845633983612, + 0.015270073898136616, + 0.15643761527568378 + ], + [ + -0.014498148113489151, + 0.9998756051063538, + 0.006214778404682875, + -0.03288169916262214 + ], + [ + -0.015178670175373554, + -0.006434796843677759, + 0.9998641014099121, + -0.42172254098128087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9996255040168762, + 0.012659292668104172, + 0.02426121011376381, + 0.15900697423064192 + ], + [ + -0.01280980184674263, + 0.9998996257781982, + 0.006058317609131336, + -0.03689035894059987 + ], + [ + -0.02418208122253418, + -0.0063668303191661835, + 0.9996873140335083, + -0.43669932636415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.999350368976593, + 0.011428670957684517, + 0.034178633242845535, + 0.15985933681776435 + ], + [ + -0.011578178033232689, + 0.9999242424964905, + 0.004179578740149736, + -0.03919892546443141 + ], + [ + -0.03412827476859093, + -0.004572590347379446, + 0.9994069933891296, + -0.45359873183025334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9989475011825562, + 0.009468458592891693, + 0.04488074406981468, + 0.1598027459999419 + ], + [ + -0.009549083188176155, + 0.9999531507492065, + 0.0015823488356545568, + -0.04154374098755211 + ], + [ + -0.044863659888505936, + -0.0020092532504349947, + 0.998991072177887, + -0.46920609422352005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9984445571899414, + 0.008422903716564178, + 0.05511363223195076, + 0.1612495983262425 + ], + [ + -0.008376069366931915, + 0.9999643564224243, + -0.0010807275539264083, + -0.04389804362005595 + ], + [ + -0.05512076988816261, + 0.0006174109876155853, + 0.9984794855117798, + -0.48581251631612365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9978130459785461, + 0.009423973970115185, + 0.06542376428842545, + 0.1632785946871183 + ], + [ + -0.009182403795421124, + 0.9999498724937439, + -0.003992120269685984, + -0.04442030251928553 + ], + [ + -0.06545811146497726, + 0.003382642287760973, + 0.9978495836257935, + -0.5010752978902426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9969671368598938, + 0.012311662547290325, + 0.07684388011693954, + 0.16555494464795042 + ], + [ + -0.011908060871064663, + 0.9999127984046936, + -0.005708255805075169, + -0.047424784646895916 + ], + [ + -0.07690746337175369, + 0.004775881767272949, + 0.997026801109314, + -0.5173702533570876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9957969188690186, + 0.016009436920285225, + 0.09017888456583023, + 0.1672631118516004 + ], + [ + -0.01539289765059948, + 0.9998531937599182, + -0.0075282324105501175, + -0.045975823138163695 + ], + [ + -0.09028617292642593, + 0.006108475849032402, + 0.995897114276886, + -0.5338387669983858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.994356095790863, + 0.019032539799809456, + 0.10437297075986862, + 0.16832888683084377 + ], + [ + -0.01840408705174923, + 0.99980628490448, + -0.00698109483346343, + -0.045973873190200014 + ], + [ + -0.10448562353849411, + 0.0050208051688969135, + 0.994513750076294, + -0.5488153084464695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9929890632629395, + 0.020494209602475166, + 0.11641599982976913, + 0.17331788675015017 + ], + [ + -0.020287858322262764, + 0.999789834022522, + -0.0029573380015790462, + -0.050543293021387936 + ], + [ + -0.11645213514566422, + 0.000574773526750505, + 0.9931961297988892, + -0.5646975766057554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9915310144424438, + 0.02058982476592064, + 0.1282273381948471, + 0.17252005034166834 + ], + [ + -0.020787015557289124, + 0.9997839331626892, + 0.0001996081555262208, + -0.04913733716372991 + ], + [ + -0.12819550931453705, + -0.0028633810579776764, + 0.9917447566986084, + -0.5800001534615985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9899814128875732, + 0.018947115167975426, + 0.13992057740688324, + 0.173561629652977 + ], + [ + -0.019728170707821846, + 0.9997965693473816, + 0.0041971104219555855, + -0.05416838807742233 + ], + [ + -0.13981260359287262, + -0.006915438920259476, + 0.9901538491249084, + -0.5934857829757358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9884128570556641, + 0.018185194581747055, + 0.1506960391998291, + 0.17958589157332544 + ], + [ + -0.019245542585849762, + 0.9997991919517517, + 0.005580766126513481, + -0.058449539214789126 + ], + [ + -0.1505642831325531, + -0.008416328579187393, + 0.9885643720626831, + -0.6073343144440503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9866267442703247, + 0.01652028039097786, + 0.16215673089027405, + 0.18576166805643474 + ], + [ + -0.01784488931298256, + 0.9998182058334351, + 0.006715529598295689, + -0.06753587707738329 + ], + [ + -0.16201630234718323, + -0.00951938983052969, + 0.9867421388626099, + -0.6218922695017749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9843924641609192, + 0.013262657448649406, + 0.1754866987466812, + 0.18824607453175954 + ], + [ + -0.014368588104844093, + 0.9998841285705566, + 0.0050329118967056274, + -0.07153102459374422 + ], + [ + -0.17539961636066437, + -0.007475856691598892, + 0.984468936920166, + -0.6370876098271483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9822035431861877, + 0.01015639491379261, + 0.18754492700099945, + 0.19188054033688137 + ], + [ + -0.010848065838217735, + 0.9999375939369202, + 0.0026620146818459034, + -0.07285098190020238 + ], + [ + -0.18750618398189545, + -0.004649139475077391, + 0.9822524189949036, + -0.6508189882550921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9803085923194885, + 0.006517765112221241, + 0.19736412167549133, + 0.19766558952953506 + ], + [ + -0.00660854484885931, + 0.9999781250953674, + -0.0001986655406653881, + -0.06855333296333364 + ], + [ + -0.19736111164093018, + -0.0011095361551269889, + 0.980330228805542, + -0.6621416808655544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9783926606178284, + 0.0008287974051199853, + 0.2067537009716034, + 0.202945325148772 + ], + [ + -0.001191071467474103, + 0.9999979734420776, + 0.0016277334652841091, + -0.07688803532571525 + ], + [ + -0.20675194263458252, + -0.0018388209864497185, + 0.9783916473388672, + -0.6770822407295986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9769348502159119, + -0.00464787008240819, + 0.21348710358142853, + 0.2125435264862102 + ], + [ + 0.004427282605320215, + 0.9999890327453613, + 0.0015113442204892635, + -0.0765898799220019 + ], + [ + -0.2134917825460434, + -0.0005313170258887112, + 0.9769446849822998, + -0.6927754656128261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9759691953659058, + -0.010879850015044212, + 0.21763667464256287, + 0.2256919846216344 + ], + [ + 0.010625684633851051, + 0.999940812587738, + 0.0023381405044347048, + -0.07906645506487361 + ], + [ + -0.21764922142028809, + 3.0585331842303276e-05, + 0.9760270714759827, + -0.7082189262283515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.97528076171875, + -0.01666366122663021, + 0.22034020721912384, + 0.23689903114338098 + ], + [ + 0.016211004927754402, + 0.9998611211776733, + 0.0038625074084848166, + -0.08539700436576483 + ], + [ + -0.2203739732503891, + -0.00019509275443851948, + 0.9754154086112976, + -0.7240267186801627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9750850796699524, + -0.02043946646153927, + 0.2208876609802246, + 0.24935823567905782 + ], + [ + 0.020036784932017326, + 0.9997909665107727, + 0.004063714295625687, + -0.0866209203782289 + ], + [ + -0.22092455625534058, + 0.0004634105134755373, + 0.9752907752990723, + -0.737131330833672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9751011729240417, + -0.02305523492395878, + 0.2205587774515152, + 0.2602814634301648 + ], + [ + 0.02278214879333973, + 0.9997332692146301, + 0.0037821512669324875, + -0.09060427441336909 + ], + [ + -0.22058714926242828, + 0.001336822402663529, + 0.9753663539886475, + -0.75087102918151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.975287139415741, + -0.025728177279233932, + 0.21943804621696472, + 0.26785994305373717 + ], + [ + 0.025660652667284012, + 0.9996657371520996, + 0.003158403327688575, + -0.09805030542691903 + ], + [ + -0.21944594383239746, + 0.002550572855398059, + 0.9756213426589966, + -0.7638899006458543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9763033986091614, + -0.026527201756834984, + 0.21477432548999786, + 0.2841448414122096 + ], + [ + 0.02745840884745121, + 0.9996220469474792, + -0.0013528794515877962, + -0.09601870881500567 + ], + [ + -0.214657261967659, + 0.00721818208694458, + 0.9766627550125122, + -0.7796338393081049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9774618744850159, + -0.02565848082304001, + 0.2095470428466797, + 0.29762144114660183 + ], + [ + 0.027303125709295273, + 0.9996148943901062, + -0.004959093406796455, + -0.09805141953022584 + ], + [ + -0.20933911204338074, + 0.010568613186478615, + 0.9777860045433044, + -0.7959593083547509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.97889643907547, + -0.02466599829494953, + 0.20286299288272858, + 0.3119520698182331 + ], + [ + 0.026845430955290794, + 0.9996076226234436, + -0.007998388260602951, + -0.09933351126748212 + ], + [ + -0.2025860995054245, + 0.013275537639856339, + 0.9791744947433472, + -0.8119013977346954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9808933138847351, + -0.022413400933146477, + 0.19325101375579834, + 0.3296423103868591 + ], + [ + 0.02487104944884777, + 0.9996376037597656, + -0.010300422087311745, + -0.0992538458048742 + ], + [ + -0.19295009970664978, + 0.01490996964275837, + 0.9810952544212341, + -0.8298259161273885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9875784516334534, + -0.02341410145163536, + 0.15537221729755402, + 0.46460243960530123 + ], + [ + 0.02545148879289627, + 0.9996140003204346, + -0.011136333458125591, + -0.10133807005198753 + ], + [ + -0.15505151450634003, + 0.014952457509934902, + 0.9877932071685791, + -0.8530476263591221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9923753142356873, + -0.018689662218093872, + 0.12182730436325073, + 0.5694326136423193 + ], + [ + 0.020031917840242386, + 0.9997512698173523, + -0.009802132844924927, + -0.11051185193084041 + ], + [ + -0.12161380052566528, + 0.012167830020189285, + 0.9925029277801514, + -0.8717123514376812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9943088293075562, + -0.01156892441213131, + 0.10590606927871704, + 0.5974213425787339 + ], + [ + 0.013473240658640862, + 0.9997598528862, + -0.01728339120745659, + -0.07585322353641809 + ], + [ + -0.1056806892156601, + 0.018611926585435867, + 0.9942259192466736, + -0.9283908695537851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9930580258369446, + -0.012940308079123497, + 0.11691151559352875, + 0.5220637267976074 + ], + [ + 0.013761676847934723, + 0.9998859763145447, + -0.006221037358045578, + -0.11727145121241948 + ], + [ + -0.11681768298149109, + 0.007786749862134457, + 0.9931228756904602, + -0.9124265884760744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9912800192832947, + -0.005553782917559147, + 0.13165509700775146, + 0.425836411766384 + ], + [ + 0.007262718863785267, + 0.999895453453064, + -0.01250377856194973, + -0.08859583869090547 + ], + [ + -0.13157188892364502, + 0.013350920751690865, + 0.9912167191505432, + -0.9201435765494471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9938417673110962, + -0.0015152019914239645, + 0.11079799383878708, + 0.47326544278897115 + ], + [ + 0.002804115181788802, + 0.999930202960968, + -0.011478104628622532, + -0.09013234931304588 + ], + [ + -0.11077287048101425, + 0.01171811018139124, + 0.9937766790390015, + -0.9384102778405137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9952132701873779, + 0.004555829800665379, + 0.09762081503868103, + 0.4817490826667466 + ], + [ + -0.0037054680287837982, + 0.9999536275863647, + -0.008890394121408463, + -0.09935457535921047 + ], + [ + -0.09765678644180298, + 0.008486106991767883, + 0.9951839447021484, + -0.958520287682551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9963029026985168, + 0.009851059876382351, + 0.08534316718578339, + 0.48526169315258166 + ], + [ + -0.009315711446106434, + 0.9999343752861023, + -0.0066688694059848785, + -0.10781274928902247 + ], + [ + -0.08540326356887817, + 0.005849181674420834, + 0.9963293075561523, + -0.9774500184177612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9979413747787476, + 0.014386736787855625, + 0.06249821558594704, + 0.5420005234062486 + ], + [ + -0.013804423622786999, + 0.9998573064804077, + -0.009739131666719913, + -0.09451255564930738 + ], + [ + -0.06262940913438797, + 0.008856330998241901, + 0.9979975819587708, + -0.9941855208844131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.998131275177002, + 0.020590243861079216, + 0.0575326606631279, + 0.5395606868940851 + ], + [ + -0.02027870900928974, + 0.9997764229774475, + -0.005993575323373079, + -0.10256079197369562 + ], + [ + -0.05764320492744446, + 0.004815686959773302, + 0.9983256459236145, + -1.0143651640193063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9982988238334656, + 0.02679283730685711, + 0.0517837256193161, + 0.5512095857943807 + ], + [ + -0.026623761281371117, + 0.9996377229690552, + -0.0039521935395896435, + -0.10311030029053135 + ], + [ + -0.05187085270881653, + 0.0025667930021882057, + 0.9986504912376404, + -1.0313595065048762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9981638193130493, + 0.03126271069049835, + 0.05188077688217163, + 0.5416701954344044 + ], + [ + -0.03116515465080738, + 0.999510645866394, + -0.002688535489141941, + -0.10656623473471921 + ], + [ + -0.05193944275379181, + 0.0010667263995856047, + 0.9986496567726135, + -1.0495439275451328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9981341361999512, + 0.03320863097906113, + 0.05123929679393768, + 0.5361903219026808 + ], + [ + -0.03309986740350723, + 0.9994476437568665, + -0.0029700682498514652, + -0.11202329701385375 + ], + [ + -0.05130962282419205, + 0.0012685126857832074, + 0.9986819624900818, + -1.0662659189345673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9985378980636597, + 0.033296119421720505, + 0.04258394613862038, + 0.5677749446275071 + ], + [ + -0.033066075295209885, + 0.9994345903396606, + -0.006095303688198328, + -0.1134306807765124 + ], + [ + -0.042762819677591324, + 0.004678307566791773, + 0.9990742802619934, + -1.08153408062384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9986143112182617, + 0.03329489007592201, + 0.04075354337692261, + 0.5685467441259704 + ], + [ + -0.03291218355298042, + 0.999407947063446, + -0.010026061907410622, + -0.11695767127741012 + ], + [ + -0.04106323421001434, + 0.008670881390571594, + 0.9991189241409302, + -1.0993158714371438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9988586902618408, + 0.035193633288145065, + 0.03229045867919922, + 0.5951710918675298 + ], + [ + -0.034765321761369705, + 0.9993011951446533, + -0.013731352984905243, + -0.12197093737791784 + ], + [ + -0.03275115042924881, + 0.012593094259500504, + 0.9993842244148254, + -1.1160026703562056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9987989664077759, + 0.03712228313088417, + 0.031977251172065735, + 0.5882064261884423 + ], + [ + -0.03658750280737877, + 0.9991832971572876, + -0.017149880528450012, + -0.12329930404883734 + ], + [ + -0.032587774097919464, + 0.01595931500196457, + 0.9993414282798767, + -1.1339781656398535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9987178444862366, + 0.03990742936730385, + 0.03114585392177105, + 0.5891756106376278 + ], + [ + -0.03926607593894005, + 0.999009370803833, + -0.02093907818198204, + -0.12076480215565759 + ], + [ + -0.03195062652230263, + 0.019689254462718964, + 0.9992954730987549, + -1.1495133636901098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.998833179473877, + 0.04007822647690773, + 0.026944682002067566, + 0.6063931521514188 + ], + [ + -0.03939693048596382, + 0.9989018440246582, + -0.025357672944664955, + -0.11402961865229451 + ], + [ + -0.02793138101696968, + 0.024266546592116356, + 0.9993152618408203, + -1.164456556154334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9990053772926331, + 0.038542490452528, + 0.022421669214963913, + 0.6225303089905599 + ], + [ + -0.037901248782873154, + 0.9988791346549988, + -0.028353802859783173, + -0.10963372245708608 + ], + [ + -0.023489363491535187, + 0.027475792914628983, + 0.9993464350700378, + -1.1799983977531054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9991675019264221, + 0.03656582534313202, + 0.01808842085301876, + 0.6382979197473907 + ], + [ + -0.036043405532836914, + 0.9989463090896606, + -0.028410257771611214, + -0.1161858485733963 + ], + [ + -0.019108204171061516, + 0.02773463912308216, + 0.9994326829910278, + -1.196629692382694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9993433952331543, + 0.03383217379450798, + 0.012967751361429691, + 0.656563903557958 + ], + [ + -0.03344381973147392, + 0.9990174770355225, + -0.029078064486384392, + -0.1181063015731225 + ], + [ + -0.013938785530626774, + 0.028625281527638435, + 0.9994930028915405, + -1.2127379075340603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9995027780532837, + 0.03030312992632389, + 0.008716443553566933, + 0.6658190311054173 + ], + [ + -0.03003132902085781, + 0.9991050958633423, + -0.029784519225358963, + -0.11572263375711367 + ], + [ + -0.009611207991838455, + 0.029507942497730255, + 0.9995183348655701, + -1.2297373149335755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9996392726898193, + 0.026655958965420723, + 0.003277270123362541, + 0.6794405937032855 + ], + [ + -0.026546144858002663, + 0.9991996884346008, + -0.029920466244220734, + -0.11471554389836626 + ], + [ + -0.004072206094861031, + 0.02982267364859581, + 0.9995468854904175, + -1.2451607325062248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9996704459190369, + 0.025596842169761658, + -0.0019492286955937743, + 0.6946336574569744 + ], + [ + -0.025643765926361084, + 0.999222457408905, + -0.029948126524686813, + -0.1183971833993004 + ], + [ + 0.001181135536171496, + 0.02998824417591095, + 0.9995495676994324, + -1.2616024490098776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.999579131603241, + 0.0280472282320261, + -0.007410785183310509, + 0.7082415166432443 + ], + [ + -0.02827453799545765, + 0.9990687370300293, + -0.03259148448705673, + -0.11386454688466113 + ], + [ + 0.006489782594144344, + 0.032787300646305084, + 0.9994412660598755, + -1.2759185987970103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9993692636489868, + 0.032415758818387985, + -0.014503424055874348, + 0.724779812136075 + ], + [ + -0.032896410673856735, + 0.9988724589347839, + -0.03422997146844864, + -0.11524009276528537 + ], + [ + 0.013377479277551174, + 0.034685492515563965, + 0.9993087649345398, + -1.2908541784153222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9990783929824829, + 0.03768162056803703, + -0.02055489644408226, + 0.7346164446671187 + ], + [ + -0.038418691605329514, + 0.9985865354537964, + -0.03672714903950691, + -0.11446316981260081 + ], + [ + 0.01914190500974655, + 0.03748299553990364, + 0.999113917350769, + -1.3081630579433086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9987751245498657, + 0.04100837558507919, + -0.027685824781656265, + 0.7504718200922568 + ], + [ + -0.0420662984251976, + 0.9983620643615723, + -0.03877675160765648, + -0.11589199719915849 + ], + [ + 0.026050306856632233, + 0.039893899112939835, + 0.9988642930984497, + -1.3233592078552483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9984691143035889, + 0.043431419879198074, + -0.03425033763051033, + 0.7583757693538015 + ], + [ + -0.044803496450185776, + 0.9981799721717834, + -0.04036564379930496, + -0.11638065145252655 + ], + [ + 0.0324348621070385, + 0.0418383851647377, + 0.9985978007316589, + -1.3409647759443484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9979355931282043, + 0.04649665579199791, + -0.04430127516388893, + 0.7760825517593148 + ], + [ + -0.04828355088829994, + 0.9980261325836182, + -0.04015680029988289, + -0.11757501996590854 + ], + [ + 0.04234667494893074, + 0.042212922126054764, + 0.9982107877731323, + -1.3551041355044204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9973918795585632, + 0.0516556091606617, + -0.05040969327092171, + 0.7833130999427774 + ], + [ + -0.053648073226213455, + 0.9977977871894836, + -0.03900635242462158, + -0.11841557188804105 + ], + [ + 0.04828378185629845, + 0.04160900413990021, + 0.9979665875434875, + -1.3700635281408795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9968169927597046, + 0.05788640305399895, + -0.05481801927089691, + 0.7943907791505689 + ], + [ + -0.05981895700097084, + 0.9976199865341187, + -0.03429384157061577, + -0.1270272090545167 + ], + [ + 0.0527024045586586, + 0.03746384009718895, + 0.997907280921936, + -1.3874766199485116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9964540004730225, + 0.06370768696069717, + -0.05496102198958397, + 0.7979742303490639 + ], + [ + -0.06541716307401657, + 0.9974104166030884, + -0.02988460473716259, + -0.12978848442435265 + ], + [ + 0.0529148168861866, + 0.03337403014302254, + 0.9980411529541016, + -1.4047302075794765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9962171912193298, + 0.06766312569379807, + -0.0545254684984684, + 0.8066835791173373 + ], + [ + -0.06909524649381638, + 0.9973012804985046, + -0.024820476770401, + -0.1330140240259052 + ], + [ + 0.05269888415932655, + 0.028494033962488174, + 0.9982038736343384, + -1.4203343408448355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9960407018661499, + 0.07028655707836151, + -0.054430652409791946, + 0.8168890454893156 + ], + [ + -0.0714321881532669, + 0.997256875038147, + -0.019393863156437874, + -0.13219390502488762 + ], + [ + 0.0529182143509388, + 0.02320517785847187, + 0.998329222202301, + -1.4338112310593172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9960828423500061, + 0.07086188346147537, + -0.052891962230205536, + 0.8211052968681599 + ], + [ + -0.07162799686193466, + 0.9973501563072205, + -0.012729909271001816, + -0.13599782584015258 + ], + [ + 0.05184974521398544, + 0.01646859012544155, + 0.9985191226005554, + -1.4502210581894988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9962140917778015, + 0.0695352703332901, + -0.05217645689845085, + 0.8294658252171108 + ], + [ + -0.06992985308170319, + 0.997535228729248, + -0.00577306654304266, + -0.1415952435931804 + ], + [ + 0.05164642259478569, + 0.009399901144206524, + 0.9986211657524109, + -1.4628210796332508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9964604377746582, + 0.06606130301952362, + -0.05198557302355766, + 0.8371106434011867 + ], + [ + -0.0661160945892334, + 0.9978117346763611, + 0.0006668762071058154, + -0.1466620462702917 + ], + [ + 0.051915865391492844, + 0.0027725673280656338, + 0.9986476302146912, + -1.4780727765204744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.996610701084137, + 0.06109753996133804, + -0.05508404225111008, + 0.8523172156318374 + ], + [ + -0.060860417783260345, + 0.9981284141540527, + 0.005973570980131626, + -0.14666827566435803 + ], + [ + 0.055345915257930756, + -0.002600886858999729, + 0.9984638690948486, + -1.489604777875154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.996771514415741, + 0.05717329680919647, + -0.056372009217739105, + 0.8601580714633376 + ], + [ + -0.05664233863353729, + 0.9983342289924622, + 0.010973426513373852, + -0.15104345398440217 + ], + [ + 0.05690549314022064, + -0.0077449562959373, + 0.9983495473861694, + -1.5029727099845127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9968143701553345, + 0.05391128361225128, + -0.058776579797267914, + 0.8713670316505135 + ], + [ + -0.053219325840473175, + 0.998494565486908, + 0.013276366516947746, + -0.14784223209164157 + ], + [ + 0.05940384417772293, + -0.010106023401021957, + 0.9981828927993774, + -1.5138697365055913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9968206286430359, + 0.050776150077581406, + -0.061403609812259674, + 0.8818501413284991 + ], + [ + -0.049888502806425095, + 0.9986281394958496, + 0.015904605388641357, + -0.14842542043383816 + ], + [ + 0.062126949429512024, + -0.01279070507735014, + 0.9979863166809082, + -1.524711511594168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9968370199203491, + 0.04821512848138809, + -0.06317615509033203, + 0.8918281919467523 + ], + [ + -0.047214336693286896, + 0.9987359642982483, + 0.017240405082702637, + -0.14641981732030834 + ], + [ + 0.0639275461435318, + -0.014203053899109364, + 0.9978534579277039, + -1.5358384131644824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9969294667243958, + 0.04546001926064491, + -0.06375765055418015, + 0.8991598892332234 + ], + [ + -0.044307973235845566, + 0.9988301396369934, + 0.01936887763440609, + -0.15024547878282596 + ], + [ + 0.0645635798573494, + -0.01648443378508091, + 0.9977774620056152, + -1.5484232600431265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9969777464866638, + 0.04202656447887421, + -0.065338633954525, + 0.909183469951523 + ], + [ + -0.04079360514879227, + 0.9989655613899231, + 0.020091883838176727, + -0.14862702735092329 + ], + [ + 0.06611543148756027, + -0.01736576482653618, + 0.9976608753204346, + -1.5587442287006734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9969890117645264, + 0.03886786103248596, + -0.06709803640842438, + 0.9182602410083232 + ], + [ + -0.03754114359617233, + 0.9990760087966919, + 0.020922262221574783, + -0.1492994984044977 + ], + [ + 0.06784924864768982, + -0.018340330570936203, + 0.997527003288269, + -1.5687009329381196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9967585802078247, + 0.03610583022236824, + -0.07189396023750305, + 0.9331925586513851 + ], + [ + -0.034577857702970505, + 0.9991512894630432, + 0.02238590270280838, + -0.15401196030911452 + ], + [ + 0.07264120876789093, + -0.019827403128147125, + 0.9971610307693481, + -1.5792264344529336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9962562918663025, + 0.03413957357406616, + -0.07942237704992294, + 0.9465091555061177 + ], + [ + -0.03228559345006943, + 0.9991780519485474, + 0.024511801078915596, + -0.16316195384292684 + ], + [ + 0.0801939144730568, + -0.021855836734175682, + 0.9965396523475647, + -1.5862265353987677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9954590201377869, + 0.03354937583208084, + -0.08908271044492722, + 0.959727775476734 + ], + [ + -0.03138972073793411, + 0.9991809725761414, + 0.02553490735590458, + -0.16830628834063222 + ], + [ + 0.08986643701791763, + -0.022622672840952873, + 0.9956968426704407, + -1.5966518676058845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9945300817489624, + 0.034421078860759735, + -0.09861590713262558, + 0.9728306983892592 + ], + [ + -0.03201302886009216, + 0.999151885509491, + 0.025898080319166183, + -0.16867946404616654 + ], + [ + 0.09942371398210526, + -0.02259942516684532, + 0.9947885274887085, + -1.6052884662373466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9936463236808777, + 0.03632473573088646, + -0.10652457177639008, + 0.9840612923321517 + ], + [ + -0.033704083412885666, + 0.9990857839584351, + 0.026299919933080673, + -0.16489492618241666 + ], + [ + 0.10738252103328705, + -0.022542506456375122, + 0.9939621686935425, + -1.6157959958781367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9928276538848877, + 0.03657230734825134, + -0.11382344365119934, + 0.9964456227070057 + ], + [ + -0.03334087133407593, + 0.998988687992096, + 0.030165880918502808, + -0.1667584076061012 + ], + [ + 0.11481156945228577, + -0.026154547929763794, + 0.9930429458618164, + -1.6254275376752296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9919579029083252, + 0.03717278689146042, + -0.12098617106676102, + 1.0066210777863212 + ], + [ + -0.03316322714090347, + 0.9988373517990112, + 0.03498782217502594, + -0.1679522789042929 + ], + [ + 0.1221461072564125, + -0.030694156885147095, + 0.9920374155044556, + -1.6346852458041647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9910035133361816, + 0.03836609050631523, + -0.1282188892364502, + 1.0178278539491736 + ], + [ + -0.033509526401758194, + 0.9986447095870972, + 0.03982279822230339, + -0.16737813304253615 + ], + [ + 0.12957295775413513, + -0.03516798093914986, + 0.9909460544586182, + -1.6457400324922171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9902188777923584, + 0.04028557613492012, + -0.13357999920845032, + 1.0268139016184008 + ], + [ + -0.03470613434910774, + 0.9984356164932251, + 0.04383803904056549, + -0.16744807264449432 + ], + [ + 0.13513708114624023, + -0.03877320885658264, + 0.9900679588317871, + -1.6552825661179442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9896323680877686, + 0.042236704379320145, + -0.1372729390859604, + 1.0355094745755196 + ], + [ + -0.03622259572148323, + 0.9982836246490479, + 0.046018946915864944, + -0.1667396631091833 + ], + [ + 0.13898102939128876, + -0.04056945815682411, + 0.9894636869430542, + -1.6646380509649004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9892308115959167, + 0.04316286742687225, + -0.1398548185825348, + 1.0443426104806224 + ], + [ + -0.03686787933111191, + 0.9982003569602966, + 0.04729437828063965, + -0.16741123038419284 + ], + [ + 0.14164450764656067, + -0.04162890464067459, + 0.9890419244766235, + -1.6753313037919702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9889639019966125, + 0.04314858466386795, + -0.14173421263694763, + 1.0500745959718776 + ], + [ + -0.036593303084373474, + 0.9981508255004883, + 0.04853692278265953, + -0.16892626212204095 + ], + [ + 0.14356642961502075, + -0.042814742773771286, + 0.9887140989303589, + -1.6872427407999215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9887217283248901, + 0.04402574896812439, + -0.1431470364332199, + 1.0563263016642992 + ], + [ + -0.037207141518592834, + 0.9980575442314148, + 0.04996766522526741, + -0.1678137608335255 + ], + [ + 0.14506883919239044, + -0.044078025966882706, + 0.9884392619132996, + -1.69936269418053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9887306094169617, + 0.04483237490057945, + -0.1428348869085312, + 1.0570389705507652 + ], + [ + -0.03754127398133278, + 0.9978705048561096, + 0.053339194506406784, + -0.17057661950264288 + ], + [ + 0.14492203295230865, + -0.047375891357660294, + 0.9883081912994385, + -1.7118450766024382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9887280464172363, + 0.044520363211631775, + -0.14295035600662231, + 1.0567332476562594 + ], + [ + -0.036575645208358765, + 0.997661828994751, + 0.05773264542222023, + -0.17335775624150815 + ], + [ + 0.1451863944530487, + -0.05185338482260704, + 0.9880446195602417, + -1.7213901170292256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9882256984710693, + 0.04529272019863129, + -0.1461457461118698, + 1.074952282844493 + ], + [ + -0.03689809888601303, + 0.9975371956825256, + 0.05964955314993858, + -0.16109996463710108 + ], + [ + 0.14848752319812775, + -0.053554717451334, + 0.987463116645813, + -1.7308255819800478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9885210394859314, + 0.04562442749738693, + -0.14402976632118225, + 1.0710628920090124 + ], + [ + -0.036339595913887024, + 0.9971277117729187, + 0.06645102798938751, + -0.17141473715349753 + ], + [ + 0.1466478705406189, + -0.06045425310730934, + 0.9873396754264832, + -1.742831093257999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9886595010757446, + 0.0456719771027565, + -0.14306116104125977, + 1.0703310294180923 + ], + [ + -0.035975344479084015, + 0.9969226717948914, + 0.06964899599552155, + -0.167811661264541 + ], + [ + 0.14580193161964417, + -0.0637124627828598, + 0.987260103225708, + -1.7513047704045077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.988811731338501, + 0.04617193341255188, + -0.14184322953224182, + 1.0692882477866936 + ], + [ + -0.03600653260946274, + 0.9966511726379395, + 0.07341650128364563, + -0.16927802490521662 + ], + [ + 0.14475801587104797, + -0.06748782098293304, + 0.9871628880500793, + -1.761966387677637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9890400767326355, + 0.04792289435863495, + -0.13965342938899994, + 1.068673110480264 + ], + [ + -0.037501007318496704, + 0.9963774085044861, + 0.07632672786712646, + -0.1708281984240372 + ], + [ + 0.1428053230047226, + -0.07025304436683655, + 0.9872543215751648, + -1.7696376222631205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9894677400588989, + 0.050139520317316055, + -0.13579267263412476, + 1.0648907251979993 + ], + [ + -0.03970474377274513, + 0.9961237907409668, + 0.07849176973104477, + -0.1717788669726123 + ], + [ + 0.13920184969902039, + -0.07227345556020737, + 0.9876230955123901, + -1.7808604623960411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.989823043346405, + 0.052191369235515594, + -0.1323874294757843, + 1.0611059779521101 + ], + [ + -0.04171893745660782, + 0.9958664178848267, + 0.08068187534809113, + -0.1719447534739601 + ], + [ + 0.13605108857154846, + -0.07433772087097168, + 0.9879088997840881, + -1.7867223345344851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9901947975158691, + 0.05520729720592499, + -0.12832163274288177, + 1.056727089052615 + ], + [ + -0.044818706810474396, + 0.99558424949646, + 0.08248228579759598, + -0.172641947032502 + ], + [ + 0.13230861723423004, + -0.07592231780290604, + 0.988296627998352, + -1.7939599955304069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9906690120697021, + 0.057696226984262466, + -0.12347514927387238, + 1.053869895803632 + ], + [ + -0.04756985977292061, + 0.9953762888908386, + 0.08344569802284241, + -0.17304569967785238 + ], + [ + 0.1277187317609787, + -0.076793372631073, + 0.9888330101966858, + -1.8005962403294462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9911962151527405, + 0.0599324069917202, + -0.11805982887744904, + 1.0490265804233019 + ], + [ + -0.0501835010945797, + 0.9952108263969421, + 0.08388698101043701, + -0.17458064474674487 + ], + [ + 0.12252196669578552, + -0.07722380757331848, + 0.989456832408905, + -1.8070543645331578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.991736888885498, + 0.06188993155956268, + -0.11237262934446335, + 1.0437265739539026 + ], + [ + -0.0526694655418396, + 0.9951361417770386, + 0.08324676007032394, + -0.17414741958983196 + ], + [ + 0.11697820574045181, + -0.07664027065038681, + 0.9901729226112366, + -1.8120616494868853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9924451112747192, + 0.0626441240310669, + -0.1054910346865654, + 1.0363736972860669 + ], + [ + -0.05404229834675789, + 0.9951234459877014, + 0.08251529186964035, + -0.17368928828965063 + ], + [ + 0.1101456955075264, + -0.07619092613458633, + 0.9909908771514893, + -1.8194820309277646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9933603405952454, + 0.061684004962444305, + -0.09710993617773056, + 1.0283992842811605 + ], + [ + -0.05383121222257614, + 0.9952179193496704, + 0.08150796592235565, + -0.17103691224170767 + ], + [ + 0.10167328268289566, + -0.07573923468589783, + 0.9919304847717285, + -1.8233112117518548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9944319128990173, + 0.05909181758761406, + -0.0872541293501854, + 1.0219164236824705 + ], + [ + -0.0520249642431736, + 0.9953426122665405, + 0.081157386302948, + -0.17034070480684316 + ], + [ + 0.09164348989725113, + -0.07616610825061798, + 0.9928747415542603, + -1.8291487159195894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9956738948822021, + 0.05426562577486038, + -0.07542362809181213, + 1.013575723360044 + ], + [ + -0.04809488356113434, + 0.9955242872238159, + 0.08135282248258591, + -0.16890404796840983 + ], + [ + 0.0795007199048996, + -0.07737339287996292, + 0.9938274621963501, + -1.8327240799524769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9968345165252686, + 0.04877382889389992, + -0.06278583407402039, + 1.0046668320709133 + ], + [ + -0.043542105704545975, + 0.9956678152084351, + 0.08215636759996414, + -0.1690530021553454 + ], + [ + 0.06652091443538666, + -0.07916247099637985, + 0.9946397542953491, + -1.8384993822678275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9977208971977234, + 0.044163934886455536, + -0.05101567879319191, + 0.9959258039383599 + ], + [ + -0.03982553631067276, + 0.9957422614097595, + 0.0831337571144104, + -0.16983972197363836 + ], + [ + 0.05446998402476311, + -0.08091256022453308, + 0.9952317476272583, + -1.844580124105726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9983034729957581, + 0.04085274040699005, + -0.04148799926042557, + 0.9854903636234147 + ], + [ + -0.037252992391586304, + 0.9957595467567444, + 0.08411385118961334, + -0.16837107709475926 + ], + [ + 0.044748350977897644, + -0.08242559432983398, + 0.9955921173095703, + -1.849278828075954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9988146424293518, + 0.033849846571683884, + -0.03497917950153351, + 0.9760549791018415 + ], + [ + -0.030646856874227524, + 0.9956165552139282, + 0.08836513012647629, + -0.16946234037139402 + ], + [ + 0.03781699389219284, + -0.08718838542699814, + 0.9954738020896912, + -1.8545118370781775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9992650151252747, + 0.02437904290854931, + -0.029581008478999138, + 0.9680077069155548 + ], + [ + -0.02147759310901165, + 0.9952720403671265, + 0.09472194314002991, + -0.1687222712713739 + ], + [ + 0.031750380992889404, + -0.09401699900627136, + 0.9950641989707947, + -1.8567503431568975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9995095729827881, + 0.015457728877663612, + -0.027234364300966263, + 0.9600564060212107 + ], + [ + -0.01265111193060875, + 0.9948697090148926, + 0.10037019848823547, + -0.1677960505396683 + ], + [ + 0.028646141290664673, + -0.09997642040252686, + 0.9945773482322693, + -1.8559975283116288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9995870590209961, + 0.00957112479954958, + -0.02709363028407097, + 0.9531153587682277 + ], + [ + -0.006788403727114201, + 0.9948636293411255, + 0.10099655389785767, + -0.16864879973556685 + ], + [ + 0.027921117842197418, + -0.10077092051506042, + 0.9945178031921387, + -1.853228058874237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9995908737182617, + 0.004620170686393976, + -0.02822575904428959, + 0.9497809184576321 + ], + [ + -0.001931289560161531, + 0.9955174922943115, + 0.09455766528844833, + -0.16786263154252715 + ], + [ + 0.028536109253764153, + -0.09446447342634201, + 0.9951191544532776, + -1.8496291069880775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9994587898254395, + -0.003989527001976967, + -0.03265359625220299, + 0.9437760135772065 + ], + [ + 0.006808403879404068, + 0.9962132573127747, + 0.08667650073766708, + -0.16688871278155665 + ], + [ + 0.03218415006995201, + -0.08685190230607986, + 0.995701253414154, + -1.8496948658309367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9992589354515076, + -0.009954337030649185, + -0.03718176856637001, + 0.9406236610635652 + ], + [ + 0.012946667149662971, + 0.9966198205947876, + 0.08112534880638123, + -0.16828369872170207 + ], + [ + 0.03624853864312172, + -0.0815466046333313, + 0.9960101246833801, + -1.849366714680417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9993240237236023, + -0.007765917107462883, + -0.035932507365942, + 0.9391329379509324 + ], + [ + 0.01053193025290966, + 0.996941328048706, + 0.07744093984365463, + -0.16677395019286909 + ], + [ + 0.035221200436353683, + -0.0777670368552208, + 0.9963492155075073, + -1.8488950602016094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9995747208595276, + -0.0012780249817296863, + -0.02913345955312252, + 0.9382081978266006 + ], + [ + 0.0034938957542181015, + 0.9970913529396057, + 0.07613591104745865, + -0.16734515030098998 + ], + [ + 0.028951415792107582, + -0.07620532065629959, + 0.996671736240387, + -1.849296833380409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9997527599334717, + 0.00533309206366539, + -0.021585613489151, + 0.93850245986666 + ], + [ + -0.0037002554163336754, + 0.9971774220466614, + 0.0749896988272667, + -0.1690990100921311 + ], + [ + 0.021924614906311035, + -0.07489129155874252, + 0.996950626373291, + -1.8468470865154858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9998153448104858, + 0.010697348043322563, + -0.015965458005666733, + 0.9389675946223625 + ], + [ + -0.00953993946313858, + 0.9974386096000671, + 0.07088872790336609, + -0.16934493700539843 + ], + [ + 0.016682885587215424, + -0.07072332501411438, + 0.9973564743995667, + -1.8445876535051358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9997952580451965, + 0.016546914353966713, + -0.011648226529359818, + 0.940159456769687 + ], + [ + -0.015747955068945885, + 0.9977198839187622, + 0.06562831252813339, + -0.1697658160180779 + ], + [ + 0.012707613408565521, + -0.06543143838644028, + 0.9977761507034302, + -1.8434347254889352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9997062087059021, + 0.02297280728816986, + -0.007730357348918915, + 0.9419310590911726 + ], + [ + -0.02246139571070671, + 0.9978992342948914, + 0.060766760259866714, + -0.1691732362722573 + ], + [ + 0.00911010056734085, + -0.060575272887945175, + 0.9981220364570618, + -1.8432613781150082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9995614886283875, + 0.029364990070462227, + -0.0038168097380548716, + 0.9439449061182622 + ], + [ + -0.02909681387245655, + 0.9979168772697449, + 0.05757857859134674, + -0.16906854682457373 + ], + [ + 0.005499653518199921, + -0.05744227021932602, + 0.9983336925506592, + -1.8422630188628013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9993981122970581, + 0.03468935191631317, + 0.00026970141334459186, + 0.9456315040460033 + ], + [ + -0.03465103358030319, + 0.9978634119033813, + 0.05538859963417053, + -0.16858268837380852 + ], + [ + 0.0016522693913429976, + -0.05536460876464844, + 0.998464822769165, + -1.8433616716669212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9992638826370239, + 0.038174718618392944, + 0.0037937071174383163, + 0.9478292432654163 + ], + [ + -0.038324326276779175, + 0.9977951645851135, + 0.054185472428798676, + -0.16802547036305718 + ], + [ + -0.001716827624477446, + -0.054290980100631714, + 0.9985236525535583, + -1.8432029470153477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9991336464881897, + 0.041039831936359406, + 0.006904717534780502, + 0.9503073403438241 + ], + [ + -0.041349321603775024, + 0.9977319240570068, + 0.05311567336320877, + -0.1681024473600136 + ], + [ + -0.004709198139607906, + -0.05335516482591629, + 0.9985644817352295, + -1.8425154189885773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9989609122276306, + 0.04461156576871872, + 0.009322838857769966, + 0.9517793429610522 + ], + [ + -0.04503774642944336, + 0.9976288676261902, + 0.052040427923202515, + -0.1685844736995164 + ], + [ + -0.00697912834584713, + -0.052406229078769684, + 0.9986014366149902, + -1.8443519421986172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9987697601318359, + 0.048627570271492004, + 0.009709878824651241, + 0.9555223738444935 + ], + [ + -0.04905848205089569, + 0.9975122809410095, + 0.05062151700258255, + -0.16957925438233043 + ], + [ + -0.007224122527986765, + -0.05103559046983719, + 0.9986706972122192, + -1.8436312845034628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9985873103141785, + 0.05234432592988014, + 0.009132697246968746, + 0.9591430653314691 + ], + [ + -0.052728068083524704, + 0.9974243640899658, + 0.04862511530518532, + -0.17030753452122582 + ], + [ + -0.006563925184309483, + -0.04903797432780266, + 0.9987753629684448, + -1.8426777953686921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9984991550445557, + 0.054215915501117706, + 0.00774791743606329, + 0.9633428828680877 + ], + [ + -0.05451900511980057, + 0.9974262714385986, + 0.04656730592250824, + -0.17069849095174244 + ], + [ + -0.0052032871171832085, + -0.046919822692871094, + 0.9988850951194763, + -1.8423518582530645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9984903931617737, + 0.054628342390060425, + 0.005716124549508095, + 0.9665932357311249 + ], + [ + -0.05483022332191467, + 0.9974883198738098, + 0.044840890914201736, + -0.1707937574904898 + ], + [ + -0.0032521840184926987, + -0.04508661851286888, + 0.998977780342102, + -1.843277014560581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9984708428382874, + 0.05525980517268181, + -0.0015291966265067458, + 0.9763858655816875 + ], + [ + -0.05513254180550575, + 0.9974347352981567, + 0.04565489664673805, + -0.1714009318500757 + ], + [ + 0.0040481542237102985, + -0.045500773936510086, + 0.9989560842514038, + -1.84443701505661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/push_in/transforms.json b/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..af4d1d4acd80d5440b76a59581a0446d66cbd6f7 --- /dev/null +++ b/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/push_in/transforms.json @@ -0,0 +1,5683 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 162, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -0.0001700655120657757, + -9.52671398408711e-05, + 0.0003572060668375343 + ], + [ + 0.00017006041889544576, + 1.0, + -5.3571839089272544e-05, + 0.000157554866746068 + ], + [ + 9.527624933980405e-05, + 5.355563553166576e-05, + 1.0, + 0.00020568887703120708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999978542327881, + 0.0003728344163391739, + 0.0020392544101923704, + 0.008935875278284414 + ], + [ + -0.00037166321999393404, + 0.9999997615814209, + -0.0005746693932451308, + -0.002986683984039791 + ], + [ + -0.0020394681487232447, + 0.0005739102489314973, + 0.9999977350234985, + -0.01010292407402896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999966025352478, + 0.0011963817523792386, + 0.002312341472133994, + 0.018220363459867998 + ], + [ + -0.0011908492306247354, + 0.9999964237213135, + -0.0023925406858325005, + -0.0023813094183085313 + ], + [ + -0.0023151955101639032, + 0.0023897788487374783, + 0.9999944567680359, + -0.02040341926611358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999982118606567, + 0.0014018012443557382, + 0.001262157573364675, + 0.024974505673958022 + ], + [ + -0.0013979413779452443, + 0.9999943375587463, + -0.0030538702849298716, + -0.003309906288107961 + ], + [ + -0.0012664314126595855, + 0.003052100306376815, + 0.9999945163726807, + -0.03211297263269839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999940395355225, + 0.002022150671109557, + -0.0027930461801588535, + 0.035803713875111214 + ], + [ + -0.0020297428127378225, + 0.9999942183494568, + -0.002718036063015461, + -0.0037594529377840322 + ], + [ + 0.0027875336818397045, + 0.002723689191043377, + 0.9999924302101135, + -0.04279532529737638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999662041664124, + 0.004193398170173168, + -0.00707066897302866, + 0.04580451001742889 + ], + [ + -0.004210395738482475, + 0.9999882578849792, + -0.00239078002050519, + -0.0038557344113378236 + ], + [ + 0.007060560397803783, + 0.0024204696528613567, + 0.9999721646308899, + -0.05446836993283367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998952746391296, + 0.007084221113473177, + -0.012619983404874802, + 0.05597037156546338 + ], + [ + -0.007101132068783045, + 0.9999739527702332, + -0.0012956743594259024, + -0.0054359558689182404 + ], + [ + 0.012610476464033127, + 0.001385154901072383, + 0.9999195337295532, + -0.06815354494574648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997487664222717, + 0.010625211521983147, + -0.019737394526600838, + 0.06562962485882251 + ], + [ + -0.0106340441852808, + 0.9999433755874634, + -0.00034260633401572704, + -0.004968255700584015 + ], + [ + 0.019732637330889702, + 0.0005524085718207061, + 0.9998051524162292, + -0.08124621484590613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9995071291923523, + 0.01481644157320261, + -0.027675306424498558, + 0.07472760061854901 + ], + [ + -0.014773811213672161, + 0.9998893141746521, + 0.0017441944219172, + -0.005525319454670878 + ], + [ + 0.027698086574673653, + -0.0013344651088118553, + 0.9996154308319092, + -0.09556014157415177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999200165271759, + 0.018113205209374428, + -0.035649918019771576, + 0.08520323325480733 + ], + [ + -0.01799936778843403, + 0.9998318552970886, + 0.0035115673672407866, + -0.004888359994789504 + ], + [ + 0.03570752590894699, + -0.0028670828323811293, + 0.9993581771850586, + -0.10726823742900576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9988458156585693, + 0.021844234317541122, + -0.04277672618627548, + 0.0937464845291576 + ], + [ + -0.02161300927400589, + 0.9997492432594299, + 0.005860499572008848, + -0.005758494728748102 + ], + [ + 0.042894020676612854, + -0.004929202143102884, + 0.999067485332489, + -0.12009403785193189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.998419463634491, + 0.026835454627871513, + -0.04938064515590668, + 0.10195708409969852 + ], + [ + -0.026429513469338417, + 0.9996114373207092, + 0.008855405263602734, + -0.005598927518896619 + ], + [ + 0.049599096179008484, + -0.007536302320659161, + 0.9987407922744751, + -0.13361077889892625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9979758858680725, + 0.031133845448493958, + -0.055451057851314545, + 0.11150937407098202 + ], + [ + -0.030482638627290726, + 0.9994564652442932, + 0.012551370076835155, + -0.005722709302645848 + ], + [ + 0.05581168830394745, + -0.010835670866072178, + 0.9983825087547302, + -0.14577072505254923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9976333975791931, + 0.035524770617485046, + -0.05886900797486305, + 0.11825688160863353 + ], + [ + -0.034585125744342804, + 0.9992587566375732, + 0.016904618591070175, + -0.008007765326486982 + ], + [ + 0.05942590907216072, + -0.014828619547188282, + 0.9981225728988647, + -0.15864146518411104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9973857998847961, + 0.03937753662467003, + -0.06058868020772934, + 0.12616491544505823 + ], + [ + -0.038226861506700516, + 0.9990682005882263, + 0.0200353916734457, + -0.00797447454508232 + ], + [ + 0.06132116913795471, + -0.017666900530457497, + 0.997961699962616, + -0.17112404289452926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9972634315490723, + 0.04101075977087021, + -0.06151222810149193, + 0.13162157276170963 + ], + [ + -0.03967826068401337, + 0.9989539384841919, + 0.02273017168045044, + -0.011982183695209692 + ], + [ + 0.06238006427884102, + -0.02022727206349373, + 0.9978474974632263, + -0.1835504019667643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.997205376625061, + 0.04214884713292122, + -0.06168406084179878, + 0.13550638619416988 + ], + [ + -0.04079335555434227, + 0.9989011883735657, + 0.02307206206023693, + -0.014079111947544984 + ], + [ + 0.06258874386548996, + -0.020491285249590874, + 0.997829020023346, + -0.1945949566845568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9972017407417297, + 0.043291978538036346, + -0.0609467476606369, + 0.1396605664065906 + ], + [ + -0.04207915812730789, + 0.998892605304718, + 0.021045098081231117, + -0.01444727100015427 + ], + [ + 0.0617903396487236, + -0.01842162199318409, + 0.9979191422462463, + -0.20610577747318315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9972341656684875, + 0.043541040271520615, + -0.06023459881544113, + 0.14415257957226002 + ], + [ + -0.042504969984292984, + 0.9989272356033325, + 0.018376845866441727, + -0.015613090175186625 + ], + [ + 0.06097012758255005, + -0.015765748918056488, + 0.9980150461196899, + -0.21733696529213686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9973703622817993, + 0.04202692583203316, + -0.05904293432831764, + 0.14739122819502531 + ], + [ + -0.04121733084321022, + 0.9990396499633789, + 0.014864129945635796, + -0.01573490664848815 + ], + [ + 0.05961092188954353, + -0.012391451746225357, + 0.9981447458267212, + -0.22913754495404523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9976004362106323, + 0.03999634459614754, + -0.05651234835386276, + 0.14874315937483532 + ], + [ + -0.03935854509472847, + 0.9991487860679626, + 0.012354775331914425, + -0.018187872105226013 + ], + [ + 0.0569583922624588, + -0.010100885294377804, + 0.9983254671096802, + -0.23976819948380038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9979098439216614, + 0.037298623472452164, + -0.052770692855119705, + 0.15118910477537176 + ], + [ + -0.03682032600045204, + 0.999271810054779, + 0.010007418692111969, + -0.020094835029348085 + ], + [ + 0.05310552939772606, + -0.008043467998504639, + 0.9985564947128296, + -0.2522067209948664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9982789158821106, + 0.033962756395339966, + -0.04780907928943634, + 0.15214065211530056 + ], + [ + -0.033606186509132385, + 0.9994011521339417, + 0.008242622949182987, + -0.021570848475748337 + ], + [ + 0.04806039482355118, + -0.006621755659580231, + 0.9988225102424622, + -0.264106366686199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.998640775680542, + 0.03044758550822735, + -0.042303457856178284, + 0.15360542769942964 + ], + [ + -0.03015531413257122, + 0.9995168447494507, + 0.007530101574957371, + -0.0240272362716496 + ], + [ + 0.04251229017972946, + -0.006244192831218243, + 0.9990764260292053, + -0.2756803240094866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9989480376243591, + 0.028058107942342758, + -0.036270901560783386, + 0.15365933320537117 + ], + [ + -0.027823280543088913, + 0.9995886087417603, + 0.006963033229112625, + -0.024380161490592158 + ], + [ + 0.036451347172260284, + -0.0059465328231453896, + 0.9993177652359009, + -0.28877469767694885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9991979598999023, + 0.025857117027044296, + -0.03057604283094406, + 0.15347677221672135 + ], + [ + -0.025645345449447632, + 0.9996444582939148, + 0.007298173848539591, + -0.025795617584798553 + ], + [ + 0.030753880739212036, + -0.006508186925202608, + 0.9995058178901672, + -0.3013048449658459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9993855953216553, + 0.02385251224040985, + -0.025681287050247192, + 0.15590088095353996 + ], + [ + -0.023659437894821167, + 0.9996896982192993, + 0.007795917335897684, + -0.027265896404636388 + ], + [ + 0.025859270244836807, + -0.007183522451668978, + 0.9996398091316223, + -0.31346316226520893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9995899796485901, + 0.02139987051486969, + -0.01902519166469574, + 0.15433874001599246 + ], + [ + -0.021261245012283325, + 0.9997461438179016, + 0.0074591259472072124, + -0.02758213191709672 + ], + [ + 0.01917998492717743, + -0.007051568012684584, + 0.9997912049293518, + -0.3269679670008073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9997257590293884, + 0.019409574568271637, + -0.013102700002491474, + 0.1573874309497035 + ], + [ + -0.019319500774145126, + 0.9997891187667847, + 0.006966342683881521, + -0.02785601663686659 + ], + [ + 0.013235150836408138, + -0.006711294408887625, + 0.9998899102210999, + -0.33993342233740764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9998226165771484, + 0.018336135894060135, + -0.0043004159815609455, + 0.15529103109827092 + ], + [ + -0.018306870013475418, + 0.9998096227645874, + 0.006748892832547426, + -0.02915223478108228 + ], + [ + 0.004423345904797316, + -0.006668968591839075, + 0.9999679923057556, + -0.35420840215979155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9998450875282288, + 0.016671868041157722, + 0.005645320750772953, + 0.15515020991218573 + ], + [ + -0.01670914702117443, + 0.9998384714126587, + 0.006622069515287876, + -0.03123170156494616 + ], + [ + -0.005534006282687187, + -0.006715372204780579, + 0.9999621510505676, + -0.368939751423664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9997797012329102, + 0.014401845633983612, + 0.015270073898136616, + 0.1570256553885313 + ], + [ + -0.014498148113489151, + 0.9998756051063538, + 0.006214778404682875, + -0.03264237229237969 + ], + [ + -0.015178670175373554, + -0.006434796843677759, + 0.9998641014099121, + -0.38321845757294887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9996255040168762, + 0.012659292668104172, + 0.02426121011376381, + 0.15997139500535051 + ], + [ + -0.01280980184674263, + 0.9998996257781982, + 0.006058317609131336, + -0.03664953140831142 + ], + [ + -0.02418208122253418, + -0.0063668303191661835, + 0.9996873140335083, + -0.39696020332182413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.999350368976593, + 0.011428670957684517, + 0.034178633242845535, + 0.16126044849107354 + ], + [ + -0.011578178033232689, + 0.9999242424964905, + 0.004179578740149736, + -0.039027588696201675 + ], + [ + -0.03412827476859093, + -0.004572590347379446, + 0.9994069933891296, + -0.4126292525981524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9989475011825562, + 0.009468458592891693, + 0.04488074406981468, + 0.16169833022152416 + ], + [ + -0.009549083188176155, + 0.9999531507492065, + 0.0015823488356545568, + -0.04147690886281639 + ], + [ + -0.044863659888505936, + -0.0020092532504349947, + 0.998991072177887, + -0.4270126824793608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9984445571899414, + 0.008422903716564178, + 0.05511363223195076, + 0.1636458432058925 + ], + [ + -0.008376069366931915, + 0.9999643564224243, + -0.0010807275539264083, + -0.04394503177457448 + ], + [ + -0.05512076988816261, + 0.0006174109876155853, + 0.9984794855117798, + -0.4424003647721332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9978130459785461, + 0.009423973970115185, + 0.06542376428842545, + 0.16620437793479942 + ], + [ + -0.009182403795421124, + 0.9999498724937439, + -0.003992120269685984, + -0.04459883212140813 + ], + [ + -0.06545811146497726, + 0.003382642287760973, + 0.9978495836257935, + -0.45645096868461704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9969671368598938, + 0.012311662547290325, + 0.07684388011693954, + 0.16908689938624452 + ], + [ + -0.011908060871064663, + 0.9999127984046936, + -0.005708255805075169, + -0.04768715168389937 + ], + [ + -0.07690746337175369, + 0.004775881767272949, + 0.997026801109314, + -0.4715441767843614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9957969188690186, + 0.016009436920285225, + 0.09017888456583023, + 0.17152000329694392 + ], + [ + -0.01539289765059948, + 0.9998531937599182, + -0.0075282324105501175, + -0.04633119311530768 + ], + [ + -0.09028617292642593, + 0.006108475849032402, + 0.995897114276886, + -0.4868274746474272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.994356095790863, + 0.019032539799809456, + 0.10437297075986862, + 0.1733854655384647 + ], + [ + -0.01840408705174923, + 0.99980628490448, + -0.00698109483346343, + -0.046312087722504454 + ], + [ + -0.10448562353849411, + 0.0050208051688969135, + 0.994513750076294, + -0.50063389695209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9929890632629395, + 0.020494209602475166, + 0.11641599982976913, + 0.17910253270442442 + ], + [ + -0.020287858322262764, + 0.999789834022522, + -0.0029573380015790462, + -0.050690241493516086 + ], + [ + -0.11645213514566422, + 0.000574773526750505, + 0.9931961297988892, + -0.515346216118854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9915310144424438, + 0.02058982476592064, + 0.1282273381948471, + 0.17905088371556738 + ], + [ + -0.020787015557289124, + 0.9997839331626892, + 0.0001996081555262208, + -0.04912717078562236 + ], + [ + -0.12819550931453705, + -0.0028633810579776764, + 0.9917447566986084, + -0.5294889298285016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9899814128875732, + 0.018947115167975426, + 0.13992057740688324, + 0.18086183369159697 + ], + [ + -0.019728170707821846, + 0.9997965693473816, + 0.0041971104219555855, + -0.05394940840323334 + ], + [ + -0.13981260359287262, + -0.006915438920259476, + 0.9901538491249084, + -0.5418255821518276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9884128570556641, + 0.018185194581747055, + 0.1506960391998291, + 0.18763549366722937 + ], + [ + -0.019245542585849762, + 0.9997991919517517, + 0.005580766126513481, + -0.05815143617945984 + ], + [ + -0.1505642831325531, + -0.008416328579187393, + 0.9885643720626831, + -0.5545290125823169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9866267442703247, + 0.01652028039097786, + 0.16215673089027405, + 0.19462489309888448 + ], + [ + -0.01784488931298256, + 0.9998182058334351, + 0.006715529598295689, + -0.06716881707449507 + ], + [ + -0.16201630234718323, + -0.00951938983052969, + 0.9867421388626099, + -0.5679585376881665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9843924641609192, + 0.013262657448649406, + 0.1754866987466812, + 0.19805588998964854 + ], + [ + -0.014368588104844093, + 0.9998841285705566, + 0.0050329118967056274, + -0.07124968169268614 + ], + [ + -0.17539961636066437, + -0.007475856691598892, + 0.984468936920166, + -0.5820551847819215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9822035431861877, + 0.01015639491379261, + 0.18754492700099945, + 0.20259739330836704 + ], + [ + -0.010848065838217735, + 0.9999375939369202, + 0.0026620146818459034, + -0.07269886677552546 + ], + [ + -0.18750618398189545, + -0.004649139475077391, + 0.9822524189949036, + -0.5946902785982404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9803085923194885, + 0.006517765112221241, + 0.19736412167549133, + 0.20918871216152024 + ], + [ + -0.00660854484885931, + 0.9999781250953674, + -0.0001986655406653881, + -0.0685649320694346 + ], + [ + -0.19736111164093018, + -0.0011095361551269889, + 0.980330228805542, + -0.6049050091216283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9783926606178284, + 0.0008287974051199853, + 0.2067537009716034, + 0.21527349613838315 + ], + [ + -0.001191071467474103, + 0.9999979734420776, + 0.0016277334652841091, + -0.07679097792654305 + ], + [ + -0.20675194263458252, + -0.0018388209864497185, + 0.9783916473388672, + -0.6187433598944859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9769348502159119, + -0.00464787008240819, + 0.21348710358142853, + 0.22553839366073195 + ], + [ + 0.004427282605320215, + 0.9999890327453613, + 0.0015113442204892635, + -0.07649788505640691 + ], + [ + -0.2134917825460434, + -0.0005313170258887112, + 0.9769446849822998, + -0.6333092673965123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9759691953659058, + -0.010879850015044212, + 0.21763667464256287, + 0.23920979050005445 + ], + [ + 0.010625684633851051, + 0.999940812587738, + 0.0023381405044347048, + -0.07892122894658574 + ], + [ + -0.21764922142028809, + 3.0585331842303276e-05, + 0.9760270714759827, + -0.6475961267577935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.97528076171875, + -0.01666366122663021, + 0.22034020721912384, + 0.25085847284297763 + ], + [ + 0.016211004927754402, + 0.9998611211776733, + 0.0038625074084848166, + -0.08515229892746332 + ], + [ + -0.2203739732503891, + -0.00019509275443851948, + 0.9754154086112976, + -0.6622302145321176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9750850796699524, + -0.02043946646153927, + 0.2208876609802246, + 0.2636267553945506 + ], + [ + 0.020036784932017326, + 0.9997909665107727, + 0.004063714295625687, + -0.08635841957900835 + ], + [ + -0.22092455625534058, + 0.0004634105134755373, + 0.9752907752990723, + -0.6741311813733593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9751011729240417, + -0.02305523492395878, + 0.2205587774515152, + 0.27480272455430177 + ], + [ + 0.02278214879333973, + 0.9997332692146301, + 0.0037821512669324875, + -0.09035526321194372 + ], + [ + -0.22058714926242828, + 0.001336822402663529, + 0.9753663539886475, + -0.6866543623971643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.975287139415741, + -0.025728177279233932, + 0.21943804621696472, + 0.28258001075027894 + ], + [ + 0.025660652667284012, + 0.9996657371520996, + 0.003158403327688575, + -0.09783843737760825 + ], + [ + -0.21944594383239746, + 0.002550572855398059, + 0.9756213426589966, + -0.6984444938091018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9763033986091614, + -0.026527201756834984, + 0.21477432548999786, + 0.29881886365065663 + ], + [ + 0.02745840884745121, + 0.9996220469474792, + -0.0013528794515877962, + -0.09611114157256757 + ], + [ + -0.214657261967659, + 0.00721818208694458, + 0.9766627550125122, + -0.7129053280960699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9774618744850159, + -0.02565848082304001, + 0.2095470428466797, + 0.312198626735936 + ], + [ + 0.027303125709295273, + 0.9996148943901062, + -0.004959093406796455, + -0.09839639994113342 + ], + [ + -0.20933911204338074, + 0.010568613186478615, + 0.9777860045433044, + -0.727939412386521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.97889643907547, + -0.02466599829494953, + 0.20286299288272858, + 0.3263162817366375 + ], + [ + 0.026845430955290794, + 0.9996076226234436, + -0.007998388260602951, + -0.09989985677164905 + ], + [ + -0.2025860995054245, + 0.013275537639856339, + 0.9791744947433472, + -0.7425685453118744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9808933138847351, + -0.022413400933146477, + 0.19325101375579834, + 0.3435659859121216 + ], + [ + 0.02487104944884777, + 0.9996376037597656, + -0.010300422087311745, + -0.09999598801737616 + ], + [ + -0.19295009970664978, + 0.01490996964275837, + 0.9810952544212341, + -0.7591383077343058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9875784516334534, + -0.02341410145163536, + 0.15537221729755402, + 0.4759899685749356 + ], + [ + 0.02545148879289627, + 0.9996140003204346, + -0.011136333458125591, + -0.1021542733737632 + ], + [ + -0.15505151450634003, + 0.014952457509934902, + 0.9877932071685791, + -0.7806503602436611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9923753142356873, + -0.018689662218093872, + 0.12182730436325073, + 0.5785129096197046 + ], + [ + 0.020031917840242386, + 0.9997512698173523, + -0.009802132844924927, + -0.11124244568325718 + ], + [ + -0.12161380052566528, + 0.012167830020189285, + 0.9925029277801514, + -0.7977369779385395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9943088293075562, + -0.01156892441213131, + 0.10590606927871704, + 0.605446522983705 + ], + [ + 0.013473240658640862, + 0.9997598528862, + -0.01728339120745659, + -0.0771628966589707 + ], + [ + -0.1056806892156601, + 0.018611926585435867, + 0.9942259192466736, + -0.853052011076708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9930580258369446, + -0.012940308079123497, + 0.11691151559352875, + 0.5310680919737549 + ], + [ + 0.013761676847934723, + 0.9998859763145447, + -0.006221037358045578, + -0.11775058700893977 + ], + [ + -0.11681768298149109, + 0.007786749862134457, + 0.9931228756904602, + -0.8359376216527098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9912800192832947, + -0.005553782917559147, + 0.13165509700775146, + 0.4361398541409036 + ], + [ + 0.007262718863785267, + 0.999895453453064, + -0.01250377856194973, + -0.08957439527401458 + ], + [ + -0.13157188892364502, + 0.013350920751690865, + 0.9912167191505432, + -0.8425700941811437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9938417673110962, + -0.0015152019914239645, + 0.11079799383878708, + 0.48207422739230327 + ], + [ + 0.002804115181788802, + 0.999930202960968, + -0.011478104628622532, + -0.09104489427730904 + ], + [ + -0.11077287048101425, + 0.01171811018139124, + 0.9937766790390015, + -0.8594019455939346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9952132701873779, + 0.004555829800665379, + 0.09762081503868103, + 0.4896315087257705 + ], + [ + -0.0037054680287837982, + 0.9999536275863647, + -0.008890394121408463, + -0.10007243326963475 + ], + [ + -0.09765678644180298, + 0.008486106991767883, + 0.9951839447021484, + -0.8781638200979055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9963029026985168, + 0.009851059876382351, + 0.08534316718578339, + 0.4922587726982484 + ], + [ + -0.009315711446106434, + 0.9999343752861023, + -0.0066688694059848785, + -0.10835951373721502 + ], + [ + -0.08540326356887817, + 0.005849181674420834, + 0.9963293075561523, + -0.8957633919597412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9979413747787476, + 0.014386736787855625, + 0.06249821558594704, + 0.5472022382438368 + ], + [ + -0.013804423622786999, + 0.9998573064804077, + -0.009739131666719913, + -0.09532314176318346 + ], + [ + -0.06262940913438797, + 0.008856330998241901, + 0.9979975819587708, + -0.911122368100267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.998131275177002, + 0.020590243861079216, + 0.0575326606631279, + 0.5444205886643866 + ], + [ + -0.02027870900928974, + 0.9997764229774475, + -0.005993575323373079, + -0.103067081566229 + ], + [ + -0.05764320492744446, + 0.004815686959773302, + 0.9983256459236145, + -0.9300345504506035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9982988238334656, + 0.02679283730685711, + 0.0517837256193161, + 0.555648190847465 + ], + [ + -0.026623761281371117, + 0.9996377229690552, + -0.0039521935395896435, + -0.10344905973678188 + ], + [ + -0.05187085270881653, + 0.0025667930021882057, + 0.9986504912376404, + -0.9457608929702214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9981638193130493, + 0.03126271069049835, + 0.05188077688217163, + 0.546181567337202 + ], + [ + -0.03116515465080738, + 0.999510645866394, + -0.002688535489141941, + -0.10680002042942721 + ], + [ + -0.05193944275379181, + 0.0010667263995856047, + 0.9986496567726135, + -0.96270482695621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9981341361999512, + 0.03320863097906113, + 0.05123929679393768, + 0.5407095642286058 + ], + [ + -0.03309986740350723, + 0.9994476437568665, + -0.0029700682498514652, + -0.11228525334396486 + ], + [ + -0.05130962282419205, + 0.0012685126857832074, + 0.9986819624900818, + -0.9781834104416534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9985378980636597, + 0.033296119421720505, + 0.04258394613862038, + 0.571583695089595 + ], + [ + -0.033066075295209885, + 0.9994345903396606, + -0.006095303688198328, + -0.11397585079582952 + ], + [ + -0.042762819677591324, + 0.004678307566791773, + 0.9990742802619934, + -0.9921758841283573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9986143112182617, + 0.03329489007592201, + 0.04075354337692261, + 0.572242407065741 + ], + [ + -0.03291218355298042, + 0.999407947063446, + -0.010026061907410622, + -0.11786686695348587 + ], + [ + -0.04106323421001434, + 0.008670881390571594, + 0.9991189241409302, + -1.0087125404280906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9988586902618408, + 0.035193633288145065, + 0.03229045867919922, + 0.5981394073237544 + ], + [ + -0.034765321761369705, + 0.9993011951446533, + -0.013731352984905243, + -0.12323319839764826 + ], + [ + -0.03275115042924881, + 0.012593094259500504, + 0.9993842244148254, + -1.0241338099752153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9987989664077759, + 0.03712228313088417, + 0.031977251172065735, + 0.5911856731920508 + ], + [ + -0.03658750280737877, + 0.9991832971572876, + -0.017149880528450012, + -0.12489711900490412 + ], + [ + -0.032587774097919464, + 0.01595931500196457, + 0.9993414282798767, + -1.0408718213901758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9987178444862366, + 0.03990742936730385, + 0.03114585392177105, + 0.5921160887718571 + ], + [ + -0.03926607593894005, + 0.999009370803833, + -0.02093907818198204, + -0.12274165922625464 + ], + [ + -0.03195062652230263, + 0.019689254462718964, + 0.9992954730987549, + -1.055169940142898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.998833179473877, + 0.04007822647690773, + 0.026944682002067566, + 0.6089704695603122 + ], + [ + -0.03939693048596382, + 0.9989018440246582, + -0.025357672944664955, + -0.11645513519482768 + ], + [ + -0.02793138101696968, + 0.024266546592116356, + 0.9993152618408203, + -1.0688698789347773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9990053772926331, + 0.038542490452528, + 0.022421669214963913, + 0.6247028433989664 + ], + [ + -0.037901248782873154, + 0.9988791346549988, + -0.028353802859783173, + -0.11238104745467997 + ], + [ + -0.023489363491535187, + 0.027475792914628983, + 0.9993464350700378, + -1.083167314603462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9991675019264221, + 0.03656582534313202, + 0.01808842085301876, + 0.6400730567006684 + ], + [ + -0.036043405532836914, + 0.9989463090896606, + -0.028410257771611214, + -0.11897393598203888 + ], + [ + -0.019108204171061516, + 0.02773463912308216, + 0.9994326829910278, + -1.0985487210084193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9993433952331543, + 0.03383217379450798, + 0.012967751361429691, + 0.6578526241901499 + ], + [ + -0.03344381973147392, + 0.9990174770355225, + -0.029078064486384392, + -0.12099604711214208 + ], + [ + -0.013938785530626774, + 0.028625281527638435, + 0.9994930028915405, + -1.1134094103522922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9995027780532837, + 0.03030312992632389, + 0.008716443553566933, + 0.6666960894008693 + ], + [ + -0.03003132902085781, + 0.9991050958633423, + -0.029784519225358963, + -0.11871958538103178 + ], + [ + -0.009611207991838455, + 0.029507942497730255, + 0.9995183348655701, + -1.129164662605487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9996392726898193, + 0.026655958965420723, + 0.003277270123362541, + 0.6797744274301374 + ], + [ + -0.026546144858002663, + 0.9991996884346008, + -0.029920466244220734, + -0.1177633429443614 + ], + [ + -0.004072206094861031, + 0.02982267364859581, + 0.9995468854904175, + -1.1433435342326668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9996704459190369, + 0.025596842169761658, + -0.0019492286955937743, + 0.6944326810821492 + ], + [ + -0.025643765926361084, + 0.999222457408905, + -0.029948126524686813, + -0.12148500265588301 + ], + [ + 0.001181135536171496, + 0.02998824417591095, + 0.9995495676994324, + -1.1585433010358988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.999579131603241, + 0.0280472282320261, + -0.007410785183310509, + 0.7074682173197684 + ], + [ + -0.02827453799545765, + 0.9990687370300293, + -0.03259148448705673, + -0.11726539743983228 + ], + [ + 0.006489782594144344, + 0.032787300646305084, + 0.9994412660598755, + -1.1716290753820668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9993692636489868, + 0.032415758818387985, + -0.014503424055874348, + 0.7232483946891813 + ], + [ + -0.032896410673856735, + 0.9988724589347839, + -0.03422997146844864, + -0.11885443757872403 + ], + [ + 0.013377479277551174, + 0.034685492515563965, + 0.9993087649345398, + -1.1853371038570166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9990783929824829, + 0.03768162056803703, + -0.02055489644408226, + 0.7324205178420365 + ], + [ + -0.038418691605329514, + 0.9985865354537964, + -0.03672714903950691, + -0.11838681554849843 + ], + [ + 0.01914190500974655, + 0.03748299553990364, + 0.999113917350769, + -1.201425422052419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9987751245498657, + 0.04100837558507919, + -0.027685824781656265, + 0.7474796874761026 + ], + [ + -0.0420662984251976, + 0.9983620643615723, + -0.03877675160765648, + -0.1200827765654518 + ], + [ + 0.026050306856632233, + 0.039893899112939835, + 0.9988642930984497, + -1.2154074146880867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9984691143035889, + 0.043431419879198074, + -0.03425033763051033, + 0.7546316330662425 + ], + [ + -0.044803496450185776, + 0.9981799721717834, + -0.04036564379930496, + -0.12079329325915864 + ], + [ + 0.0324348621070385, + 0.0418383851647377, + 0.9985978007316589, + -1.2318012896531858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9979355931282043, + 0.04649665579199791, + -0.04430127516388893, + 0.7711846468033072 + ], + [ + -0.04828355088829994, + 0.9980261325836182, + -0.04015680029988289, + -0.12201471589968442 + ], + [ + 0.04234667494893074, + 0.042212922126054764, + 0.9982107877731323, + -1.2447429428189438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9973918795585632, + 0.0516556091606617, + -0.05040969327092171, + 0.7776772336143515 + ], + [ + -0.053648073226213455, + 0.9977977871894836, + -0.03900635242462158, + -0.12277653054420992 + ], + [ + 0.04828378185629845, + 0.04160900413990021, + 0.9979665875434875, + -1.258489623943471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9968169927597046, + 0.05788640305399895, + -0.05481801927089691, + 0.7881939595808154 + ], + [ + -0.05981895700097084, + 0.9976199865341187, + -0.03429384157061577, + -0.13090390418858633 + ], + [ + 0.0527024045586586, + 0.03746384009718895, + 0.997907280921936, + -1.2746697099312492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9964540004730225, + 0.06370768696069717, + -0.05496102198958397, + 0.7916929706931114 + ], + [ + -0.06541716307401657, + 0.9974104166030884, + -0.02988460473716259, + -0.1332038678228855 + ], + [ + 0.0529148168861866, + 0.03337403014302254, + 0.9980411529541016, + -1.2906683615275791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9962171912193298, + 0.06766312569379807, + -0.0545254684984684, + 0.8003843635019864 + ], + [ + -0.06909524649381638, + 0.9973012804985046, + -0.024820476770401, + -0.13588148283292048 + ], + [ + 0.05269888415932655, + 0.028494033962488174, + 0.9982038736343384, + -1.3050138933318003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9960407018661499, + 0.07028655707836151, + -0.054430652409791946, + 0.8105331680650667 + ], + [ + -0.0714321881532669, + 0.997256875038147, + -0.019393863156437874, + -0.13445853003942818 + ], + [ + 0.0529182143509388, + 0.02320517785847187, + 0.998329222202301, + -1.317236141758676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9960828423500061, + 0.07086188346147537, + -0.052891962230205536, + 0.8148633882819866 + ], + [ + -0.07162799686193466, + 0.9973501563072205, + -0.012729909271001816, + -0.13750011326964967 + ], + [ + 0.05184974521398544, + 0.01646859012544155, + 0.9985191226005554, + -1.3323833977583772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9962140917778015, + 0.0695352703332901, + -0.05217645689845085, + 0.8232435396739415 + ], + [ + -0.06992985308170319, + 0.997535228729248, + -0.00577306654304266, + -0.14228370867160536 + ], + [ + 0.05164642259478569, + 0.009399901144206524, + 0.9986211657524109, + -1.3437308536553234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9964604377746582, + 0.06606130301952362, + -0.05198557302355766, + 0.8308465432977269 + ], + [ + -0.0661160945892334, + 0.9978117346763611, + 0.0006668762071058154, + -0.14658168975837957 + ], + [ + 0.051915865391492844, + 0.0027725673280656338, + 0.9986476302146912, + -1.35773883846976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.996610701084137, + 0.06109753996133804, + -0.05508404225111008, + 0.8456113322273545 + ], + [ + -0.060860417783260345, + 0.9981284141540527, + 0.005973570980131626, + -0.14594105832764637 + ], + [ + 0.055345915257930756, + -0.002600886858999729, + 0.9984638690948486, + -1.3680526546809983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.996771514415741, + 0.05717329680919647, + -0.056372009217739105, + 0.8532253647396654 + ], + [ + -0.05664233863353729, + 0.9983342289924622, + 0.010973426513373852, + -0.14969392699704315 + ], + [ + 0.05690549314022064, + -0.0077449562959373, + 0.9983495473861694, + -1.3801943184426113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9968143701553345, + 0.05391128361225128, + -0.058776579797267914, + 0.864065593166381 + ], + [ + -0.053219325840473175, + 0.998494565486908, + 0.013276366516947746, + -0.1461929940150021 + ], + [ + 0.05940384417772293, + -0.010106023401021957, + 0.9981828927993774, + -1.3898718616236811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9968206286430359, + 0.050776150077581406, + -0.061403609812259674, + 0.8741460859359051 + ], + [ + -0.049888502806425095, + 0.9986281394958496, + 0.015904605388641357, + -0.1464299357825925 + ], + [ + 0.062126949429512024, + -0.01279070507735014, + 0.9979863166809082, + -1.3994983215509735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9968370199203491, + 0.04821512848138809, + -0.06317615509033203, + 0.8838232629787848 + ], + [ + -0.047214336693286896, + 0.9987359642982483, + 0.017240405082702637, + -0.1442353187880901 + ], + [ + 0.0639275461435318, + -0.014203053899109364, + 0.9978534579277039, + -1.409402322843208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9969294667243958, + 0.04546001926064491, + -0.06375765055418015, + 0.8910020780443034 + ], + [ + -0.044307973235845566, + 0.9988301396369934, + 0.01936887763440609, + -0.1477672248743243 + ], + [ + 0.0645635798573494, + -0.01648443378508091, + 0.9977774620056152, + -1.420757323910731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9969777464866638, + 0.04202656447887421, + -0.065338633954525, + 0.9007422054406279 + ], + [ + -0.04079360514879227, + 0.9989655613899231, + 0.020091883838176727, + -0.14603130571220233 + ], + [ + 0.06611543148756027, + -0.01736576482653618, + 0.9976608753204346, + -1.4298538795909526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9969890117645264, + 0.03886786103248596, + -0.06709803640842438, + 0.90950832321592 + ], + [ + -0.03754114359617233, + 0.9990760087966919, + 0.020922262221574783, + -0.14657050767994445 + ], + [ + 0.06784924864768982, + -0.018340330570936203, + 0.997527003288269, + -1.4385887151179106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9967585802078247, + 0.03610583022236824, + -0.07189396023750305, + 0.9237257763095524 + ], + [ + -0.034577857702970505, + 0.9991512894630432, + 0.02238590270280838, + -0.1510642513817882 + ], + [ + 0.07264120876789093, + -0.019827403128147125, + 0.9971610307693481, + -1.4479232428236777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9962562918663025, + 0.03413957357406616, + -0.07942237704992294, + 0.9359523923454448 + ], + [ + -0.03228559345006943, + 0.9991780519485474, + 0.024511801078915596, + -0.15990386351318278 + ], + [ + 0.0801939144730568, + -0.021855836734175682, + 0.9965396523475647, + -1.453767227571203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9954590201377869, + 0.03354937583208084, + -0.08908271044492722, + 0.9477763062493402 + ], + [ + -0.03138972073793411, + 0.9991809725761414, + 0.02553490735590458, + -0.1648804871053059 + ], + [ + 0.08986643701791763, + -0.022622672840952873, + 0.9956968426704407, + -1.463067694924633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9945300817489624, + 0.034421078860759735, + -0.09861590713262558, + 0.9594777370508043 + ], + [ + -0.03201302886009216, + 0.999151885509491, + 0.025898080319166183, + -0.16517276745636641 + ], + [ + 0.09942371398210526, + -0.02259942516684532, + 0.9947885274887085, + -1.4705903923289376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9936463236808777, + 0.03632473573088646, + -0.10652457177639008, + 0.9695051396670549 + ], + [ + -0.033704083412885666, + 0.9990857839584351, + 0.026299919933080673, + -0.16130114830336215 + ], + [ + 0.10738252103328705, + -0.022542506456375122, + 0.9939621686935425, + -1.4799750784169072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9928276538848877, + 0.03657230734825134, + -0.11382344365119934, + 0.9807507130855359 + ], + [ + -0.03334087133407593, + 0.998988687992096, + 0.030165880918502808, + -0.16259888862230762 + ], + [ + 0.11481156945228577, + -0.026154547929763794, + 0.9930429458618164, + -1.48849863458124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9919579029083252, + 0.03717278689146042, + -0.12098617106676102, + 0.9897882192031197 + ], + [ + -0.03316322714090347, + 0.9988373517990112, + 0.03498782217502594, + -0.16308440799298493 + ], + [ + 0.1221461072564125, + -0.030694156885147095, + 0.9920374155044556, + -1.4966626488644144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9910035133361816, + 0.03836609050631523, + -0.1282188892364502, + 0.9998294260190881 + ], + [ + -0.033509526401758194, + 0.9986447095870972, + 0.03982279822230339, + -0.16178810049704515 + ], + [ + 0.12957295775413513, + -0.03516798093914986, + 0.9909460544586182, + -1.5066382882017526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9902188777923584, + 0.04028557613492012, + -0.13357999920845032, + 1.0078969824758375 + ], + [ + -0.03470613434910774, + 0.9984356164932251, + 0.04383803904056549, + -0.16123995283005402 + ], + [ + 0.13513708114624023, + -0.03877320885658264, + 0.9900679588317871, + -1.515074184370337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9896323680877686, + 0.042236704379320145, + -0.1372729390859604, + 1.0158990547060966 + ], + [ + -0.03622259572148323, + 0.9982836246490479, + 0.046018946915864944, + -0.16016552783548832 + ], + [ + 0.13898102939128876, + -0.04056945815682411, + 0.9894636869430542, + -1.5232860956873213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9892308115959167, + 0.04316286742687225, + -0.1398548185825348, + 1.0241896179892263 + ], + [ + -0.03686787933111191, + 0.9982003569602966, + 0.04729437828063965, + -0.16059613984934293 + ], + [ + 0.14164450764656067, + -0.04162890464067459, + 0.9890419244766235, + -1.5328109767866431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9889639019966125, + 0.04314858466386795, + -0.14173421263694763, + 1.0294747166196752 + ], + [ + -0.036593303084373474, + 0.9981508255004883, + 0.04853692278265953, + -0.161871827382201 + ], + [ + 0.14356642961502075, + -0.042814742773771286, + 0.9887140989303589, + -1.5435414369802298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9887217283248901, + 0.04402574896812439, + -0.1431470364332199, + 1.0353432578144606 + ], + [ + -0.037207141518592834, + 0.9980575442314148, + 0.04996766522526741, + -0.16048930804274097 + ], + [ + 0.14506883919239044, + -0.044078025966882706, + 0.9884392619132996, + -1.5544734607572142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9887306094169617, + 0.04483237490057945, + -0.1428348869085312, + 1.0359242481381996 + ], + [ + -0.03754127398133278, + 0.9978705048561096, + 0.053339194506406784, + -0.16269169509734796 + ], + [ + 0.14492203295230865, + -0.047375891357660294, + 0.9883081912994385, + -1.5657473439755647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9887280464172363, + 0.044520363211631775, + -0.14295035600662231, + 1.035423877816763 + ], + [ + -0.036575645208358765, + 0.997661828994751, + 0.05773264542222023, + -0.16475164760713992 + ], + [ + 0.1451863944530487, + -0.05185338482260704, + 0.9880446195602417, + -1.5741039625606181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9882256984710693, + 0.04529272019863129, + -0.1461457461118698, + 1.0529850340500382 + ], + [ + -0.03689809888601303, + 0.9975371956825256, + 0.05964955314993858, + -0.15213400695866308 + ], + [ + 0.14848752319812775, + -0.053554717451334, + 0.987463116645813, + -1.582399448919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9885210394859314, + 0.04562442749738693, + -0.14402976632118225, + 1.0492347783553675 + ], + [ + -0.036339595913887024, + 0.9971277117729187, + 0.06645102798938751, + -0.16134389812901895 + ], + [ + 0.1466478705406189, + -0.06045425310730934, + 0.9873396754264832, + -1.5931970058020597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9886595010757446, + 0.0456719771027565, + -0.14306116104125977, + 1.0484719948738999 + ], + [ + -0.035975344479084015, + 0.9969226717948914, + 0.06964899599552155, + -0.15716964075839296 + ], + [ + 0.14580193161964417, + -0.0637124627828598, + 0.987260103225708, + -1.6004563322718839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.988811731338501, + 0.04617193341255188, + -0.14184322953224182, + 1.0474391043556404 + ], + [ + -0.03600653260946274, + 0.9966511726379395, + 0.07341650128364563, + -0.1579691476888538 + ], + [ + 0.14475801587104797, + -0.06748782098293304, + 0.9871628880500793, + -1.6099065142388669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9890400767326355, + 0.04792289435863495, + -0.13965342938899994, + 1.0469877953577487 + ], + [ + -0.037501007318496704, + 0.9963774085044861, + 0.07632672786712646, + -0.1589762220471542 + ], + [ + 0.1428053230047226, + -0.07025304436683655, + 0.9872543215751648, + -1.6163372617700826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9894677400588989, + 0.050139520317316055, + -0.13579267263412476, + 1.0436362199161364 + ], + [ + -0.03970474377274513, + 0.9961237907409668, + 0.07849176973104477, + -0.15949319866688355 + ], + [ + 0.13920184969902039, + -0.07227345556020737, + 0.9876230955123901, + -1.6262759778810585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.989823043346405, + 0.052191369235515594, + -0.1323874294757843, + 1.040220010817421 + ], + [ + -0.04171893745660782, + 0.9958664178848267, + 0.08068187534809113, + -0.15921606009606248 + ], + [ + 0.13605108857154846, + -0.07433772087097168, + 0.9879088997840881, + -1.6308658994132688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9901947975158691, + 0.05520729720592499, + -0.12832163274288177, + 1.0363231524177219 + ], + [ + -0.044818706810474396, + 0.99558424949646, + 0.08248228579759598, + -0.15952675127835006 + ], + [ + 0.13230861723423004, + -0.07592231780290604, + 0.988296627998352, + -1.6368146931902963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9906690120697021, + 0.057696226984262466, + -0.12347514927387238, + 1.0340831948640925 + ], + [ + -0.04756985977292061, + 0.9953762888908386, + 0.08344569802284241, + -0.15967365614375711 + ], + [ + 0.1277187317609787, + -0.076793372631073, + 0.9888330101966858, + -1.6421372859004122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9911962151527405, + 0.0599324069917202, + -0.11805982887744904, + 1.0299610179958876 + ], + [ + -0.0501835010945797, + 0.9952108263969421, + 0.08388698101043701, + -0.16103367886928296 + ], + [ + 0.12252196669578552, + -0.07722380757331848, + 0.989456832408905, + -1.6472663046410365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.991736888885498, + 0.06188993155956268, + -0.11237262934446335, + 1.0254398479363562 + ], + [ + -0.0526694655418396, + 0.9951361417770386, + 0.08324676007032394, + -0.16060043130509602 + ], + [ + 0.11697820574045181, + -0.07664027065038681, + 0.9901729226112366, + -1.6509279192234418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9924451112747192, + 0.0626441240310669, + -0.1054910346865654, + 1.0190757884927417 + ], + [ + -0.05404229834675789, + 0.9951234459877014, + 0.08251529186964035, + -0.16015883049239282 + ], + [ + 0.1101456955075264, + -0.07619092613458633, + 0.9909908771514893, + -1.6569841479662784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9933603405952454, + 0.061684004962444305, + -0.09710993617773056, + 1.0123550339561442 + ], + [ + -0.05383121222257614, + 0.9952179193496704, + 0.08150796592235565, + -0.1575703787414924 + ], + [ + 0.10167328268289566, + -0.07573923468589783, + 0.9919304847717285, + -1.659427044702613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9944319128990173, + 0.05909181758761406, + -0.0872541293501854, + 1.0073921338279055 + ], + [ + -0.0520249642431736, + 0.9953426122665405, + 0.081157386302948, + -0.15683127652784312 + ], + [ + 0.09164348989725113, + -0.07616610825061798, + 0.9928747415542603, + -1.663875156455899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9956738948822021, + 0.05426562577486038, + -0.07542362809181213, + 1.000927040388125 + ], + [ + -0.04809488356113434, + 0.9955242872238159, + 0.08135282248258591, + -0.15526102804896993 + ], + [ + 0.0795007199048996, + -0.07737339287996292, + 0.9938274621963501, + -1.666057362689735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9968345165252686, + 0.04877382889389992, + -0.06278583407402039, + 0.9940595358795261 + ], + [ + -0.043542105704545975, + 0.9956678152084351, + 0.08215636759996414, + -0.15517316862292913 + ], + [ + 0.06652091443538666, + -0.07916247099637985, + 0.9946397542953491, + -1.6704608647719674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9977208971977234, + 0.044163934886455536, + -0.05101567879319191, + 0.987243632516413 + ], + [ + -0.03982553631067276, + 0.9957422614097595, + 0.0831337571144104, + -0.15569149250199335 + ], + [ + 0.05446998402476311, + -0.08091256022453308, + 0.9952317476272583, + -1.6752052800995962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9983034729957581, + 0.04085274040699005, + -0.04148799926042557, + 0.9783781351787704 + ], + [ + -0.037252992391586304, + 0.9957595467567444, + 0.08411385118961334, + -0.1539515597479684 + ], + [ + 0.044748350977897644, + -0.08242559432983398, + 0.9955921173095703, + -1.6786058936800274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9988146424293518, + 0.033849846571683884, + -0.03497917950153351, + 0.9700150959332537 + ], + [ + -0.030646856874227524, + 0.9956165552139282, + 0.08836513012647629, + -0.15420426200172915 + ], + [ + 0.03781699389219284, + -0.08718838542699814, + 0.9954738020896912, + -1.6826225718726282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9992650151252747, + 0.02437904290854931, + -0.029581008478999138, + 0.9628631837018158 + ], + [ + -0.02147759310901165, + 0.9952720403671265, + 0.09472194314002991, + -0.15224888985571655 + ], + [ + 0.031750380992889404, + -0.09401699900627136, + 0.9950641989707947, + -1.683695699857629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9995095729827881, + 0.015457728877663612, + -0.027234364300966263, + 0.9552861633299856 + ], + [ + -0.01265111193060875, + 0.9948697090148926, + 0.10037019848823547, + -0.15021568036967922 + ], + [ + 0.028646141290664673, + -0.09997642040252686, + 0.9945773482322693, + -1.681792054894548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9995870590209961, + 0.00957112479954958, + -0.02709363028407097, + 0.9483361096994847 + ], + [ + -0.006788403727114201, + 0.9948636293411255, + 0.10099655389785767, + -0.15083325855110002 + ], + [ + 0.027921117842197418, + -0.10077092051506042, + 0.9945178031921387, + -1.6777975892428285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9995908737182617, + 0.004620170686393976, + -0.02822575904428959, + 0.9447669016336154 + ], + [ + -0.001931289560161531, + 0.9955174922943115, + 0.09455766528844833, + -0.15106543137327486 + ], + [ + 0.028536109253764153, + -0.09446447342634201, + 0.9951191544532776, + -1.67285638762557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9994587898254395, + -0.003989527001976967, + -0.03265359625220299, + 0.9379348733780547 + ], + [ + 0.006808403879404068, + 0.9962132573127747, + 0.08667650073766708, + -0.151383848053328 + ], + [ + 0.03218415006995201, + -0.08685190230607986, + 0.995701253414154, + -1.6715818465866659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9992589354515076, + -0.009954337030649185, + -0.03718176856637001, + 0.9339263238683806 + ], + [ + 0.012946667149662971, + 0.9966198205947876, + 0.08112534880638123, + -0.15367105825347188 + ], + [ + 0.03624853864312172, + -0.0815466046333313, + 0.9960101246833801, + -1.6699611642716095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9993240237236023, + -0.007765917107462883, + -0.035932507365942, + 0.9326159863044386 + ], + [ + 0.01053193025290966, + 0.996941328048706, + 0.07744093984365463, + -0.15272876110321246 + ], + [ + 0.035221200436353683, + -0.0777670368552208, + 0.9963492155075073, + -1.6681907304325458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9995747208595276, + -0.0012780249817296863, + -0.02913345955312252, + 0.9328881747777695 + ], + [ + 0.0034938957542181015, + 0.9970913529396057, + 0.07613591104745865, + -0.15344207089232362 + ], + [ + 0.028951415792107582, + -0.07620532065629959, + 0.996671736240387, + -1.6672959076321643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9997527599334717, + 0.00533309206366539, + -0.021585613489151, + 0.9345339247158595 + ], + [ + -0.0037002554163336754, + 0.9971774220466614, + 0.0749896988272667, + -0.15531208409655908 + ], + [ + 0.021924614906311035, + -0.07489129155874252, + 0.996950626373291, + -1.663556785020769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9998153448104858, + 0.010697348043322563, + -0.015965458005666733, + 0.9360124974262826 + ], + [ + -0.00953993946313858, + 0.9974386096000671, + 0.07088872790336609, + -0.15622391780340894 + ], + [ + 0.016682885587215424, + -0.07072332501411438, + 0.9973564743995667, + -1.6599837843305576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9997952580451965, + 0.016546914353966713, + -0.011648226529359818, + 0.9379889797766386 + ], + [ + -0.015747955068945885, + 0.9977198839187622, + 0.06562831252813339, + -0.1575369379072456 + ], + [ + 0.012707613408565521, + -0.06543143838644028, + 0.9977761507034302, + -1.6575137036187308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9997062087059021, + 0.02297280728816986, + -0.007730357348918915, + 0.9404810169052263 + ], + [ + -0.02246139571070671, + 0.9978992342948914, + 0.060766760259866714, + -0.15777475080736306 + ], + [ + 0.00911010056734085, + -0.060575272887945175, + 0.9981220364570618, + -1.6560360023323795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9995614886283875, + 0.029364990070462227, + -0.0038168097380548716, + 0.9432242165776606 + ], + [ + -0.02909681387245655, + 0.9979168772697449, + 0.05757857859134674, + -0.1581965667675741 + ], + [ + 0.005499653518199921, + -0.05744227021932602, + 0.9983336925506592, + -1.6537577750519936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9993981122970581, + 0.03468935191631317, + 0.00026970141334459186, + 0.9456827640661793 + ], + [ + -0.03465103358030319, + 0.9978634119033813, + 0.05538859963417053, + -0.15805541415762459 + ], + [ + 0.0016522693913429976, + -0.05536460876464844, + 0.998464822769165, + -1.6535913388921608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9992638826370239, + 0.038174718618392944, + 0.0037937071174383163, + 0.9485549959313611 + ], + [ + -0.038324326276779175, + 0.9977951645851135, + 0.054185472428798676, + -0.15765955389841743 + ], + [ + -0.001716827624477446, + -0.054290980100631714, + 0.9985236525535583, + -1.652181030874667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9991336464881897, + 0.041039831936359406, + 0.006904717534780502, + 0.9516368201176016 + ], + [ + -0.041349321603775024, + 0.9977319240570068, + 0.05311567336320877, + -0.1578752059049858 + ], + [ + -0.004709198139607906, + -0.05335516482591629, + 0.9985644817352295, + -1.6502452392755829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9989609122276306, + 0.04461156576871872, + 0.009322838857769966, + 0.9535860049011915 + ], + [ + -0.04503774642944336, + 0.9976288676261902, + 0.052040427923202515, + -0.15849962058644856 + ], + [ + -0.00697912834584713, + -0.052406229078769684, + 0.9986014366149902, + -1.6508341482707432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9987697601318359, + 0.048627570271492004, + 0.009709878824651241, + 0.9574161017643322 + ], + [ + -0.04905848205089569, + 0.9975122809410095, + 0.05062151700258255, + -0.15970648647002553 + ], + [ + -0.007224122527986765, + -0.05103559046983719, + 0.9986706972122192, + -1.6488594839291544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9985873103141785, + 0.05234432592988014, + 0.009132697246968746, + 0.9609355698842902 + ], + [ + -0.052728068083524704, + 0.9974243640899658, + 0.04862511530518532, + -0.16076372307002174 + ], + [ + -0.006563925184309483, + -0.04903797432780266, + 0.9987753629684448, + -1.6466448669848235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9984991550445557, + 0.054215915501117706, + 0.00774791743606329, + 0.964873216870987 + ], + [ + -0.05451900511980057, + 0.9974262714385986, + 0.04656730592250824, + -0.1615007249372346 + ], + [ + -0.0052032871171832085, + -0.046919822692871094, + 0.9988850951194763, + -1.6450565413288447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9984903931617737, + 0.054628342390060425, + 0.005716124549508095, + 0.9677293598651886 + ], + [ + -0.05483022332191467, + 0.9974883198738098, + 0.044840890914201736, + -0.1618812822777292 + ], + [ + -0.0032521840184926987, + -0.04508661851286888, + 0.998977780342102, + -1.644722424678921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9984708428382874, + 0.05525980517268181, + -0.0015291966265067458, + 0.9760800262563862 + ], + [ + -0.05513254180550575, + 0.9974347352981567, + 0.04565489664673805, + -0.16226995252072812 + ], + [ + 0.0040481542237102985, + -0.045500773936510086, + 0.9989560842514038, + -1.6446457982063294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/tilt_down/transforms.json b/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..f47102813e895671ab2edd31dca7fec18c54fe3d --- /dev/null +++ b/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/tilt_down/transforms.json @@ -0,0 +1,5683 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 162, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -0.0001700655120657757, + -9.52671398408711e-05, + 0.0003572060668375343 + ], + [ + 0.00017006041889544576, + 1.0, + -5.3571839089272544e-05, + 0.000157554866746068 + ], + [ + 9.527624933980405e-05, + 5.355563553166576e-05, + 1.0, + 0.00020568887703120708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999978542327881, + 0.00036951792764301913, + 0.002039857973645816, + 0.008934608660638332 + ], + [ + -0.00037166321999393404, + 0.9999993739686232, + 0.0010514134162532003, + -0.0029863270465284586 + ], + [ + -0.0020394681487232447, + -0.0010521692642129438, + 0.9999973461789489, + -0.010724040679633617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999966025352478, + 0.0011888553197955277, + 0.002316220069373957, + 0.01821749098598957 + ], + [ + -0.0011908492306247354, + 0.9999989163785324, + 0.0008596209112439846, + -0.0023783373180776834 + ], + [ + -0.0023151955101639032, + -0.0008623763368857136, + 0.9999969404537189, + -0.021645648404955864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999998211860657, + 0.0013956274697510661, + 0.0012689808644559379, + 0.024972153827548027 + ], + [ + -0.0013979413779452445, + 0.9999973364727989, + 0.0018243685431776637, + -0.003304215846583247 + ], + [ + -0.0012664314126595857, + -0.00182613937296591, + 0.9999975066502429, + -0.03397631645202637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999940395355227, + 0.002040274669633008, + -0.002779834450758303, + 0.03581065312027931 + ], + [ + -0.002029742812737823, + 0.9999907442609032, + 0.003786270580155562, + -0.003752700053155422 + ], + [ + 0.002787533681839705, + -0.0037806059411377656, + 0.9999889929289503, + -0.04527977854013443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999662041664124, + 0.004250746416622494, + -0.007036341580774264, + 0.045826468616724014 + ], + [ + -0.004210395738482475, + 0.999974644446276, + 0.005739529726904912, + -0.0038483096286654472 + ], + [ + 0.007060560397803783, + -0.005709710232434738, + 0.999958793110491, + -0.05757387354969978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998952746391299, + 0.0072070088463548326, + -0.012550266666985917, + 0.056017402559518814 + ], + [ + -0.0071011320687830465, + 0.9999390007967863, + 0.008460477320754644, + -0.005431127268821001 + ], + [ + 0.01261047646403313, + -0.008370470106979555, + 0.9998854573490984, + -0.07187995314598083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997487664222717, + 0.010849180873255494, + -0.019615176190005617, + 0.06571543961763382 + ], + [ + -0.0106340441852808, + 0.9998824980282062, + 0.011039107628125645, + -0.004966766107827425 + ], + [ + 0.019732637330889702, + -0.010827745678878432, + 0.999746671850816, + -0.08559319376945496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9995071291923523, + 0.015175196574479674, + -0.027480228083258666, + 0.07486511766910553 + ], + [ + -0.014773811213672161, + 0.9997820230461973, + 0.014750905344779849, + -0.005533986259251833 + ], + [ + 0.027698086574673653, + -0.014337647943251488, + 0.9995134927582746, + -0.10052717477083206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999200165271759, + 0.018632974495174523, + -0.03538102767353598, + 0.08540251851081848 + ], + [ + -0.01799936778843403, + 0.9996733982137288, + 0.018142956650134344, + -0.004907989874482155 + ], + [ + 0.03570752590894699, + -0.01749160921801967, + 0.9992092023583323, + -0.11285471171140671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9988458156585693, + 0.022536900898423785, + -0.04241588115352377, + 0.09401217848062515 + ], + [ + -0.02161300927400589, + 0.9995217796057866, + 0.022115762404173466, + -0.005794895347207785 + ], + [ + 0.042894020676612854, + -0.02117350263463308, + 0.9988552548134949, + -0.1262994259595871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9984194636344912, + 0.027714382140802754, + -0.048892768009713615, + 0.10229446738958359 + ], + [ + -0.026429513469338424, + 0.9992931454517556, + 0.026732999792268945, + -0.0056594302877783775 + ], + [ + 0.0495990961790085, + -0.02539853553846232, + 0.9984462331033236, + -0.14043447375297546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9979758858680727, + 0.0322098661300585, + -0.054833025387299686, + 0.11192267388105392 + ], + [ + -0.030482638627290733, + 0.9990212969010158, + 0.03205013490822511, + -0.005816259887069464 + ], + [ + 0.05581168830394746, + -0.03031380753858262, + 0.9979810211737601, + -0.15321208536624908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9976333975791931, + 0.03676117764883949, + -0.058104950264498835, + 0.11873222142457962 + ], + [ + -0.034585125744342804, + 0.9986781787067719, + 0.03802268035664391, + -0.008144262246787548 + ], + [ + 0.05942590907216072, + -0.03592312904537839, + 0.9975861302601967, + -0.1667008399963379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9973857998847961, + 0.04074652542342911, + -0.05967662210497146, + 0.1266917735338211 + ], + [ + -0.038226861506700516, + 0.9983532572881408, + 0.04277218732148688, + -0.008148695342242718 + ], + [ + 0.06132116913795471, + -0.040379122397788285, + 0.9973009578061238, + -0.17980197072029114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9972634315490723, + 0.04249877225336059, + -0.06049372678179935, + 0.1321946680545807 + ], + [ + -0.03967826068401337, + 0.9981024356447493, + 0.047086727192707706, + -0.012193955481052399 + ], + [ + 0.06238006427884102, + -0.04455758726686026, + 0.9970573665269769, + -0.1928471177816391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.997205376625061, + 0.04373925617568885, + -0.060566708229575765, + 0.13611939549446106 + ], + [ + -0.04079335555434227, + 0.9979629228505912, + 0.04905006419300769, + -0.014308399520814419 + ], + [ + 0.06258874386548996, + -0.04644226898755437, + 0.9969582547043877, + -0.20451126992702484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.99720174074173, + 0.044960000218485154, + -0.05972687700274446, + 0.1403041034936905 + ], + [ + -0.0420791581273079, + 0.9979292893009398, + 0.04864634252456489, + -0.014669486321508884 + ], + [ + 0.061790339648723616, + -0.04599696233335501, + 0.9970287107573422, + -0.2166428118944168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9972341656684878, + 0.0452851753966699, + -0.058934556685158554, + 0.1448260098695755 + ], + [ + -0.04250496998429299, + 0.997961569717023, + 0.04760289762241891, + -0.01581854559481144 + ], + [ + 0.06097012758255006, + -0.044966223546980495, + 0.9971261855252611, + -0.22849489748477936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9973703622817993, + 0.04383074480753863, + -0.057716517554385345, + 0.1480880081653595 + ], + [ + -0.04121733084321022, + 0.9981037149464982, + 0.045718035478254725, + -0.015910321846604347 + ], + [ + 0.05961092188954353, + -0.04321889313232273, + 0.9972856205592688, + -0.2409168928861618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9976004362106323, + 0.04181274681806244, + -0.05518194723866424, + 0.14944517612457275 + ], + [ + -0.03935854509472847, + 0.9982187264817651, + 0.04483649490881564, + -0.018341347575187683 + ], + [ + 0.0569583922624588, + -0.04255702570719155, + 0.9974691302122831, + -0.25216975808143616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9979098439216614, + 0.03907852924855174, + -0.051466512307705756, + 0.15187741816043854 + ], + [ + -0.03682032600045204, + 0.9983475925551598, + 0.04411783356365392, + -0.020225366577506065 + ], + [ + 0.05310552939772606, + -0.04213060614946769, + 0.9976997456830861, + -0.2652313709259033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9982789158821106, + 0.03565097557628551, + -0.046563771592643896, + 0.15279394388198853 + ], + [ + -0.033606186509132385, + 0.9984669127932896, + 0.0439821301981809, + -0.021683480590581894 + ], + [ + 0.04806039482355118, + -0.04234160414276085, + 0.9979466133885552, + -0.27775487303733826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.998640775680542, + 0.03200807046873734, + -0.041135403665682115, + 0.15420976281166077 + ], + [ + -0.03015531413257122, + 0.9985363279150927, + 0.04489796433546983, + -0.024134809151291847 + ], + [ + 0.04251229017972946, + -0.04359648703962613, + 0.9981442988412084, + -0.2899528443813324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9989480376243594, + 0.029451892773033703, + -0.03514856659128395, + 0.15420001745224 + ], + [ + -0.02782328054308892, + 0.9985558341256324, + 0.04595777074337338, + -0.02448395825922489 + ], + [ + 0.03645134717226029, + -0.04493147706398266, + 0.99832485671626, + -0.30367136001586914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9991979598999023, + 0.027078391719281933, + -0.029499925390534698, + 0.15395155549049377 + ], + [ + -0.025645345449447632, + 0.9985219658377288, + 0.047918577595914696, + -0.0259089432656765 + ], + [ + 0.030753880739212036, + -0.047123608877116654, + 0.9984155457422236, + -0.31682512164115906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9993855953216555, + 0.024916632101067576, + -0.02465019856869606, + 0.1563156098127365 + ], + [ + -0.023659437894821174, + 0.9984668882496421, + 0.05004140407681295, + -0.027391793206334114 + ], + [ + 0.025859270244836814, + -0.049427447830898606, + 0.9984429269599961, + -0.32960641384124756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9995899796485901, + 0.02221426717467665, + -0.018067614945633553, + 0.15465779602527618 + ], + [ + -0.021261245012283325, + 0.998455369782617, + 0.05133093795089382, + -0.02770722284913063 + ], + [ + 0.01917998492717743, + -0.050925750492665116, + 0.998518275247019, + -0.34373465180397034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9997257590293884, + 0.01998582405281361, + -0.012205702323363621, + 0.1576153039932251 + ], + [ + -0.019319500774145126, + 0.9984359406606118, + 0.05246412423754141, + -0.027977170422673225 + ], + [ + 0.013235150836408138, + -0.05221392775843543, + 0.9985482360820827, + -0.3573228120803833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9998226165771484, + 0.01851846942500232, + -0.0034312894507982808, + 0.15536849200725555 + ], + [ + -0.018306870013475418, + 0.9983800412235312, + 0.053871352439231614, + -0.029273798689246178 + ], + [ + 0.004423345904797316, + -0.05379898241861281, + 0.998542002255691, + -0.3722202479839325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9998450875282288, + 0.016376751072371458, + 0.006451577688787774, + 0.1550450176000595 + ], + [ + -0.01670914702117443, + 0.9983261206653677, + 0.055369463774763955, + -0.03135509416460991 + ], + [ + -0.005534006282687187, + -0.05546868647715947, + 0.9984451034373525, + -0.38757258653640747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9997797012329102, + 0.013614135025467706, + 0.015976346329119793, + 0.15673163533210754 + ], + [ + -0.014498148113489151, + 0.9982923742894734, + 0.05658784845620505, + -0.032762035727500916 + ], + [ + -0.015178670175373554, + -0.05680700777881754, + 0.9982697990853414, + -0.40247049927711487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9996255040168762, + 0.01138030411864165, + 0.024886797407624374, + 0.15948918461799622 + ], + [ + -0.01280980184674263, + 0.9982311638385352, + 0.058056079657494576, + -0.03676994517445564 + ], + [ + -0.02418208122253418, + -0.05835313221142734, + 0.9980030933463878, + -0.41682976484298706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9993503689765932, + 0.00957904978267959, + 0.034742413495163424, + 0.16055989265441895 + ], + [ + -0.01157817803323269, + 0.9982607875682596, + 0.05780449475796455, + -0.039113257080316544 + ], + [ + -0.034128274768590934, + -0.05816919801386326, + 0.997723203809558, + -0.4331139922142029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9989475011825562, + 0.006973941416708533, + 0.04533538394567568, + 0.16075053811073303 + ], + [ + -0.009549083188176155, + 0.9983378564645298, + 0.05683600857652833, + -0.04151032492518425 + ], + [ + -0.044863659888505936, + -0.05720909753365478, + 0.997353657710811, + -0.44810938835144043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9984445571899416, + 0.005274282009065104, + 0.05550351082684847, + 0.1624477207660675 + ], + [ + -0.008376069366931917, + 0.9984067857039872, + 0.055801185897719416, + -0.043921537697315216 + ], + [ + -0.05512076988816263, + -0.05617928959604302, + 0.9968979644901881, + -0.4641064405441284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9978130459785461, + 0.005580177147509301, + 0.06586305369521882, + 0.16474148631095886 + ], + [ + -0.009182403795421124, + 0.9984706019675598, + 0.05451735073388324, + -0.04450956732034683 + ], + [ + -0.06545811146497726, + -0.05500290614214247, + 0.9963382528674362, + -0.4787631332874298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9969671368598938, + 0.007668856995707154, + 0.07744512624099932, + 0.16732092201709747 + ], + [ + -0.011908060871064663, + 0.9984468143470051, + 0.05442561454093596, + -0.047555968165397644 + ], + [ + -0.07690746337175369, + -0.055182770055172324, + 0.9955099763769143, + -0.4944572150707245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9957969188690188, + 0.010410170850221044, + 0.09099539348181937, + 0.16939155757427216 + ], + [ + -0.015392897650599483, + 0.9984098898154278, + 0.05422891547764271, + -0.04615350812673569 + ], + [ + -0.09028617292642595, + -0.05540166727024998, + 0.9943736877884007, + -0.5103331208229065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9943560957908633, + 0.01237967034325919, + 0.10536934259386814, + 0.17085717618465424 + ], + [ + -0.018404087051749233, + 0.998238899894781, + 0.056395405454963084, + -0.046142980456352234 + ], + [ + -0.10448562353849414, + -0.05801634150879546, + 0.9928327712627603, + -0.5247246026992798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9929890632629395, + 0.012884127274262396, + 0.11750190172067684, + 0.1762102097272873 + ], + [ + -0.020287858322262764, + 0.997867926448596, + 0.062032728684274265, + -0.05061676725745201 + ], + [ + -0.11645213514566422, + -0.06398168094105565, + 0.9911333044127091, + -0.5400218963623047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9915310144424438, + 0.012001573474578432, + 0.129314165421122, + 0.17578546702861786 + ], + [ + -0.020787015557289124, + 0.9975495332608193, + 0.06680480180940482, + -0.04913225397467613 + ], + [ + -0.12819550931453705, + -0.06892708673279176, + 0.9893507558519351, + -0.55474454164505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9899814128875732, + 0.00935442718772147, + 0.1408873871113158, + 0.177211731672287 + ], + [ + -0.019728170707821846, + 0.9971793918373736, + 0.07241585675481317, + -0.054058898240327835 + ], + [ + -0.13981260359287262, + -0.07446980570258968, + 0.9873736457243278, + -0.5676556825637817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9884128570556641, + 0.007612438007242004, + 0.15159831239192054, + 0.1836106926202774 + ], + [ + -0.019245542585849762, + 0.9969662669638075, + 0.0754177148565547, + -0.05830048769712448 + ], + [ + -0.1505642831325531, + -0.07746143219851963, + 0.9855607940762428, + -0.5809316635131836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9866267442703247, + 0.004885975741624703, + 0.16292284148721917, + 0.1901932805776596 + ], + [ + -0.01784488931298256, + 0.9967801582977058, + 0.0781719839698042, + -0.06735234707593918 + ], + [ + -0.16201630234718323, + -0.08003390670686068, + 0.9835371071632942, + -0.5949254035949707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9843924641609192, + 0.0003976043689306823, + 0.1759867081071024, + 0.19315098226070404 + ], + [ + -0.014368588104844093, + 0.996840486306635, + 0.07811943182981239, + -0.07139035314321518 + ], + [ + -0.17539961636066437, + -0.07942885838496623, + 0.9812879458393728, + -0.6095713973045349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.982203543186188, + -0.0038872543727381755, + 0.18777950168987234, + 0.1972389668226242 + ], + [ + -0.010848065838217737, + 0.9969426330118072, + 0.07738000112437872, + -0.07277492433786392 + ], + [ + -0.1875061839818955, + -0.07803995473515285, + 0.9791584113840487, + -0.6227546334266663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9803085923194887, + -0.008570313224838045, + 0.19728564954913577, + 0.20342715084552765 + ], + [ + -0.006608544848859312, + 0.9970743188794325, + 0.07615177455817634, + -0.06855913251638412 + ], + [ + -0.19736111164093023, + -0.0759560106126109, + 0.9773838923535741, + -0.6335233449935913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9783926606178284, + -0.015294883671263188, + 0.20618886076623164, + 0.20910941064357758 + ], + [ + -0.001191071467474103, + 0.9968265501485213, + 0.07959538506404562, + -0.07683950662612915 + ], + [ + -0.20675194263458252, + -0.07812112493349424, + 0.9752695456560755, + -0.6479128003120422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9769348502159119, + -0.021625372705225684, + 0.21243984877430747, + 0.21904096007347107 + ], + [ + 0.004427282605320215, + 0.9966961551436588, + 0.08109947036944054, + -0.0765438824892044 + ], + [ + -0.2134917825460434, + -0.07828836535895306, + 0.973802922393628, + -0.6630423665046692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.975969195365906, + -0.02851918806921668, + 0.21603413896348717, + 0.23245088756084442 + ], + [ + 0.010625684633851053, + 0.9964477542056367, + 0.08354022215787694, + -0.07899384200572968 + ], + [ + -0.21764922142028814, + -0.07923717587009962, + 0.972805384005237, + -0.6779075264930725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.97528076171875, + -0.03485832113257517, + 0.21820261678233974, + 0.24387875199317932 + ], + [ + 0.016211004927754402, + 0.9961049047482949, + 0.08667294469755174, + -0.08527465164661407 + ], + [ + -0.2203739732503891, + -0.0809931681262633, + 0.9720469968753561, + -0.6931284666061401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9750850796699526, + -0.03902164122850347, + 0.2183722557432171, + 0.2564924955368042 + ], + [ + 0.02003678493201733, + 0.9958757534020081, + 0.08848714187046967, + -0.08648966997861862 + ], + [ + -0.22092455625534063, + -0.08190701302008621, + 0.9718454364511351, + -0.7056312561035156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9751011729240417, + -0.041954432313408035, + 0.21775569746292656, + 0.2675420939922333 + ], + [ + 0.02278214879333973, + 0.9956973019883312, + 0.08982091658370094, + -0.0904797688126564 + ], + [ + -0.22058714926242828, + -0.08262354071901772, + 0.9718614418250663, + -0.7187626957893372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9752871394157412, + -0.04487282659677016, + 0.21633636926519462, + 0.27521997690200806 + ], + [ + 0.02566065266728402, + 0.9955373575155018, + 0.09081261662612408, + -0.09794437140226364 + ], + [ + -0.21944594383239752, + -0.08301704546589, + 0.9720862512327538, + -0.731167197227478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9763033986091614, + -0.045603837066328465, + 0.21154666947876807, + 0.2914818525314331 + ], + [ + 0.02745840884745121, + 0.9957477839608093, + 0.08793416721284374, + -0.09606492519378662 + ], + [ + -0.214657261967659, + -0.08004168761541075, + 0.9734041131128159, + -0.7462695837020874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9774618744850159, + -0.044607305185077335, + 0.2063456060304166, + 0.3049100339412689 + ], + [ + 0.027303125709295273, + 0.995924286950945, + 0.08596129568132561, + -0.09822390973567963 + ], + [ + -0.20933911204338074, + -0.07839000993283926, + 0.9746959385409245, + -0.761949360370636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.97889643907547, + -0.04333592257836844, + 0.19970929664766757, + 0.3191341757774353 + ], + [ + 0.026845430955290794, + 0.9960572487210105, + 0.08455371483258989, + -0.09961668401956558 + ], + [ + -0.2025860995054245, + -0.07740804727755461, + 0.9762002485515932, + -0.7772349715232849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9808933138847351, + -0.04051283304134065, + 0.19028143687180363, + 0.33660414814949036 + ], + [ + 0.02487104944884777, + 0.9961650780329793, + 0.08388429443758501, + -0.09962491691112518 + ], + [ + -0.19295009970664978, + -0.07754904252156773, + 0.9781392290704848, + -0.7944821119308472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9875784516334534, + -0.03818981340993912, + 0.1524148424742809, + 0.4702962040901184 + ], + [ + 0.02545148879289627, + 0.9960839368099147, + 0.08466970171657813, + -0.10174617171287537 + ], + [ + -0.15505151450634003, + -0.07973879147996825, + 0.9846830562405794, + -0.8168489933013916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9923753142356873, + -0.03046801148215413, + 0.11942736637205856, + 0.573972761631012 + ], + [ + 0.020031917840242386, + 0.9959515918336002, + 0.0876305314022223, + -0.1108771488070488 + ], + [ + -0.12161380052566528, + -0.08457002174054648, + 0.9889681638770664, + -0.8347246646881104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9943088293075562, + -0.021999777436537155, + 0.10423984514025744, + 0.6014339327812195 + ], + [ + 0.013473240658640862, + 0.9965571793012985, + 0.08180627994051456, + -0.0765080600976944 + ], + [ + -0.1056806892156601, + -0.07993625771345998, + 0.9911820100344246, + -0.8907214403152466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9930580258369446, + -0.02464133023397121, + 0.11501547241940505, + 0.5265659093856812 + ], + [ + 0.013761676847934723, + 0.9954349343161282, + 0.09444553181250052, + -0.11751101911067963 + ], + [ + -0.11681768298149109, + -0.09220708748726417, + 0.9888637584168108, + -0.8741821050643921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9912800192832947, + -0.018988262431818365, + 0.13039691316375634, + 0.4309881329536438 + ], + [ + 0.007262718863785267, + 0.995931968692748, + 0.08981523284065768, + -0.08908511698246002 + ], + [ + -0.13157188892364502, + -0.08808500860384358, + 0.9873853668491069, + -0.8813568353652954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9938417673110962, + -0.013016873927071316, + 0.11004113898420648, + 0.4776698350906372 + ], + [ + 0.002804115181788802, + 0.995712617907444, + 0.0924583161177664, + -0.09058862179517746 + ], + [ + -0.11077287048101425, + -0.09158037134062808, + 0.9896173187111887, + -0.8989061117172241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9952132701873779, + -0.005768465175875933, + 0.09755667031783993, + 0.48569029569625854 + ], + [ + -0.0037054680287837982, + 0.9953112504190901, + 0.09665304558032035, + -0.09971350431442261 + ], + [ + -0.09765678644180298, + -0.09655188112877038, + 0.9905255332677196, + -0.9183420538902283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9963029026985168, + 0.0006527990838300786, + 0.08590735369771783, + 0.48876023292541504 + ], + [ + -0.009315711446106434, + 0.9948956672674646, + 0.10047805705918099, + -0.10808613151311874 + ], + [ + -0.08540326356887817, + -0.10090686983223598, + 0.9912235396933643, + -0.9366067051887512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9979413747787476, + 0.007505872247797126, + 0.06369196989126887, + 0.5446013808250427 + ], + [ + -0.013804423622786999, + 0.9949881907531355, + 0.09903526780738166, + -0.09491784870624542 + ], + [ + -0.06262940913438797, + -0.09971062253530401, + 0.9930435035525512, + -0.9526539444923401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.998131275177002, + 0.014115857324714862, + 0.059453408289396055, + 0.5419906377792358 + ], + [ + -0.02027870900928974, + 0.9943321298402009, + 0.10436682640660609, + -0.10281393676996231 + ], + [ + -0.05764320492744446, + -0.1053774303300294, + 0.9927602345615664, + -0.9721998572349548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9982988238334656, + 0.020826431859862923, + 0.054457966414059346, + 0.5534288883209229 + ], + [ + -0.026623761281371117, + 0.9937947160633479, + 0.10799657096918243, + -0.10327968001365662 + ], + [ + -0.05187085270881653, + -0.10926272551519048, + 0.9926585761924835, + -0.9885601997375488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9981638193130493, + 0.02516777616755519, + 0.055095872190167886, + 0.5439258813858032 + ], + [ + -0.03116515465080738, + 0.9933480095849698, + 0.11085346759082956, + -0.10668312758207321 + ], + [ + -0.05193944275379181, + -0.11236699038092299, + 0.9923083867175586, + -1.0061243772506714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9981341361999512, + 0.027085014107939412, + 0.05472367602979001, + 0.5384499430656433 + ], + [ + -0.03309986740350723, + 0.9931362880700864, + 0.11218167067275908, + -0.1121542751789093 + ], + [ + -0.05130962282419205, + -0.11378369557982877, + 0.9921796923681072, + -1.0222246646881104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9985378980636599, + 0.028093920180041337, + 0.04618176789816368, + 0.569679319858551 + ], + [ + -0.03306607529520989, + 0.9933046553123435, + 0.11069107836353967, + -0.11370326578617096 + ], + [ + -0.04276281967759133, + -0.11205628593684684, + 0.9927812915364338, + -1.0368549823760986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9986143112182617, + 0.028234333337831798, + 0.0444097221778142, + 0.5703945755958557 + ], + [ + -0.03291218355298042, + 0.9935623954819415, + 0.10839987479295891, + -0.117412269115448 + ], + [ + -0.04106323421001434, + -0.10971129114099187, + 0.9931149185048, + -1.0540142059326172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9988586902618408, + 0.031063004168591507, + 0.03628161128940625, + 0.5966552495956421 + ], + [ + -0.034765321761369705, + 0.993723617851965, + 0.10632403301008796, + -0.12260206788778305 + ], + [ + -0.03275115042924881, + -0.10746402788499392, + 0.9936694101878069, + -1.0700682401657104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9987989664077759, + 0.03295639409604304, + 0.036255821402323876, + 0.5896960496902466 + ], + [ + -0.03658750280737877, + 0.9938482681753431, + 0.1045322895813536, + -0.12409821152687073 + ], + [ + -0.032587774097919464, + -0.1057332495496363, + 0.9938603875552493, + -1.0874249935150146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9987178444862366, + 0.035763785331452934, + 0.03582762612828818, + 0.5906458497047424 + ], + [ + -0.03926607593894005, + 0.9939714630017225, + 0.10236649201372791, + -0.12175323069095612 + ], + [ + -0.03195062652230263, + -0.10364205110586222, + 0.9941013200572323, + -1.102341651916504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9988331794738772, + 0.03639958811042328, + 0.031738779294711146, + 0.6076818108558655 + ], + [ + -0.03939693048596383, + 0.994248808295832, + 0.09958520359646633, + -0.1152423769235611 + ], + [ + -0.027931381016969688, + -0.10071941648445294, + 0.9945227282342654, + -1.1166632175445557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9990053772926331, + 0.035396667347679385, + 0.027116982895340713, + 0.6236165761947632 + ], + [ + -0.037901248782873154, + 0.9944420276648311, + 0.09822686699467695, + -0.11100738495588303 + ], + [ + -0.023489363491535187, + -0.09915693515871236, + 0.9947945107877365, + -1.1315828561782837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9991675019264223, + 0.03394726998112997, + 0.022623735606849542, + 0.6391854882240295 + ], + [ + -0.03604340553283692, + 0.994354841193246, + 0.0997963976607363, + -0.11757989227771759 + ], + [ + -0.01910820417106152, + -0.10052875757003192, + 0.9947506556616879, + -1.1475892066955566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9993433952331545, + 0.031864136622924415, + 0.017246894106164777, + 0.657208263874054 + ], + [ + -0.03344381973147393, + 0.9943484439668462, + 0.10076023639019062, + -0.1195511743426323 + ], + [ + -0.013938785530626777, + -0.10127087887449601, + 0.9947612169076924, + -1.1630736589431763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9995027780532839, + 0.028895906641413026, + 0.012620723074567795, + 0.6662575602531433 + ], + [ + -0.030031329020857818, + 0.9943629251041213, + 0.10168816717770146, + -0.11722110956907272 + ], + [ + -0.009611207991838457, + -0.10201661991294654, + 0.9947362613599793, + -1.1794509887695312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9996392726898193, + 0.025983654893444896, + 0.006791930962990951, + 0.6796075105667114 + ], + [ + -0.026546144858002663, + 0.9943080834139596, + 0.10318278405690168, + -0.11623944342136383 + ], + [ + -0.004072206094861031, + -0.1033258663866917, + 0.994639197645349, + -1.1942521333694458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9996704459190369, + 0.025626345385665116, + 0.0015126942010913107, + 0.6945331692695618 + ], + [ + -0.025643765926361084, + 0.9941652689114149, + 0.10477512950564247, + -0.1199410930275917 + ], + [ + 0.001181135536171496, + -0.10477939118133613, + 0.9944948025306843, + -1.2100728750228882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.999579131603241, + 0.028795096620325165, + -0.003522663645407355, + 0.7078548669815063 + ], + [ + -0.02827453799545765, + 0.9942012301315913, + 0.10375191649641007, + -0.1155649721622467 + ], + [ + 0.006489782594144344, + -0.10360865020912115, + 0.9945969530361943, + -1.2237738370895386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.999369263648987, + 0.03410486094165422, + -0.009898948897071963, + 0.7240141034126282 + ], + [ + -0.03289641067385674, + 0.9940625468081591, + 0.10371852871319269, + -0.1170472651720047 + ], + [ + 0.013377479277551178, + -0.10332746497987208, + 0.994557452361037, + -1.2380956411361694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9990783929824829, + 0.040178869504068994, + -0.015101878751845814, + 0.7335184812545776 + ], + [ + -0.038418691605329514, + 0.9939575215326721, + 0.10282216519221005, + -0.11642499268054962 + ], + [ + 0.01914190500974655, + -0.102147207964444, + 0.9945851108395463, + -1.2547942399978638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9987751245498657, + 0.04450233907707209, + -0.021627149110245526, + 0.7489757537841797 + ], + [ + -0.0420662984251976, + 0.993855771026392, + 0.10237750934203162, + -0.11798738688230515 + ], + [ + 0.026050306856632233, + -0.10134233540386786, + 0.9945104978170863, + -1.2693833112716675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9984691143035889, + 0.047871875507074495, + -0.02770663090240882, + 0.756503701210022 + ], + [ + -0.044803496450185776, + 0.9937343396245915, + 0.10239484506102776, + -0.11858697235584259 + ], + [ + 0.0324348621070385, + -0.10099674158493686, + 0.9943579216200394, + -1.286383032798767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9979355931282043, + 0.0523995713264044, + -0.03713255856785516, + 0.773633599281311 + ], + [ + -0.04828355088829994, + 0.9933841732776428, + 0.10419507767468056, + -0.11979486793279648 + ], + [ + 0.04234667494893074, + -0.10218708066427956, + 0.9938634253087242, + -1.2999235391616821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9973918795585632, + 0.05845445237768061, + -0.0423381167584591, + 0.7804951667785645 + ], + [ + -0.053648073226213455, + 0.9928197609143494, + 0.10691511580538057, + -0.12059605121612549 + ], + [ + 0.04828378185629845, + -0.10436490105941117, + 0.9933662901999277, + -1.3142765760421753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9968169927597048, + 0.06533586114784255, + -0.04568452849033559, + 0.7912923693656921 + ], + [ + -0.059818957000970854, + 0.9917739528887748, + 0.11316417928558632, + -0.1289655566215515 + ], + [ + 0.052702404558658614, + -0.11007117990604448, + 0.992525473721421, + -1.3310731649398804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9964540004730227, + 0.0711876400029242, + -0.044852014746673156, + 0.7948336005210876 + ], + [ + -0.06541716307401658, + 0.9907242355489877, + 0.11910549040458669, + -0.13149617612361908 + ], + [ + 0.052914816886186614, + -0.11574904537257394, + 0.9918679989662323, + -1.3476992845535278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9962171912193301, + 0.07510515879140658, + -0.0437097290834637, + 0.8035339713096619 + ], + [ + -0.06909524649381639, + 0.9896584490156636, + 0.12570622276951393, + -0.13444775342941284 + ], + [ + 0.05269888415932657, + -0.12221056693003826, + 0.991104162356658, + -1.3626741170883179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9960407018661499, + 0.07775454317990349, + -0.043094396881379886, + 0.8137111067771912 + ], + [ + -0.0714321881532669, + 0.9885826025854239, + 0.1326719058595709, + -0.1333262175321579 + ], + [ + 0.0529182143509388, + -0.1290683004035223, + 0.9902227476752091, + -1.3755236864089966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9960828423500063, + 0.07815624142944974, + -0.04135901500145732, + 0.8179843425750732 + ], + [ + -0.07162799686193468, + 0.9874323864460229, + 0.14087819942630372, + -0.13674896955490112 + ], + [ + 0.05184974521398546, + -0.1373639008978025, + 0.9891626819638122, + -1.391302227973938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9962140917778017, + 0.07680166894640356, + -0.04073131623022597, + 0.8263546824455261 + ], + [ + -0.0699298530817032, + 0.9863032378801869, + 0.14938468395482665, + -0.14193947613239288 + ], + [ + 0.051646422594785704, + -0.1459707813107905, + 0.9879398371529223, + -1.403275966644287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9964604377746582, + 0.07340697363896714, + -0.04096354208797073, + 0.8339785933494568 + ], + [ + -0.0661160945892334, + 0.9853205296440736, + 0.15739172927332234, + -0.14662186801433563 + ], + [ + 0.051915865391492844, + -0.1541262815222166, + 0.9866863056752848, + -1.4179058074951172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.996610701084137, + 0.06906428920081942, + -0.044690995258944016, + 0.848964273929596 + ], + [ + -0.060860417783260345, + 0.9845338822516098, + 0.16428344222870483, + -0.1463046669960022 + ], + [ + 0.055345915257930756, + -0.16100672202010294, + 0.9854002729676147, + -1.4288287162780762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.996771514415741, + 0.06546981060482615, + -0.046478954276592, + 0.8566917181015015 + ], + [ + -0.05664233863353729, + 0.9836671800000638, + 0.17085235689957587, + -0.15036869049072266 + ], + [ + 0.05690549314022064, + -0.16766808512180867, + 0.9841997847722692, + -1.441583514213562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9968143701553345, + 0.06271560305477147, + -0.04927337990093166, + 0.8677163124084473 + ], + [ + -0.053219325840473175, + 0.9831734518113464, + 0.17475017272707788, + -0.14701761305332184 + ], + [ + 0.05940384417772293, + -0.17157119407236276, + 0.9833791458796038, + -1.4518707990646362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9968206286430361, + 0.060132207845929195, + -0.05227559941551389, + 0.8779981136322021 + ], + [ + -0.04988850280642511, + 0.982590061030275, + 0.17896337454918307, + -0.14742767810821533 + ], + [ + 0.06212694942951204, + -0.17578643929114318, + 0.9824659883069965, + -1.4621049165725708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9968370199203493, + 0.05798390608326268, + -0.05434879779536823, + 0.8878257274627686 + ], + [ + -0.04721433669328691, + 0.9821835559074403, + 0.18189618043044165, + -0.14532756805419922 + ], + [ + 0.06392754614353181, + -0.1787548091262363, + 0.9818146303924077, + -1.4726203680038452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9969294667243958, + 0.05545258637388048, + -0.05528708727916927, + 0.8950809836387634 + ], + [ + -0.044307973235845566, + 0.9816245105419265, + 0.18560743942901534, + -0.14900635182857513 + ], + [ + 0.0645635798573494, + -0.18258787172422072, + 0.9810674132508944, + -1.4845902919769287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.996977746486664, + 0.05242403129432549, + -0.05733315054828194, + 0.9049628376960754 + ], + [ + -0.040793605148792274, + 0.981333202132438, + 0.1879388811069888, + -0.1473291665315628 + ], + [ + 0.06611543148756029, + -0.18503206279723697, + 0.980505954938646, + -1.494299054145813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9969890117645266, + 0.04970335678859554, + -0.05951834536554642, + 0.9138842821121216 + ], + [ + -0.03754114359617234, + 0.9809940521618716, + 0.19037143176597532, + -0.14793500304222107 + ], + [ + 0.06784924864768983, + -0.1875638505244106, + 0.9799062669414776, + -1.5036448240280151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9967585802078247, + 0.047901531338083336, + -0.06463602548227088, + 0.9284591674804688 + ], + [ + -0.034577857702970505, + 0.9805063279436674, + 0.19342122101234652, + -0.15253810584545135 + ], + [ + 0.07264120876789093, + -0.19055927903138242, + 0.9789843759605333, + -1.5135748386383057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9962562918663025, + 0.04737327899058307, + -0.07231318619560048, + 0.9412307739257812 + ], + [ + -0.03228559345006943, + 0.9798488476757118, + 0.19711378337500002, + -0.1615329086780548 + ], + [ + 0.0801939144730568, + -0.19404117463986914, + 0.9777100689083323, + -1.5199968814849854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9954590201377869, + 0.048597495233038815, + -0.08185092165645862, + 0.9537520408630371 + ], + [ + -0.03138972073793411, + 0.9793511519978849, + 0.19971471786599562, + -0.16659338772296906 + ], + [ + 0.08986643701791763, + -0.19623854457192358, + 0.9764294247177552, + -1.5298597812652588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9945300817489624, + 0.05126943374055135, + -0.09100193939390791, + 0.9661542177200317 + ], + [ + -0.03201302886009216, + 0.9789324398675714, + 0.20165931433066195, + -0.16692611575126648 + ], + [ + 0.09942371398210526, + -0.1976430054484248, + 0.9752190476187074, + -1.537939429283142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9936463236808777, + 0.05469771253936497, + -0.09836224408289504, + 0.9767832159996033 + ], + [ + -0.033704083412885666, + 0.978466689993977, + 0.20363454046049706, + -0.1630980372428894 + ], + [ + 0.10738252103328705, + -0.19902549693817118, + 0.974093326617024, + -1.547885537147522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9928276538848879, + 0.05641140511705106, + -0.105409028845316, + 0.9885981678962708 + ], + [ + -0.033340871334075935, + 0.9773447463365231, + 0.20901106649207882, + -0.1646786481142044 + ], + [ + 0.1148115694522858, + -0.20399753747881955, + 0.9722156948979495, + -1.5569630861282349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9919579029083252, + 0.05847056898166409, + -0.11225267140533429, + 0.9982046484947205 + ], + [ + -0.03316322714090347, + 0.9759814199172532, + 0.21531481840717642, + -0.16551834344863892 + ], + [ + 0.1221461072564125, + -0.20986058434700805, + 0.970071595381074, + -1.5656739473342896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9910035133361816, + 0.06114776644726696, + -0.11905037218034367, + 1.0088286399841309 + ], + [ + -0.033509526401758194, + 0.9745571872795179, + 0.22161994487497422, + -0.16458311676979065 + ], + [ + 0.12957295775413513, + -0.21563682628677483, + 0.9678386378314343, + -1.5761891603469849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9902188777923584, + 0.06421599695621842, + -0.12386625677710206, + 1.0173554420471191 + ], + [ + -0.03470613434910774, + 0.9732499521414172, + 0.2271122731290803, + -0.16434401273727417 + ], + [ + 0.13513708114624023, + -0.22059194290487563, + 0.9659591707498976, + -1.5851783752441406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9896323680877686, + 0.06702100238843334, + -0.12702749403563576, + 1.025704264640808 + ], + [ + -0.03622259572148323, + 0.9723245639768852, + 0.23080918743595555, + -0.16345259547233582 + ], + [ + 0.13898102939128876, + -0.2238149736910623, + 0.9646715121043793, + -1.5939620733261108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9892308115959167, + 0.06862133241792881, + -0.12928076478135325, + 1.0342661142349243 + ], + [ + -0.03686787933111191, + 0.9716270179866431, + 0.23362715760587374, + -0.16400368511676788 + ], + [ + 0.14164450764656067, + -0.2263448838367369, + 0.9636933576791633, + -1.6040711402893066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9889639019966125, + 0.06917284267969474, + -0.1310171943903573, + 1.0397746562957764 + ], + [ + -0.036593303084373474, + 0.9709622259301218, + 0.23641755251533084, + -0.16539904475212097 + ], + [ + 0.14356642961502075, + -0.22901407728542564, + 0.9627778684761926, + -1.6153920888900757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9887217283248901, + 0.07051629159486582, + -0.13212415839476804, + 1.0458347797393799 + ], + [ + -0.037207141518592834, + 0.9702120921830873, + 0.23938280085884103, + -0.16415153443813324 + ], + [ + 0.14506883919239044, + -0.2317670178130074, + 0.9618934953095956, + -1.626918077468872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9887306094169617, + 0.0714625886762563, + -0.13154788168985163, + 1.0464816093444824 + ], + [ + -0.03754127398133278, + 0.968989664509058, + 0.24423276644832606, + -0.16663415729999542 + ], + [ + 0.14492203295230865, + -0.2365419403976712, + 0.9607525521716842, + -1.6387962102890015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9887280464172363, + 0.07139270018893139, + -0.13160527870358785, + 1.0460785627365112 + ], + [ + -0.036575645208358765, + 0.9675346611271743, + 0.2500777137174037, + -0.16905470192432404 + ], + [ + 0.1451863944530487, + -0.24244530725650126, + 0.9592399161569565, + -1.6477470397949219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9882256984710696, + 0.07298872554790825, + -0.13447176488943224, + 1.0639686584472656 + ], + [ + -0.03689809888601304, + 0.9666297719695268, + 0.25350623247424464, + -0.15661698579788208 + ], + [ + 0.14848752319812777, + -0.24555961940652518, + 0.9579415367411925, + -1.656612515449524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9885210394859316, + 0.0731154680246765, + -0.1322130489268408, + 1.06014883518219 + ], + [ + -0.03633959591388703, + 0.9644743611648022, + 0.2616650900714312, + -0.16637931764125824 + ], + [ + 0.14664787054061892, + -0.2538568715293399, + 0.9560601655583043, + -1.6680140495300293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9886595010757446, + 0.07318452240530945, + -0.13113523924275555, + 1.059401512145996 + ], + [ + -0.035975344479084015, + 0.9632112806056332, + 0.26632653847467946, + -0.16249065101146698 + ], + [ + 0.14580193161964417, + -0.25858861643934067, + 0.9549207908424031, + -1.6758805513381958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9888117313385012, + 0.07364357372947579, + -0.12972267823145123, + 1.058363676071167 + ], + [ + -0.036006532609462745, + 0.9617564182290906, + 0.27152925178783605, + -0.16362358629703522 + ], + [ + 0.144758015871048, + -0.26382045677140975, + 0.9536477023059002, + -1.685936450958252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9890400767326355, + 0.0751272900522071, + -0.12710458069333624, + 1.0578304529190063 + ], + [ + -0.037501007318496704, + 0.9604580204194925, + 0.2758878405745491, + -0.1649022102355957 + ], + [ + 0.1428053230047226, + -0.26809757233975856, + 0.952748800795454, + -1.6929874420166016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9894677400588989, + 0.07671864228260919, + -0.12275125809979372, + 1.0542634725570679 + ], + [ + -0.03970474377274513, + 0.9593193303493528, + 0.27951741772872407, + -0.16563603281974792 + ], + [ + 0.13920184969902039, + -0.27169964771246596, + 0.9522615883259237, + -1.7035682201385498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.989823043346405, + 0.07822815799322587, + -0.1188727294330814, + 1.0506629943847656 + ], + [ + -0.04171893745660782, + 0.9581625631361813, + 0.28316777691810985, + -0.1655804067850113 + ], + [ + 0.13605108857154846, + -0.2753267516046144, + 0.951674981738907, + -1.708794116973877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9901947975158691, + 0.08053203486424476, + -0.11414411266117243, + 1.0465251207351685 + ], + [ + -0.044818706810474396, + 0.9570527286598807, + 0.2864286994707448, + -0.16608434915542603 + ], + [ + 0.13230861723423004, + -0.2785044063304603, + 0.9512779398829746, + -1.7153873443603516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9906690120697021, + 0.0821427261685084, + -0.10875449247746065, + 1.0439765453338623 + ], + [ + -0.04756985977292061, + 0.9561816934684128, + 0.28888355799611704, + -0.16635967791080475 + ], + [ + 0.1277187317609787, + -0.28101454647851964, + 0.9511670562010469, + -1.7213667631149292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9911962151527405, + 0.0833696218007025, + -0.10285680708247547, + 1.0394937992095947 + ], + [ + -0.0501835010945797, + 0.9554563115651276, + 0.2908347490433219, + -0.16780716180801392 + ], + [ + 0.12252196669578552, + -0.2831125948271722, + 0.9512284679860094, + -1.7271603345870972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.991736888885498, + 0.0842477166113801, + -0.0967486108427614, + 1.0345832109451294 + ], + [ + -0.0526694655418396, + 0.9550444793672792, + 0.2917464758367766, + -0.167373925447464 + ], + [ + 0.11697820574045181, + -0.28424003718638835, + 0.9515901160784106, + -1.7314947843551636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9924451112747192, + 0.08367604198427846, + -0.08972716797440511, + 1.0277247428894043 + ], + [ + -0.05404229834675789, + 0.9547122101663049, + 0.29258168416040525, + -0.16692405939102173 + ], + [ + 0.1101456955075264, + -0.28552221537323624, + 0.9520215545622291, + -1.7382330894470215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9933603405952454, + 0.0810856065714, + -0.0816111547498128, + 1.0203771591186523 + ], + [ + -0.05383121222257614, + 0.954543617771601, + 0.29317015072307573, + -0.16430364549160004 + ], + [ + 0.10167328268289566, + -0.28683036186204014, + 0.9525706597436083, + -1.7413691282272339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9944319128990173, + 0.07655673249101787, + -0.07241679849845248, + 1.014654278755188 + ], + [ + -0.0520249642431736, + 0.9542631680236222, + 0.2944065952023271, + -0.16358599066734314 + ], + [ + 0.09164348989725113, + -0.28899984577799354, + 0.9529326406429679, + -1.7465119361877441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9956738948822021, + 0.06938777705167705, + -0.06179658737419037, + 1.0072513818740845 + ], + [ + -0.04809488356113434, + 0.9539179334687868, + 0.29618822458870503, + -0.16208253800868988 + ], + [ + 0.0795007199048996, + -0.2919347894246924, + 0.9531283991493252, + -1.749390721321106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9968345165252686, + 0.06135803045146385, + -0.050558277704635855, + 0.9993631839752197 + ], + [ + -0.043542105704545975, + 0.953398821488885, + 0.2985544408692725, + -0.16211308538913727 + ], + [ + 0.06652091443538666, + -0.29540795206322945, + 0.9530525061594318, + -1.7544801235198975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9977208971977234, + 0.05434374172764795, + -0.03999762946005564, + 0.9915847182273865 + ], + [ + -0.03982553631067276, + 0.952768753542695, + 0.3010740357488154, + -0.16276560723781586 + ], + [ + 0.05446998402476311, + -0.29879493752403485, + 0.9527615962019583, + -1.7598927021026611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9983034729957581, + 0.04906042525530161, + -0.03135721854952945, + 0.9819342494010925 + ], + [ + -0.037252992391586304, + 0.9520766832292965, + 0.3035822856660894, + -0.16116131842136383 + ], + [ + 0.044748350977897644, + -0.30189910037360107, + 0.9522891240811217, + -1.7639423608779907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.998814642429352, + 0.040827910830641266, + -0.02650352445868752, + 0.9730350375175476 + ], + [ + -0.03064685687422753, + 0.9504896832518642, + 0.3092411409726868, + -0.16183330118656158 + ], + [ + 0.03781699389219285, + -0.30806233520167237, + 0.9506142765761333, + -1.7685672044754028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9992650151252747, + 0.030426190262295386, + -0.023315675883278805, + 0.9654354453086853 + ], + [ + -0.02147759310901165, + 0.948215277458901, + 0.31690135443431855, + -0.16048558056354523 + ], + [ + 0.031750380992889404, + -0.31616769070229817, + 0.9481718976702012, + -1.7702230215072632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9995095729827881, + 0.021242881137036883, + -0.02300851976835589, + 0.9576712846755981 + ], + [ + -0.01265111193060875, + 0.9460232106920038, + 0.3238518171817744, + -0.15900586545467377 + ], + [ + 0.028646141290664673, + -0.32340189788654683, + 0.9458279963590711, + -1.7688947916030884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9995870590209963, + 0.015517685467352995, + -0.024184140870305532, + 0.9507257342338562 + ], + [ + -0.006788403727114202, + 0.9453460858150599, + 0.3259980412812093, + -0.15974102914333344 + ], + [ + 0.027921117842197425, + -0.3256992513334607, + 0.9450610757873766, + -1.7655128240585327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9995908737182619, + 0.011000171463658268, + -0.026401433267302522, + 0.9472739100456238 + ], + [ + -0.0019312895601615314, + 0.9469347794209554, + 0.32141990145562505, + -0.159464031457901 + ], + [ + 0.02853610925376416, + -0.3212374247142301, + 0.9465686373752786, + -1.7612427473068237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9994587898254395, + 0.0036957002874134347, + -0.032688154938555355, + 0.9408554434776306 + ], + [ + 0.006808403879404068, + 0.9489162543566263, + 0.3154546117013444, + -0.15913628041744232 + ], + [ + 0.03218415006995201, + -0.31550643044503296, + 0.9483775257420096, + -1.7606383562088013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9992589354515078, + -0.000993129521436627, + -0.038478389171020484, + 0.9372749924659729 + ], + [ + 0.012946667149662975, + 0.9500941274720658, + 0.311694622931545, + -0.16097737848758698 + ], + [ + 0.036248538643121726, + -0.31196179634577875, + 0.9494028938336677, + -1.7596639394760132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9993240237236023, + 0.0009026707568292016, + -0.03675105086427089, + 0.9358744621276855 + ], + [ + 0.01053193025290966, + 0.9507650346470169, + 0.3097336914642046, + -0.15975135564804077 + ], + [ + 0.035221200436353683, + -0.3099113861671728, + 0.9501128375027927, + -1.7585428953170776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9995747208595276, + 0.00565607965560075, + -0.028607701346260773, + 0.9355481863021851 + ], + [ + 0.0034938957542181015, + 0.9507148687835519, + 0.310046901825891, + -0.1603936105966568 + ], + [ + 0.028951415792107582, + -0.3100149876129203, + 0.9502907492826171, + -1.7582963705062866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9997527599334717, + 0.01032419715490986, + -0.01969242325792079, + 0.9365181922912598 + ], + [ + -0.0037002554163336754, + 0.9505662314666793, + 0.31049976741547686, + -0.1622055470943451 + ], + [ + 0.021924614906311035, + -0.3103501407871608, + 0.9503694266393587, + -1.7552019357681274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9998153448104861, + 0.01421537778132118, + -0.012932599855597684, + 0.9374900460243225 + ], + [ + -0.009539939463138582, + 0.9512975519811087, + 0.30812653124880807, + -0.1627844274044037 + ], + [ + 0.016682885587215427, + -0.3079462533422388, + 0.9512574997235309, + -1.7522857189178467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9997952580451965, + 0.018870194469640465, + -0.007307346754790132, + 0.9390742182731628 + ], + [ + -0.015747955068945885, + 0.9523386001688342, + 0.3046362302823225, + -0.16365137696266174 + ], + [ + 0.012707613408565521, + -0.3044587720014967, + 0.9524407468148418, + -1.750474214553833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9997062087059021, + 0.02416285933753274, + -0.0019142957127836371, + 0.9412060379981995 + ], + [ + -0.02246139571070671, + 0.9531976886364035, + 0.3015122673076976, + -0.16347399353981018 + ], + [ + 0.00911010056734085, + -0.3013806817759136, + 0.9534603547074868, + -1.7496486902236938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9995614886283875, + 0.029406392642854447, + 0.0034834968277768783, + 0.9435845613479614 + ], + [ + -0.02909681387245655, + 0.9535032584267604, + 0.2999748703174145, + -0.1636325567960739 + ], + [ + 0.005499653518199921, + -0.2999446806122163, + 0.9539407553209056, + -1.7480103969573975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9993981122970581, + 0.03355488861197719, + 0.008803029334495257, + 0.9456571340560913 + ], + [ + -0.03465103358030319, + 0.9535016378481532, + 0.2993892322809572, + -0.16331905126571655 + ], + [ + 0.0016522693913429976, + -0.2995140667261468, + 0.9540904391326265, + -1.748476505279541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9992638826370239, + 0.03604390913687267, + 0.013135370928117944, + 0.9481921195983887 + ], + [ + -0.038324326276779175, + 0.953245571334868, + 0.29975679578989867, + -0.1628425121307373 + ], + [ + -0.001716827624477446, + -0.3000395375855404, + 0.9539251915714574, + -1.7476919889450073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9991336464881897, + 0.03802125974049462, + 0.01692119195995287, + 0.9509720802307129 + ], + [ + -0.041349321603775024, + 0.9529624288811088, + 0.3002546855260407, + -0.1629888266324997 + ], + [ + -0.004709198139607906, + -0.300694235834835, + 0.953708956827214, + -1.74638032913208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9989609122276308, + 0.040844281131167795, + 0.02022008465815099, + 0.9526826739311218 + ], + [ + -0.045037746429443366, + 0.9526430122699995, + 0.3007371856500068, + -0.16354204714298248 + ], + [ + -0.0069791283458471316, + -0.30133535369327247, + 0.9534926568518132, + -1.7475930452346802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9987697601318359, + 0.04459944913887684, + 0.021675134920157744, + 0.9564692378044128 + ], + [ + -0.04905848205089569, + 0.9523982402450496, + 0.300883500029349, + -0.16464287042617798 + ], + [ + -0.007224122527986765, + -0.30157668880704774, + 0.9534145445361751, + -1.7462453842163086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9985873103141785, + 0.04830556900191065, + 0.022133834269280197, + 0.9600393176078796 + ], + [ + -0.052728068083524704, + 0.9523299821526959, + 0.3004785666428827, + -0.16553562879562378 + ], + [ + -0.006563925184309483, + -0.3012211685184474, + 0.9535317279646778, + -1.7446613311767578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9984991550445557, + 0.05043295161909162, + 0.021352121890031276, + 0.9641080498695374 + ], + [ + -0.05451900511980057, + 0.9523680972878246, + 0.30003781129243434, + -0.16609960794448853 + ], + [ + -0.0052032871171832085, + -0.3007515979508169, + 0.9536883030337564, + -1.7437041997909546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9984903931617737, + 0.05131938617706044, + 0.019576784070957625, + 0.9671612977981567 + ], + [ + -0.05483022332191467, + 0.9523830290490602, + 0.29993369227546324, + -0.1663375198841095 + ], + [ + -0.0032521840184926987, + -0.30055431078074357, + 0.9537591493963612, + -1.743999719619751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9984708428382874, + 0.053772658182642076, + 0.012825199492327858, + 0.9762329459190369 + ], + [ + -0.05513254180550575, + 0.9516316141079271, + 0.3022543495095969, + -0.16683544218540192 + ], + [ + 0.0040481542237102985, + -0.3024992324867172, + 0.953141014245356, + -1.7445414066314697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/tilt_up/transforms.json b/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..f8a2aa74a0c3dfa876a9be60aa371a670e7e1ab6 --- /dev/null +++ b/dynpose_eval/camera_controls/da15fc12-43e0-4462-930e-e3d5d52e4cea/tilt_up/transforms.json @@ -0,0 +1,5683 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 162, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -0.0001700655120657757, + -9.52671398408711e-05, + 0.0003572060668375343 + ], + [ + 0.00017006041889544576, + 1.0, + -5.3571839089272544e-05, + 0.000157554866746068 + ], + [ + 9.527624933980405e-05, + 5.355563553166576e-05, + 1.0, + 0.00020568887703120708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999978542327881, + 0.00037614991920675725, + 0.0020386454546528574, + 0.008934608660638332 + ], + [ + -0.00037166321999393404, + 0.9999975050490079, + -0.0022007506832337756, + -0.0029863270465284586 + ], + [ + -0.0020394681487232447, + 0.0021999882445735406, + 0.9999954797281959, + -0.010724040679633617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999966025352478, + 0.0012038955313399737, + 0.00230843841823785, + 0.01821749098598957 + ], + [ + -0.0011908492306247354, + 0.999983354525546, + -0.005644676978019695, + -0.0023783373180776834 + ], + [ + -0.0023151955101639032, + 0.005641908758682161, + 0.9999813965646079, + -0.021645648404955864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999998211860657, + 0.001407941659916841, + 0.001255304246368072, + 0.024972153827548027 + ], + [ + -0.0013979413779452445, + 0.999967541508823, + -0.007932036439259793, + -0.003304215846583247 + ], + [ + -0.0012664314126595857, + 0.007930267354062586, + 0.9999677289549924, + -0.03397631645202637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999940395355227, + 0.0020039411230882674, + -0.002806139746406891, + 0.03581065312027931 + ], + [ + -0.002029742812737823, + 0.9999553864889811, + -0.009222227716426511, + -0.003752700053155422 + ], + [ + 0.002787533681839705, + 0.009227869094302218, + 0.9999535616178967, + -0.04527977854013443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999662041664124, + 0.004135772726281445, + -0.007104528970755794, + 0.045826468616724014 + ], + [ + -0.004210395738482475, + 0.9999357688034196, + -0.010520931729474837, + -0.0038483096286654472 + ], + [ + 0.007060560397803783, + 0.010550489537134427, + 0.9999194346948432, + -0.05757387354969978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998952746391299, + 0.006960759044095462, + -0.012688498865269203, + 0.056017402559518814 + ], + [ + -0.0071011320687830465, + 0.9999137187069005, + -0.011051702706286729, + -0.005431127268821001 + ], + [ + 0.01261047646403313, + 0.011140648058284613, + 0.9998584292532963, + -0.07187995314598083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997487664222717, + 0.010399865549436818, + -0.019857055651309772, + 0.06571543961763382 + ], + [ + -0.0106340441852808, + 0.9998746987071914, + -0.011724275907472034, + -0.004966766107827425 + ], + [ + 0.019732637330889702, + 0.011932491251484264, + 0.9997340964505527, + -0.08559319376945496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9995071291923523, + 0.014455179289459854, + -0.027865701467782732, + 0.07486511766910553 + ], + [ + -0.014773811213672161, + 0.9998274010489898, + -0.011262811658731428, + -0.005533986259251833 + ], + [ + 0.027698086574673653, + 0.011668943547796472, + 0.9995482109987834, + -0.10052717477083206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999200165271759, + 0.017589556581504476, + -0.03591117315041929, + 0.08540251851081848 + ], + [ + -0.01799936778843403, + 0.999776176354593, + -0.011120573995191507, + -0.004907989874482155 + ], + [ + 0.03570752590894699, + 0.01175805760223002, + 0.999293117434536, + -0.11285471171140671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9988458156585693, + 0.021145791928522298, + -0.04312626067549642, + 0.09401217848062515 + ], + [ + -0.02161300927400589, + 0.9997123643991909, + -0.010396312827909803, + -0.005794895347207785 + ], + [ + 0.042894020676612854, + 0.011316401672930656, + 0.999015553600407, + -0.1262994259595871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9984194636344912, + 0.025947941562412605, + -0.04985272379491157, + 0.10229446738958359 + ], + [ + -0.026429513469338424, + 0.9996099203166108, + -0.009025022403092954, + -0.0056594302877783775 + ], + [ + 0.0495990961790085, + 0.010328342010364758, + 0.9987158211208191, + -0.14043447375297546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9979758858680727, + 0.030045970710824127, + -0.05604797760209409, + 0.11192267388105392 + ], + [ + -0.030482638627290733, + 0.999511095531859, + -0.006952173626003076, + -0.005816259887069464 + ], + [ + 0.05581168830394746, + 0.00864659143398393, + 0.9984038671835566, + -0.15321208536624908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9976333975791931, + 0.03427248955178104, + -0.05960676041601723, + 0.11873222142457962 + ], + [ + -0.034585125744342804, + 0.9993928216831046, + -0.00422099690367666, + -0.008144262246787548 + ], + [ + 0.05942590907216072, + 0.006272516032239144, + 0.9982130103492692, + -0.1667008399963379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9973857998847961, + 0.037988141192611395, + -0.061469339419518286, + 0.1266917735338211 + ], + [ + -0.038226861506700516, + 0.9992653964577152, + -0.002711786921979671, + -0.008148695342242718 + ], + [ + 0.06132116913795471, + 0.005054476860340926, + 0.9981052681106818, + -0.17980197072029114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9972634315490723, + 0.03949834984588403, + -0.06249413558443826, + 0.1321946680545807 + ], + [ + -0.03967826068401337, + 0.999211160178728, + -0.0016399060893702508, + -0.012193955481052399 + ], + [ + 0.06238006427884102, + 0.004115076413817814, + 0.9980440054801505, + -0.1928471177816391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.997205376625061, + 0.040529909082291156, + -0.06275966177689542, + 0.13611939549446106 + ], + [ + -0.04079335555434227, + 0.9991633343394136, + -0.002921556704652936, + -0.014308399520814419 + ], + [ + 0.06258874386548996, + 0.0054735682873769415, + 0.9980243914965878, + -0.20451126992702484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.99720174074173, + 0.04159087703874929, + -0.06212004832012599, + 0.1403041034936905 + ], + [ + -0.0420791581273079, + 0.9990926578232454, + -0.006572227124762845, + -0.014669486321508884 + ], + [ + 0.061790339648723616, + 0.00916779448623526, + 0.9980470540824226, + -0.2166428118944168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9972341656684878, + 0.041759606050301476, + -0.06148304144157922, + 0.1448260098695755 + ], + [ + -0.04250496998429299, + 0.9990371781836482, + -0.010864948272702213, + -0.01581854559481144 + ], + [ + 0.06097012758255006, + 0.01344823131798762, + 0.9980489648282054, + -0.22849489748477936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9973703622817993, + 0.04018299379768555, + -0.060312996928061954, + 0.1480880081653595 + ], + [ + -0.04121733084321022, + 0.999022040663819, + -0.016003962818319763, + -0.015910321846604347 + ], + [ + 0.05961092188954353, + 0.018447816796467346, + 0.9980511809287703, + -0.2409168928861618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9976004362106323, + 0.038137643625953906, + -0.05778298396744367, + 0.14944517612457275 + ], + [ + -0.03935854509472847, + 0.9990221805158427, + -0.02014001022731796, + -0.018341347575187683 + ], + [ + 0.0569583922624588, + 0.02236593746475466, + 0.9981260095823643, + -0.25216975808143616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9979098439216614, + 0.035475229169838716, + -0.05401334513522159, + 0.15187741816043854 + ], + [ + -0.03682032600045204, + 0.9990309213236489, + -0.024114664381969648, + -0.020225366577506065 + ], + [ + 0.05310552939772606, + 0.02605304847634146, + 0.9982489715375146, + -0.2652313709259033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9982789158821106, + 0.032231077439136904, + -0.048993209035387515, + 0.15279394388198853 + ], + [ + -0.033606186509132385, + 0.999056527387172, + -0.02750743181064515, + -0.021683480590581894 + ], + [ + 0.04806039482355118, + 0.029106566223386483, + 0.9984202834566975, + -0.27775487303733826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.998640775680542, + 0.028844516846215907, + -0.043412346835648444, + 0.15420976281166077 + ], + [ + -0.03015531413257122, + 0.9990994468969121, + -0.02984829271350357, + -0.024134809151291847 + ], + [ + 0.04251229017972946, + 0.03111683444548402, + 0.9986112544957102, + -0.2899528443813324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9989480376243594, + 0.02662159524147813, + -0.03733800193013957, + 0.15420001745224 + ], + [ + -0.02782328054308892, + 0.9990991747902551, + -0.032042307836194404, + -0.02448395825922489 + ], + [ + 0.03645134717226029, + 0.03304746700629297, + 0.9987888776378921, + -0.30367136001586914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9991979598999023, + 0.02459311696705945, + -0.03160163752077608, + 0.15395155549049377 + ], + [ + -0.025645345449447632, + 0.999115174295193, + -0.03333428913812486, + -0.0259089432656765 + ], + [ + 0.030753880739212036, + 0.03411798892009622, + 0.9989445426676067, + -0.31682512164115906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9993855953216555, + 0.02274576372439129, + -0.026666478532612094, + 0.1563156098127365 + ], + [ + -0.023659437894821174, + 0.9991258860007506, + -0.03446350208724342, + -0.027391793206334114 + ], + [ + 0.025859270244836814, + 0.03507324115188615, + 0.9990501582756603, + -0.32960641384124756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9995899796485901, + 0.020544230459599827, + -0.019946101643039126, + 0.15465779602527618 + ], + [ + -0.021261245012283325, + 0.999110133971791, + -0.03642706182950262, + -0.02770722284913063 + ], + [ + 0.01917998492717743, + 0.0368362047648624, + 0.9991372638852201, + -0.34373465180397034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9997257590293884, + 0.018793095776467848, + -0.013972540334996118, + 0.1576153039932251 + ], + [ + -0.019319500774145126, + 0.9990700812499713, + -0.03854587767879684, + -0.027977170422673225 + ], + [ + 0.013235150836408138, + 0.03880524912318119, + 0.9991591598314503, + -0.3573228120803833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9998226165771484, + 0.01811303535544139, + -0.005159981332566566, + 0.15536849200725555 + ], + [ + -0.018306870013475418, + 0.9990163124814427, + -0.040388571689430934, + -0.029273798689246178 + ], + [ + 0.004423345904797316, + 0.04047587245345819, + 0.9991707384262282, + -0.3722202479839325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9998450875282288, + 0.01692731830299008, + 0.004825632127518728, + 0.1550450176000595 + ], + [ + -0.01670914702117443, + 0.9989719465865072, + -0.042141080368587505, + -0.03135509416460991 + ], + [ + -0.005534006282687187, + 0.042053919683344536, + 0.9991000288243383, + -0.38757258653640747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9997797012329102, + 0.015152968545331129, + 0.014525008047634652, + 0.15673163533210754 + ], + [ + -0.014498148113489151, + 0.998918665255152, + -0.04417408020866797, + -0.032762035727500916 + ], + [ + -0.015178670175373554, + 0.043953761607206876, + 0.9989182622913886, + -0.40247049927711487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9996255040168762, + 0.013904012574779627, + 0.023569947843838798, + 0.15948918461799622 + ], + [ + -0.01280980184674263, + 0.9988613643647432, + -0.04595584427510591, + -0.03676994517445564 + ], + [ + -0.02418208122253418, + 0.04563670655135273, + 0.9986653860943558, + -0.41682976484298706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9993503689765932, + 0.013245391451039472, + 0.03351646006840069, + 0.16055989265441895 + ], + [ + -0.01157817803323269, + 0.9987091309406328, + -0.04945736938446646, + -0.039113257080316544 + ], + [ + -0.034128274768590934, + 0.049037180821657894, + 0.9982137055333637, + -0.4331139922142029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9989475011825562, + 0.011934041534801054, + 0.044288955158494694, + 0.16075053811073303 + ], + [ + -0.009549083188176155, + 0.9985127334370323, + -0.05367614633344278, + -0.04151032492518425 + ], + [ + -0.044863659888505936, + 0.05319673101889691, + 0.997575715020495, + -0.44810938835144043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9984445571899416, + 0.01154425033378062, + 0.054545284388737396, + 0.1624477207660675 + ], + [ + -0.008376069366931917, + 0.9982838374014286, + -0.05795914138802985, + -0.043921537697315216 + ], + [ + -0.05512076988816263, + 0.05741211226782785, + 0.9968277251105844, + -0.4641064405441284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9978130459785461, + 0.013235485810128443, + 0.06476034384117144, + 0.16474148631095886 + ], + [ + -0.009182403795421124, + 0.9980034794591695, + -0.06248791492675604, + -0.04450956732034683 + ], + [ + -0.06545811146497726, + 0.06175660234234379, + 0.9959424460671139, + -0.4787631332874298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9969671368598938, + 0.01690991533588186, + 0.07596455561272135, + 0.16732092201709747 + ], + [ + -0.011908060871064663, + 0.9977603533713872, + -0.06582146943092342, + -0.047555968165397644 + ], + [ + -0.07690746337175369, + 0.06471725089311765, + 0.9949356404379952, + -0.4944572150707245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9957969188690188, + 0.021547596046476117, + 0.08901816891320453, + 0.16939155757427216 + ], + [ + -0.015392897650599483, + 0.9974801253174946, + -0.06925664554200746, + -0.04615350812673569 + ], + [ + -0.09028617292642595, + 0.06759530332687674, + 0.9936192684677441, + -0.5103331208229065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9943560957908633, + 0.025608890851985807, + 0.10295697793643131, + 0.17085717618465424 + ], + [ + -0.018404087051749233, + 0.9973540497053895, + -0.07032952833505758, + -0.046142980456352234 + ], + [ + -0.10448562353849414, + 0.06803776620640478, + 0.9921963867828789, + -0.5247246026992798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9929890632629395, + 0.028017618988298913, + 0.11483775803202317, + 0.1762102097272873 + ], + [ + -0.020287858322262764, + 0.99748348745217, + -0.06793489768222417, + -0.05061676725745201 + ], + [ + -0.11645213514566422, + 0.06512879719513881, + 0.9910585867586302, + -0.5400218963623047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9915310144424438, + 0.02908659208866569, + 0.12657077587300547, + 0.17578546702861786 + ], + [ + -0.020787015557289124, + 0.9975761290640286, + -0.06640647239012729, + -0.04913225397467613 + ], + [ + -0.12819550931453705, + 0.06321304708853143, + 0.9897322729243743, + -0.55474454164505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9899814128875732, + 0.028451462950969408, + 0.13830139338059377, + 0.177211731672287 + ], + [ + -0.019728170707821846, + 0.9977522337260781, + -0.06404120477715473, + -0.054058898240327835 + ], + [ + -0.13981260359287262, + 0.060671170830614435, + 0.9883174982071168, + -0.5676556825637817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9884128570556641, + 0.02866907947056925, + 0.14905730916262583, + 0.1836106926202774 + ], + [ + -0.019245542585849762, + 0.9977460631153232, + -0.06428345600392142, + -0.05830048769712448 + ], + [ + -0.1505642831325531, + 0.06066990593400087, + 0.9867368011847939, + -0.5809316635131836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9866267442703247, + 0.028070052680081472, + 0.16056088309346936, + 0.1901932805776596 + ], + [ + -0.01784488931298256, + 0.9977402994773816, + -0.0647752873599144, + -0.06735234707593918 + ], + [ + -0.16201630234718323, + 0.06104383666037598, + 0.9848981253894664, + -0.5949254035949707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9843924641609192, + 0.02605672868219513, + 0.17404748320498956, + 0.19315098226070404 + ], + [ + -0.014368588104844093, + 0.9975763831748169, + -0.06808054422015143, + -0.07139035314321518 + ], + [ + -0.17539961636066437, + 0.06451715584512688, + 0.982381042567318, + -0.6095713973045349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.982203543186188, + 0.024143245520149414, + 0.18626152500505552, + 0.1972389668226242 + ], + [ + -0.010848065838217737, + 0.9973404982244127, + -0.07207085882660115, + -0.07277492433786392 + ], + [ + -0.1875061839818955, + 0.06876767565880866, + 0.9798532726401865, + -0.6227546334266663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9803085923194887, + 0.021567792234848, + 0.19629036686732917, + 0.20342715084552765 + ], + [ + -0.006608544848859312, + 0.9970439820433098, + -0.07654794581478835, + -0.06855913251638412 + ], + [ + -0.19736111164093023, + 0.07374341585983751, + 0.9775533219204614, + -0.6335233449935913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9783926606178284, + 0.016947431916559355, + 0.20605961351518523, + 0.20910941064357758 + ], + [ + -0.001191071467474103, + 0.9970803879073326, + -0.07634982943700347, + -0.07683950662612915 + ], + [ + -0.20675194263458252, + 0.07445467958050557, + 0.9755563015703639, + -0.6479128003120422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9769348502159119, + 0.012359124380193777, + 0.21317973200200213, + 0.21904096007347107 + ], + [ + 0.004427282605320215, + 0.9969367423847364, + -0.0780863717665641, + -0.0765438824892044 + ], + [ + -0.2134917825460434, + 0.07722910263992042, + 0.9738875014694356, + -0.6630423665046692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.975969195365906, + 0.006831368221117226, + 0.21780134456437625, + 0.23245088756084442 + ], + [ + 0.010625684633851053, + 0.996827536554602, + -0.07887938860138437, + -0.07899384200572968 + ], + [ + -0.21764922142028814, + 0.07929814446489394, + 0.972800416053504, + -0.6779075264930725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.97528076171875, + 0.0016455360909838007, + 0.22096329272939344, + 0.24387875199317932 + ], + [ + 0.016211004927754402, + 0.9967448080176246, + -0.07897447876411398, + -0.08527465164661407 + ], + [ + -0.2203739732503891, + 0.08060432358434573, + 0.9720793179761813, + -0.6931284666061401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9750850796699526, + -0.00171124122108539, + 0.22182471056225975, + 0.2564924955368042 + ], + [ + 0.02003678493201733, + 0.9965621602624585, + -0.0803887506025809, + -0.08648966997861862 + ], + [ + -0.22092455625534063, + 0.08283052274118492, + 0.9717671612249469, + -0.7056312561035156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9751011729240417, + -0.003984902877476415, + 0.22172469126681182, + 0.2675420939922333 + ], + [ + 0.02278214879333973, + 0.9963484050889208, + -0.08228468824478773, + -0.0904797688126564 + ], + [ + -0.22058714926242828, + 0.08528726254398267, + 0.9716313058125482, + -0.7187626957893372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9752871394157412, + -0.006385282626788537, + 0.22084887004330922, + 0.27521997690200806 + ], + [ + 0.02566065266728402, + 0.9960913142656871, + -0.08452014666272009, + -0.09794437140226364 + ], + [ + -0.21944594383239752, + 0.08809853804834979, + 0.9716389027140575, + -0.731167197227478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9763033986091614, + -0.007238528874398204, + 0.2162852445786949, + 0.2914818525314331 + ], + [ + 0.02745840884745121, + 0.9955061180308231, + -0.09062911226245011, + -0.09606492519378662 + ], + [ + -0.214657261967659, + 0.09442035532267638, + 0.9721147235187884, + -0.7462695837020874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9774618744850159, + -0.006497042208099604, + 0.21101210687181127, + 0.3049100339412689 + ], + [ + 0.027303125709295273, + 0.9950223779986975, + -0.09583838988514813, + -0.09822390973567963 + ], + [ + -0.20933911204338074, + 0.09943966144848666, + 0.9727738277711088, + -0.761949360370636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.97889643907547, + -0.0057843242280685315, + 0.20427517457206837, + 0.3191341757774353 + ], + [ + 0.026845430955290794, + 0.994576681668618, + -0.10048182772372594, + -0.09961668401956558 + ], + [ + -0.2025860995054245, + 0.10384515627108791, + 0.9737428380093738, + -0.7772349715232849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9808933138847351, + -0.004114751407005962, + 0.19450291432236247, + 0.33660414814949036 + ], + [ + 0.02487104944884777, + 0.9942250333381771, + -0.10439358519297899, + -0.09962491691112518 + ], + [ + -0.19295009970664978, + 0.1072364572668441, + 0.9753309939069251, + -0.7944821119308472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9875784516334534, + -0.008423044945322988, + 0.15690060028118086, + 0.4702962040901184 + ], + [ + 0.02545148879289627, + 0.9939503979742171, + -0.106839945368799, + -0.10174617171287537 + ], + [ + -0.15505151450634003, + 0.10950618551869999, + 0.981818410627504, + -0.8168489933013916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9923753142356873, + -0.006733548499087392, + 0.12306849672785078, + 0.573972761631012 + ], + [ + 0.020031917840242386, + 0.9940419348779699, + -0.10714156529461347, + -0.1108771488070488 + ], + [ + -0.12161380052566528, + 0.10878994894176634, + 0.9865976204860929, + -0.8347246646881104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9943088293075562, + -0.0010243395530542985, + 0.1065311515501549, + 0.6014339327812195 + ], + [ + 0.013473240658640862, + 0.9931340827672003, + -0.11620315271462292, + -0.0765080600976944 + ], + [ + -0.1056806892156601, + 0.1169771406718972, + 0.9874957877749869, + -0.8907214403152466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9930580258369446, + -0.0011078707201203288, + 0.11762026472519965, + 0.5265659093856812 + ], + [ + 0.013761676847934723, + 0.9941826835856806, + -0.10682442882915304, + -0.11751101911067963 + ], + [ + -0.11681768298149109, + 0.10770150893019828, + 0.9872963408558056, + -0.8741821050643921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9912800192832947, + 0.007938930466938951, + 0.13153281893070234, + 0.4309881329536438 + ], + [ + 0.007262718863785267, + 0.9933745921463532, + -0.11469168231611626, + -0.08908511698246002 + ], + [ + -0.13157188892364502, + 0.11464685979824772, + 0.9846547257525785, + -0.8813568353652954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9938417673110962, + 0.010002865418349405, + 0.11035594211095796, + 0.4776698350906372 + ], + [ + 0.002804115181788802, + 0.9933278908237135, + -0.11529032479415198, + -0.09058862179517746 + ], + [ + -0.11077287048101425, + 0.11488979410588082, + 0.9871827273196783, + -0.8989061117172241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9952132701873779, + 0.014829276603728046, + 0.09659540190609037, + 0.48569029569625854 + ], + [ + -0.0037054680287837982, + 0.9934354000447706, + -0.1143346070472571, + -0.09971350431442261 + ], + [ + -0.09765678644180298, + 0.11342938063451491, + 0.988734986441602, + -0.9183420538902283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9963029026985168, + 0.018935965991790576, + 0.08379694957423209, + 0.48876023292541504 + ], + [ + -0.009315711446106434, + 0.9934669875446746, + -0.11373905818526543, + -0.10808613151311874 + ], + [ + -0.08540326356887817, + 0.11253792751969897, + 0.9899704626357058, + -0.9366067051887512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9979413747787476, + 0.021097005742704227, + 0.06056336760388128, + 0.5446013808250427 + ], + [ + -0.013804423622786999, + 0.9928702768676607, + -0.11839804610132852, + -0.09491784870624542 + ], + [ + -0.06262940913438797, + 0.11731826759905759, + 0.9911175673359138, + -0.9526539444923401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.998131275177002, + 0.026813139495292224, + 0.05490920447104779, + 0.5419906377792358 + ], + [ + -0.02027870900928974, + 0.9930093661054055, + -0.11628077104008903, + -0.10281393676996231 + ], + [ + -0.05764320492744446, + 0.11494998505995575, + 0.9916974271845281, + -0.9721998572349548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9982988238334656, + 0.03242230727915126, + 0.04845827442929251, + 0.5534288883209229 + ], + [ + -0.026623761281371117, + 0.9929097055051098, + -0.11585125692148528, + -0.10327968001365662 + ], + [ + -0.05187085270881653, + 0.11436403260827639, + 0.9920837969249723, + -0.9885601997375488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9981638193130493, + 0.03695303274899564, + 0.047994223196829944, + 0.5439258813858032 + ], + [ + -0.03116515465080738, + 0.9927372808628496, + -0.11619574264304097, + -0.10668312758207321 + ], + [ + -0.05193944275379181, + 0.11448663725002951, + 0.9920660687516988, + -1.0061243772506714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9981341361999512, + 0.038890096740237634, + 0.04707269997541727, + 0.5384499430656433 + ], + [ + -0.03309986740350723, + 0.9924520105076119, + -0.11808226266446609, + -0.1121542751789093 + ], + [ + -0.05130962282419205, + 0.1163038315381474, + 0.9918874382191869, + -1.0222246646881104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9985378980636599, + 0.038042441354573436, + 0.03840308181729998, + 0.569679319858551 + ], + [ + -0.03306607529520989, + 0.9918806619226785, + -0.12279823125064104, + -0.11370326578617096 + ], + [ + -0.04276281967759133, + 0.1213488475320466, + 0.9916883387664464, + -1.0368549823760986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9986143112182617, + 0.0378868505852294, + 0.03652379437674768, + 0.5703945755958557 + ], + [ + -0.03291218355298042, + 0.9911877127558362, + -0.12831089062428352, + -0.117412269115448 + ], + [ + -0.04106323421001434, + 0.126931018909838, + 0.9910612116308102, + -1.0540142059326172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9988586902618408, + 0.038815296190451556, + 0.027832325224117025, + 0.5966552495956421 + ], + [ + -0.034765321761369705, + 0.9904269951792496, + -0.13358815775558464, + -0.12260206788778305 + ], + [ + -0.03275115042924881, + 0.1324680965445244, + 0.990646060624137, + -1.0700682401657104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9987989664077759, + 0.04073672443165779, + 0.027223662133336927, + 0.5896960496902466 + ], + [ + -0.03658750280737877, + 0.989675560052006, + -0.13857729091015183, + -0.12409821152687073 + ], + [ + -0.032587774097919464, + 0.1374148055550704, + 0.9899773538955616, + -1.0874249935150146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9987178444862366, + 0.04344235891919628, + 0.025989008960681306, + 0.5906458497047424 + ], + [ + -0.03926607593894005, + 0.988809226863208, + -0.1439252612266731, + -0.12175323069095612 + ], + [ + -0.03195062652230263, + 0.1427202366439055, + 0.9892472104328975, + -1.102341651916504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9988331794738772, + 0.043129373125923465, + 0.021728720613320145, + 0.6076818108558655 + ], + [ + -0.03939693048596383, + 0.9879153994473674, + -0.14990353267278367, + -0.1152423769235611 + ], + [ + -0.027931381016969688, + 0.14887257626502332, + 0.9884618423933773, + -1.1166632175445557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9990053772926331, + 0.041069111779601146, + 0.017366141721841945, + 0.6236165761947632 + ], + [ + -0.037901248782873154, + 0.9872688163568861, + -0.15447895660899583, + -0.11100738495588303 + ], + [ + -0.023489363491535187, + 0.15366711049220894, + 0.9878434266807956, + -1.1315828561782837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9991675019264223, + 0.03858179649055285, + 0.013255019107565404, + 0.6391854882240295 + ], + [ + -0.03604340553283692, + 0.9870757042330899, + -0.156148728151257, + -0.11757989227771759 + ], + [ + -0.01910820417106152, + 0.15554098457843948, + 0.9876446223993233, + -1.1475892066955566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9993433952331545, + 0.035228491677175476, + 0.008469470655526988, + 0.657208263874054 + ], + [ + -0.03344381973147393, + 0.9868044272367305, + -0.15842498427547191, + -0.1195511743426323 + ], + [ + -0.013938785530626777, + 0.15803771227942862, + 0.9873346702456925, + -1.1630736589431763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9995027780532839, + 0.031185406665665813, + 0.004661167520185453, + 0.6662575602531433 + ], + [ + -0.030031329020857818, + 0.9865395901545235, + -0.16074124306888188, + -0.11722110956907272 + ], + [ + -0.009611207991838457, + 0.16052133353704404, + 0.986985573289894, + -1.1794509887695312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9996392726898193, + 0.0268550420802414, + -0.00029557181215686466, + 0.6796075105667114 + ], + [ + -0.026546144858002663, + 0.9863525869407422, + -0.16249254106998373, + -0.11623944342136383 + ], + [ + -0.004072206094861031, + 0.16244177431210075, + 0.9867097030613821, + -1.1942521333694458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9996704459190369, + 0.025101786377195654, + -0.005375699233127688, + 0.6945331692695618 + ], + [ + -0.025643765926361084, + 0.9861058967141867, + -0.16412668929256927, + -0.1199410930275917 + ], + [ + 0.001181135536171496, + 0.16421045661524147, + 0.9864246342296457, + -1.2100728750228882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.999579131603241, + 0.026776893049158153, + -0.011160857814992632, + 0.7078548669815063 + ], + [ + -0.02827453799545765, + 0.9853254836682418, + -0.16832776777998645, + -0.1155649721622467 + ], + [ + 0.006489782594144344, + 0.16857248612664585, + 0.9856678793123572, + -1.2237738370895386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.999369263648987, + 0.030108372649916705, + -0.018831267230066104, + 0.7240141034126282 + ], + [ + -0.03289641067385674, + 0.9846303134491162, + -0.17152558410408686, + -0.1170472651720047 + ], + [ + 0.013377479277551178, + 0.17203687405522483, + 0.9849996979854104, + -1.2380956411361694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9990783929824829, + 0.03444866596492437, + -0.025606595043025898, + 0.7335184812545776 + ], + [ + -0.038418691605329514, + 0.9837188886122195, + -0.1755593929521463, + -0.11642499268054962 + ], + [ + 0.01914190500974655, + 0.17638137138338736, + 0.984135766359276, + -1.2547942399978638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9987751245498657, + 0.036695057037469836, + -0.033191332467744146, + 0.7489757537841797 + ], + [ + -0.0420662984251976, + 0.9829208959136535, + -0.1791562457684431, + -0.11798738688230515 + ], + [ + 0.026050306856632233, + 0.18033304602361633, + 0.9832605919721096, + -1.2693833112716675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9984691143035889, + 0.03810316722533042, + -0.040093921084444456, + 0.756503701210022 + ], + [ + -0.044803496450185776, + 0.9822214546091474, + -0.18230100424760506, + -0.11858697235584259 + ], + [ + 0.0324348621070385, + 0.18381827867486256, + 0.9824249887519707, + -1.286383032798767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9979355931282043, + 0.03962159961264291, + -0.05054375159326374, + 0.773633599281311 + ], + [ + -0.04828355088829994, + 0.9818016069418248, + -0.18366908976904428, + -0.11979486793279648 + ], + [ + 0.04234667494893074, + 0.1857303475214822, + 0.9816878045644793, + -1.2999235391616821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9973918795585632, + 0.04375240067278077, + -0.057403541430785424, + 0.7804951667785645 + ], + [ + -0.053648073226213455, + 0.981443508194773, + -0.18409388874169683, + -0.12059605121612549 + ], + [ + 0.04828378185629845, + 0.18669333432743815, + 0.9812309707690697, + -1.3142765760421753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9968169927597048, + 0.049171765139545034, + -0.06275339360047287, + 0.7912923693656921 + ], + [ + -0.059818957000970854, + 0.9816617862141377, + -0.18100232757861048, + -0.1289655566215515 + ], + [ + 0.052702404558658614, + 0.18418004096513563, + 0.9814785749785477, + -1.3310731649398804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9964540004730227, + 0.05480460946555189, + -0.06384229082160241, + 0.7948336005210876 + ], + [ + -0.06541716307401658, + 0.9818160971213757, + -0.17820712719190646, + -0.13149617612361908 + ], + [ + 0.052914816886186614, + 0.1817515849741486, + 0.9819197167983363, + -1.3476992845535278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9962171912193301, + 0.058676636270050715, + -0.06409662744376149, + 0.8035339713096619 + ], + [ + -0.06909524649381639, + 0.9821800398824202, + -0.17478063224406476, + -0.13444775342941284 + ], + [ + 0.05269888415932657, + 0.17854823937654185, + 0.9825189105180577, + -1.3626741170883179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9960407018661499, + 0.06117961324135046, + -0.0644976817515493, + 0.8137111067771912 + ], + [ + -0.0714321881532669, + 0.9826768875365626, + -0.17100740171242518, + -0.1333262175321579 + ], + [ + 0.0529182143509388, + 0.17493755256759638, + 0.9831564315428925, + -1.3755236864089966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9960828423500063, + 0.061879878595892855, + -0.06316523427667128, + 0.8179843425750732 + ], + [ + -0.07162799686193468, + 0.9835150308895909, + -0.16603484239861313, + -0.13674896955490112 + ], + [ + 0.05184974521398546, + 0.1699088651409317, + 0.9840948278525926, + -1.391302227973938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9962140917778017, + 0.06057784289034796, + -0.06235271786820488, + 0.8263546824455261 + ], + [ + -0.0699298530817032, + 0.9845081518783404, + -0.16079042178661854, + -0.14193947613239288 + ], + [ + 0.051646422594785704, + 0.16454198732344014, + 0.985017017740241, + -1.403275966644287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9964604377746582, + 0.05707551277290254, + -0.06171694581664913, + 0.8339785933494568 + ], + [ + -0.0661160945892334, + 0.9855300312816514, + -0.15607453355276008, + -0.14662186801433563 + ], + [ + 0.051915865391492844, + 0.15960258099217106, + 0.9858152933504555, + -1.4179058074951172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.996610701084137, + 0.05158253701379966, + -0.06408122170549939, + 0.848964273929596 + ], + [ + -0.060860417783260345, + 0.9864296851607387, + -0.15248767466790486, + -0.1463046669960022 + ], + [ + 0.055345915257930756, + 0.1558708565649604, + 0.9862257036672761, + -1.4288287162780762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.996771514415741, + 0.0473983181137434, + -0.06480732004384784, + 0.8566917181015015 + ], + [ + -0.05664233863353729, + 0.9871849931415455, + -0.14918926966623622, + -0.15036869049072266 + ], + [ + 0.05690549314022064, + 0.15237845214774978, + 0.9866826290328877, + -1.441583514213562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9968143701553345, + 0.043684609135728324, + -0.0667290623195309, + 0.8677163124084473 + ], + [ + -0.053219325840473175, + 0.9874721444423655, + -0.14854771342965034, + -0.14701761305332184 + ], + [ + 0.05940384417772293, + 0.15162577704232685, + 0.9866513279384092, + -1.4518707990646362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9968206286430361, + 0.04005358608225412, + -0.06887910391859613, + 0.8779981136322021 + ], + [ + -0.04988850280642511, + 0.9877907740970707, + -0.1475821942993827, + -0.14742767810821533 + ], + [ + 0.06212694942951204, + 0.15054925724568222, + 0.9866484741596044, + -1.4621049165725708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9968370199203493, + 0.037123005103232944, + -0.07026953592119269, + 0.8878257274627686 + ], + [ + -0.04721433669328691, + 0.987876374388901, + -0.14788856235154857, + -0.14532756805419922 + ], + [ + 0.06392754614353181, + 0.1507385281724058, + 0.9865045090432958, + -1.4726203680038452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9969294667243958, + 0.03419519733607192, + -0.07044387719677456, + 0.8950809836387634 + ], + [ + -0.044307973235845566, + 0.9880822730774265, + -0.1474117461338089, + -0.14900635182857513 + ], + [ + 0.0645635798573494, + 0.1500803414024001, + 0.9865634755899495, + -1.4845902919769287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.996977746486664, + 0.030430038017958586, + -0.07147994120846754, + 0.9049628376960754 + ], + [ + -0.040793605148792274, + 0.9880964405306262, + -0.14832835484140605, + -0.1473291665315628 + ], + [ + 0.06611543148756029, + 0.15079599567064808, + 0.9863515395754419, + -1.494299054145813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9969890117645266, + 0.026902050386949778, + -0.07272645183208722, + 0.9138842821121216 + ], + [ + -0.03754114359617234, + 0.9881038714213486, + -0.14913534688912367, + -0.14793500304222107 + ], + [ + 0.06784924864768983, + 0.1514165438859931, + 0.9861386921991993, + -1.5036448240280151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9967585802078247, + 0.023240091420029, + -0.07702123502948291, + 0.9284591674804688 + ], + [ + -0.034577857702970505, + 0.9881852566421694, + -0.14931284750660798, + -0.15253810584545135 + ], + [ + 0.07264120876789093, + 0.15149208060585515, + 0.9857856748368299, + -1.5135748386383057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9962562918663025, + 0.01987497119047477, + -0.0841332869930624, + 0.9412307739257812 + ], + [ + -0.03228559345006943, + 0.9883355371433332, + -0.14883035277598944, + -0.1615329086780548 + ], + [ + 0.0801939144730568, + 0.15098947179924854, + 0.9852771872453661, + -1.5199968814849854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9954590201377869, + 0.017469205844047528, + -0.09357412444749484, + 0.9537520408630371 + ], + [ + -0.03138972073793411, + 0.9882738484641883, + -0.14943041154216594, + -0.16659338772296906 + ], + [ + 0.08986643701791763, + 0.15168912071293272, + 0.9843344952239003, + -1.5298597812652588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9945300817489624, + 0.016494210129633542, + -0.10313994784625774, + 0.9661542177200317 + ], + [ + -0.03201302886009216, + 0.9880649577379521, + -0.1506746168791804, + -0.16692611575126648 + ], + [ + 0.09942371398210526, + 0.1531522617134041, + 0.9831883508123425, + -1.537939429283142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9936463236808777, + 0.0167926743685471, + -0.11128781112778688, + 0.9767832159996033 + ], + [ + -0.033704083412885666, + 0.9878250892095638, + -0.15187390369791925, + -0.1630980372428894 + ], + [ + 0.10738252103328705, + 0.15465979197118188, + 0.9821147112933075, + -1.547885537147522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9928276538848879, + 0.01554496882675986, + -0.11853971458362712, + 0.9885981678962708 + ], + [ + -0.033340871334075935, + 0.9881753099809883, + -0.1496593994767341, + -0.1646786481142044 + ], + [ + 0.1148115694522858, + 0.15253820752064576, + 0.9816060553754309, + -1.5569630861282349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9919579029083252, + 0.014645455519824163, + -0.12571785993760132, + 0.9982046484947205 + ], + [ + -0.03316322714090347, + 0.9886551433939395, + -0.14649645214175683, + -0.16551834344863892 + ], + [ + 0.1221461072564125, + 0.14948752882604843, + 0.9811900140916291, + -1.5656739473342896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9910035133361816, + 0.0142926967076645, + -0.13307050491596764, + 1.0088286399841309 + ], + [ + -0.033509526401758194, + 0.9891096451821223, + -0.14331511103944344, + -0.16458311676979065 + ], + [ + 0.12957295775413513, + 0.14648490761951952, + 0.9806900843641378, + -1.5761891603469849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9902188777923584, + 0.014974768581615111, + -0.1387166181067687, + 1.0173554420471191 + ], + [ + -0.03470613434910774, + 0.9894098481189783, + -0.14093830705067015, + -0.16434401273727417 + ], + [ + 0.13513708114624023, + 0.1443740906038991, + 0.9802520322818387, + -1.5851783752441406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9896323680877686, + 0.015979736937537806, + -0.14273208122048442, + 1.025704264640808 + ], + [ + -0.03622259572148323, + 0.9894354767390319, + -0.14037583868989292, + -0.16345259547233582 + ], + [ + 0.13898102939128876, + 0.14409059484679004, + 0.9797561784397069, + -1.5939620733261108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9892308115959167, + 0.016173231361676633, + -0.1454676252386941, + 1.0342661142349243 + ], + [ + -0.03686787933111191, + 0.9893632701701296, + -0.14071613443696915, + -0.16400368511676788 + ], + [ + 0.14164450764656067, + 0.1445638294244169, + 0.9793049541874859, + -1.6040711402893066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9889639019966125, + 0.015567237717218466, + -0.14733651448356608, + 1.0397746562957764 + ], + [ + -0.036593303084373474, + 0.9893194811077839, + -0.1410952430847384, + -0.16539904475212097 + ], + [ + 0.14356642961502075, + 0.14492963342507623, + 0.9789709255017377, + -1.6153920888900757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9887217283248901, + 0.01591927313823839, + -0.1489158062616862, + 1.0458347797393799 + ], + [ + -0.037207141518592834, + 0.9892700175758439, + -0.1412814973405813, + -0.16415153443813324 + ], + [ + 0.14506883919239044, + 0.14522881787173222, + 0.9787050818936341, + -1.626918077468872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9887306094169617, + 0.01652870006373109, + -0.1487902847352683, + 1.0464816093444824 + ], + [ + -0.03754127398133278, + 0.9895037660224589, + -0.1395453731219706, + -0.16663415729999542 + ], + [ + 0.14492203295230865, + 0.14355856075270218, + 0.9789731843651862, + -1.6387962102890015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9887280464172363, + 0.015958253692255828, + -0.14886974562351238, + 1.0460785627365112 + ], + [ + -0.036575645208358765, + 0.9899226938202957, + -0.13680366822628975, + -0.16905470192432404 + ], + [ + 0.1451863944530487, + 0.14070663534378877, + 0.9793480415713989, + -1.6477470397949219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9882256984710696, + 0.015848949496851145, + -0.15218022345046311, + 1.0639686584472656 + ], + [ + -0.03689809888601304, + 0.9899514368089818, + -0.1365088961239434, + -0.15661698579788208 + ], + [ + 0.14848752319812777, + 0.14051676560594273, + 0.9788802547200549, + -1.656612515449524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9885210394859316, + 0.016343697013529408, + -0.1501966895072213, + 1.06014883518219 + ], + [ + -0.03633959591388703, + 0.9906671589511721, + -0.13136968022324125, + -0.16637931764125824 + ], + [ + 0.14664787054061892, + 0.1353197785149014, + 0.9798892329915224, + -1.6680140495300293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9886595010757446, + 0.01633848488181633, + -0.14928321808801764, + 1.059401512145996 + ], + [ + -0.035975344479084015, + 0.9908866427445799, + -0.12980545987062336, + -0.16249065101146698 + ], + [ + 0.14580193161964417, + 0.13370391400664386, + 0.9802372430765917, + -1.6758805513381958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9888117313385012, + 0.016829460063526123, + -0.14821645817236204, + 1.058363676071167 + ], + [ + -0.036006532609462745, + 0.9911627808918729, + -0.12767100045037857, + -0.16362358629703522 + ], + [ + 0.144758015871048, + 0.131579342806165, + 0.9806793818935401, + -1.685936450958252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9890400767326355, + 0.01874538174875494, + -0.14645236360984662, + 1.0578304529190063 + ], + [ + -0.037501007318496704, + 0.9912732076335476, + -0.12637696543640992, + -0.1649022102355957 + ], + [ + 0.1428053230047226, + 0.130483994004664, + 0.9811118758939974, + -1.6929874420166016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9894677400588989, + 0.021462970730808176, + -0.14315363190005903, + 1.0542634725570679 + ], + [ + -0.03970474377274513, + 0.9912585754032004, + -0.1258173322133422, + -0.16563603281974792 + ], + [ + 0.13920184969902039, + 0.13017606711083685, + 0.9816705265615566, + -1.7035682201385498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.989823043346405, + 0.02393665156358323, + -0.14027618193338204, + 1.0506629943847656 + ], + [ + -0.04171893745660782, + 0.9912498477187236, + -0.12523269013340096, + -0.1655804067850113 + ], + [ + 0.13605108857154846, + 0.12981037204004164, + 0.9821605562878831, + -1.708794116973877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9901947975158691, + 0.027499507676941256, + -0.13696008240399174, + 1.0465251207351685 + ], + [ + -0.044818706810474396, + 0.9911408552721459, + -0.12502451890019267, + -0.16608434915542603 + ], + [ + 0.13230861723423004, + 0.1299369972983473, + 0.9826549750479909, + -1.7153873443603516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9906690120697021, + 0.030720317439432755, + -0.13278263889848357, + 1.0439765453338623 + ], + [ + -0.04756985977292061, + 0.9909334537671274, + -0.12565043258886918, + -0.16635967791080475 + ], + [ + 0.1277187317609787, + 0.13079443301380794, + 0.983148391865282, + -1.7213667631149292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9911962151527405, + 0.03382700631049241, + -0.12800683671766774, + 1.0394937992095947 + ], + [ + -0.0501835010945797, + 0.9906586363893377, + -0.12679542857669576, + -0.16780716180801392 + ], + [ + 0.12252196669578552, + 0.13210297729669304, + 0.9836346593355352, + -1.7271603345870972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.991736888885498, + 0.03673442002237734, + -0.12291685742751099, + 1.0345832109451294 + ], + [ + -0.0526694655418396, + 0.9902428014530811, + -0.12901611489829506, + -0.167373925447464 + ], + [ + 0.11697820574045181, + 0.13442400957372566, + 0.983995088101544, + -1.7314947843551636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9924451112747192, + 0.03873715425865965, + -0.11641339078818487, + 1.0277247428894043 + ], + [ + -0.05404229834675789, + 0.9898634952778224, + -0.13133813940795147, + -0.16692405939102173 + ], + [ + 0.1101456955075264, + 0.13663714535104354, + 0.9844786774395076, + -1.7382330894470215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9933603405952454, + 0.03940852791891061, + -0.10808433790292746, + 1.0203771591186523 + ], + [ + -0.05383121222257614, + 0.9895247334046421, + -0.1339516983242807, + -0.16430364549160004 + ], + [ + 0.10167328268289566, + 0.13888060509783312, + 0.985075984794037, + -1.7413691282272339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9944319128990173, + 0.03883240683169425, + -0.0979651477522722, + 1.014654278755188 + ], + [ + -0.0520249642431736, + 0.9893515666283976, + -0.13592981554847333, + -0.16358599066734314 + ], + [ + 0.09164348989725113, + 0.14026958099017467, + 0.9858630600196585, + -1.7465119361877441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9956738948822021, + 0.036538922008473265, + -0.08543060923186661, + 1.0072513818740845 + ], + [ + -0.04809488356113434, + 0.9893490992810829, + -0.13738721894732342, + -0.16208253800868988 + ], + [ + 0.0795007199048996, + 0.14090164485427592, + 0.9868264249698396, + -1.749390721321106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9968345165252686, + 0.03381399365241663, + -0.07195527206964179, + 0.9993631839752197 + ], + [ + -0.043542105704545975, + 0.9894406778379085, + -0.13824330732017023, + -0.16211308538913727 + ], + [ + 0.06652091443538666, + 0.14093878758201975, + 0.9877809452474143, + -1.7544801235198975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9977208971977234, + 0.03180141041466993, + -0.05951237621724525, + 0.9915847182273865 + ], + [ + -0.03982553631067276, + 0.989503121103747, + -0.13891524774236585, + -0.16276560723781586 + ], + [ + 0.05446998402476311, + 0.1409687649085931, + 0.9885144820423428, + -1.7598927021026611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9983034729957581, + 0.030596528568484056, + -0.04953839844960603, + 0.9819342494010925 + ], + [ + -0.037252992391586304, + 0.989510868680047, + -0.13957240301436472, + -0.16116131842136383 + ], + [ + 0.044748350977897644, + 0.14118107519293907, + 0.9889719645454795, + -1.7639423608779907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.998814642429352, + 0.025149826121317408, + -0.04167542870318843, + 0.9730350375175476 + ], + [ + -0.03064685687422753, + 0.9900959866362128, + -0.13700605273192412, + -0.16183330118656158 + ], + [ + 0.03781699389219285, + 0.13812087485305877, + 0.9896931489760341, + -1.7685672044754028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9992650151252747, + 0.01707389221363686, + -0.03431990676631593, + 0.9654354453086853 + ], + [ + -0.02147759310901165, + 0.990970940013532, + -0.1323452942021854, + -0.16048558056354523 + ], + [ + 0.031750380992889404, + 0.13298514232705225, + 0.9906093620069357, + -1.7702230215072632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9995095729827881, + 0.008863543930922953, + -0.030034805974364146, + 0.9576712846755981 + ], + [ + -0.01265111193060875, + 0.9916463256213423, + -0.12836463508940416, + -0.15900586545467377 + ], + [ + 0.028646141290664673, + 0.1286816622534279, + 0.9912721200825383, + -1.7688947916030884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9995870590209963, + 0.0031165278602073355, + -0.02856498706449965, + 0.9507257342338562 + ], + [ + -0.006788403727114202, + 0.9915737108890713, + -0.12936584077226895, + -0.15974102914333344 + ], + [ + 0.027921117842197425, + 0.12950634094735536, + 0.9911854251057154, + -1.7655128240585327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9995908737182619, + -0.0020085198203951098, + -0.02853077809890207, + 0.9472739100456238 + ], + [ + -0.0019312895601615314, + 0.9905145277759294, + -0.13739432227564788, + -0.159464031457901 + ], + [ + 0.02853610925376416, + 0.13739321302409804, + 0.9901054354534355, + -1.7612427473068237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9994587898254395, + -0.011457010059909437, + -0.03083683826835239, + 0.9408554434776306 + ], + [ + 0.006808403879404068, + 0.9891379775461135, + -0.14683232342314712, + -0.15913628041744232 + ], + [ + 0.03218415006995201, + 0.14654291226505567, + 0.9886806430033809, + -1.7606383562088013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9992589354515078, + -0.018364710298439783, + -0.03382765370369685, + 0.9372749924659729 + ], + [ + 0.012946667149662975, + 0.9879964544508653, + -0.15393308615714532, + -0.16097737848758698 + ], + [ + 0.036248538643121726, + 0.15338105857424775, + 0.9875020344635604, + -1.7596639394760132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9993240237236023, + -0.01599884950001195, + -0.033098207939394976, + 0.9358744621276855 + ], + [ + 0.01053193025290966, + 0.9871908147949655, + -0.15919612407291364, + -0.15975135564804077 + ], + [ + 0.035221200436353683, + 0.15873991827113787, + 0.9866920034189692, + -1.7585428953170776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9995747208595276, + -0.008139453678954687, + -0.028002519657979032, + 0.9355481863021851 + ], + [ + 0.0034938957542181015, + 0.986767418495225, + -0.16210461083581104, + -0.1603936105966568 + ], + [ + 0.028951415792107582, + 0.16193782443956464, + 0.9863761664459142, + -1.7582963705062866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9997527599334717, + 3.4596147609814954e-05, + -0.02223464377427979, + 0.9365181922912598 + ], + [ + -0.0037002554163336754, + 0.9863129143662867, + -0.16484265505054096, + -0.1622055470943451 + ], + [ + 0.021924614906311035, + 0.16488417092303645, + 0.9860691999836811, + -1.7552019357681274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9998153448104861, + 0.006554421071187453, + -0.018065676541781074, + 0.9374900460243225 + ], + [ + -0.009539939463138582, + 0.985313204742926, + -0.17049011767224986, + -0.1627844274044037 + ], + [ + 0.016682885587215427, + 0.1706309833543036, + 0.9851937846166758, + -1.7522857189178467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9997952580451965, + 0.013244074704732696, + -0.015299543821050714, + 0.9390742182731628 + ], + [ + -0.015747955068945885, + 0.984037223587722, + -0.17726473074451798, + -0.16365137696266174 + ], + [ + 0.012707613408565521, + 0.17746936600962815, + 0.9840442795779129, + -1.750474214553833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9997062087059021, + 0.02040468793189696, + -0.01308269887459287, + 0.9412060379981995 + ], + [ + -0.02246139571070671, + 0.9827399064814419, + -0.18362395586539743, + -0.16347399353981018 + ], + [ + 0.00911010056734085, + 0.1838638583451812, + 0.9829094795254872, + -1.7496486902236938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9995614886283875, + 0.027538783726623252, + -0.010885130650255245, + 0.9435845613479614 + ], + [ + -0.02909681387245655, + 0.9816771193580416, + -0.18831733850417584, + -0.1636325567960739 + ], + [ + 0.005499653518199921, + 0.18855148072167646, + 0.9820479189975648, + -1.7480103969573975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9993981122970581, + 0.03368770689988971, + -0.008280234239035985, + 0.9456571340560913 + ], + [ + -0.03465103358030319, + 0.9807785396709964, + -0.19202276402999574, + -0.16331905126571655 + ], + [ + 0.0016522693913429976, + 0.1921941028993424, + 0.9813555263113566, + -1.748476505279541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9992638826370239, + 0.03792412945982846, + -0.0057846140753338325, + 0.9481921195983887 + ], + [ + -0.038324326276779175, + 0.9801007352459878, + -0.19476602543061758, + -0.1628425121307373 + ], + [ + -0.001716827624477446, + 0.1948443336161414, + 0.9808326467277017, + -1.7476919889450073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9991336464881897, + 0.041465095628751635, + -0.003548066247720357, + 0.9509720802307129 + ], + [ + -0.041349321603775024, + 0.9794547019155583, + -0.19737972017111807, + -0.1629888266324997 + ], + [ + -0.004709198139607906, + 0.19735542102891587, + 0.9803206799753066, + -1.74638032913208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9989609122276308, + 0.04552354817774297, + -0.0021711024879947412, + 0.9526826739311218 + ], + [ + -0.045037746429443366, + 0.9787628522871593, + -0.1999871061899978, + -0.16354204714298248 + ], + [ + -0.0069791283458471316, + 0.19987708452459427, + 0.9797960977355071, + -1.7475930452346802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9987697601318359, + 0.04950353824345825, + -0.002884794390726985, + 0.9564692378044128 + ], + [ + -0.04905848205089569, + 0.9779652359277856, + -0.20292187148873123, + -0.16464287042617798 + ], + [ + -0.007224122527986765, + 0.2028137545452748, + 0.9791906729193217, + -1.7462453842163086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9985873103141785, + 0.05294687801999964, + -0.004467966427088916, + 0.9600393176078796 + ], + [ + -0.052728068083524704, + 0.9770416505753495, + -0.20642038891473885, + -0.16553562879562378 + ], + [ + -0.006563925184309483, + 0.20636437536117222, + 0.9784532146100376, + -1.7446613311767578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9984991550445557, + 0.05439486981726086, + -0.006371330770226236, + 0.9641080498695374 + ], + [ + -0.05451900511980057, + 0.9761804130870804, + -0.20999876676286156, + -0.16609960794448853 + ], + [ + -0.0052032871171832085, + 0.2100309534756312, + 0.9776808792215858, + -1.7437041997909546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9984903931617737, + 0.05426030971227682, + -0.008529282623935007, + 0.9671612977981567 + ], + [ + -0.05483022332191467, + 0.9754534905632333, + -0.213270114011925, + -0.1663375198841095 + ], + [ + -0.0032521840184926987, + 0.21341581704285967, + 0.9769560367908511, + -1.743999719619751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9984708428382874, + 0.052981087761349126, + -0.015779380522361827, + 0.9762329459190369 + ], + [ + -0.05513254180550575, + 0.975264327616653, + -0.21405586197431198, + -0.16683544218540192 + ], + [ + 0.0040481542237102985, + 0.214598487163886, + 0.9766939479687025, + -1.7445414066314697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 811.1415201822916, + "fy": 811.3661295572916, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/source/32786d8c-6436-4ae0-b0db-fab3b549e1e3/caption.txt b/dynpose_eval/source/32786d8c-6436-4ae0-b0db-fab3b549e1e3/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..aea96094cd7e8758438d6618c7ee7e9b2c044d39 --- /dev/null +++ b/dynpose_eval/source/32786d8c-6436-4ae0-b0db-fab3b549e1e3/caption.txt @@ -0,0 +1 @@ +Two men are standing on a bridge and one of them is shaking the other's hand. diff --git a/dynpose_eval/source/32786d8c-6436-4ae0-b0db-fab3b549e1e3/extras/source_metadata.json b/dynpose_eval/source/32786d8c-6436-4ae0-b0db-fab3b549e1e3/extras/source_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..6a17d84a5ea70f1387e259127c95c51fefb5f050 --- /dev/null +++ b/dynpose_eval/source/32786d8c-6436-4ae0-b0db-fab3b549e1e3/extras/source_metadata.json @@ -0,0 +1,33 @@ +{ + "sequence": "32786d8c-6436-4ae0-b0db-fab3b549e1e3", + "tar_name": "dpsp-3b6dd9eb", + "youtube_link": "https://www.youtube.com/watch?v=5Zbh1F-WQxQ", + "youtube_timestamp": "0:05:22.388-0:05:30.663", + "num_frames": 249, + "original_canvas_hw": [ + 720, + 1280 + ], + "spatial_transform": { + "input_hw": [ + 720, + 1280 + ], + "crop_xywh": [ + 16, + 0, + 1248, + 720 + ], + "scale_xy": [ + 0.6666666666666666, + 0.6666666666666666 + ], + "output_hw": [ + 480, + 832 + ] + }, + "rgb_status": "complete", + "focal_sign_correction": "none" +} diff --git a/dynpose_eval/source/32786d8c-6436-4ae0-b0db-fab3b549e1e3/transforms.json b/dynpose_eval/source/32786d8c-6436-4ae0-b0db-fab3b549e1e3/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..2b98bd67f98be3b25eaec12bd750aeae398c2b7a --- /dev/null +++ b/dynpose_eval/source/32786d8c-6436-4ae0-b0db-fab3b549e1e3/transforms.json @@ -0,0 +1,8728 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 249, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.1205625014554244e-05, + 4.693852588388836e-06, + -5.664822310791351e-05 + ], + [ + -1.1205919690837618e-05, + 1.0, + 6.278318323893473e-05, + -0.0003303457924630493 + ], + [ + -4.693148639489664e-06, + -6.278324144659564e-05, + 1.0, + 0.00023780959600117058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 1.0, + 0.00012145095388405025, + 0.00013567846326623112, + -0.013356538489460945 + ], + [ + -0.00012139463797211647, + 0.9999998807907104, + -0.00041495816549286246, + 0.0032125983852893114 + ], + [ + -0.00013572884199675173, + 0.00041494169272482395, + 0.9999998807907104, + 0.04489664360880852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 1.0, + 0.0001730493240756914, + 1.6453632269985974e-05, + -0.02418537624180317 + ], + [ + -0.00017304082575719804, + 0.9999998807907104, + -0.0005159430438652635, + 0.005479615647345781 + ], + [ + -1.654291190789081e-05, + 0.0005159401334822178, + 0.9999998807907104, + 0.08943259716033936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999998807907104, + 0.00050769979134202, + 6.800264964113012e-05, + -0.0381694957613945 + ], + [ + -0.000507660093717277, + 0.9999997019767761, + -0.0005825526895932853, + 0.005077055189758539 + ], + [ + -6.829838821431622e-05, + 0.0005825181142427027, + 0.9999998211860657, + 0.13461588323116302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999996423721313, + 0.0008690131362527609, + -3.0433571737376042e-05, + -0.0515407994389534 + ], + [ + -0.0008690251270309091, + 0.9999995231628418, + -0.000397267984226346, + 0.001510430476628244 + ], + [ + 3.0088327548583038e-05, + 0.0003972942940890789, + 0.9999999403953552, + 0.18543775379657745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999994039535522, + 0.001111449208110571, + -1.920632530527655e-05, + -0.06460049748420715 + ], + [ + -0.0011114510707557201, + 0.9999994039535522, + -9.22767139854841e-05, + -0.002846812829375267 + ], + [ + 1.91037524928106e-05, + 9.22980034374632e-05, + 1.0, + 0.2313598394393921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999992847442627, + 0.0011725249933078885, + -9.8323384008836e-05, + -0.07718338817358017 + ], + [ + -0.0011724791256710887, + 0.9999992251396179, + 0.0004648963513318449, + -0.013062870129942894 + ], + [ + 9.886841144179925e-05, + -0.0004647807509172708, + 0.9999998807907104, + 0.2796969413757324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999988675117493, + 0.00150486349593848, + 4.192143751424737e-05, + -0.09045923501253128 + ], + [ + -0.0015048821223899722, + 0.9999987483024597, + 0.00044727715430781245, + -0.02078992687165737 + ], + [ + -4.124829501961358e-05, + -0.00044733972754329443, + 0.9999998807907104, + 0.3252016603946686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999986886978149, + 0.0015954935224726796, + 0.00021289900178089738, + -0.10389573872089386 + ], + [ + -0.0015957708237692714, + 0.9999978542327881, + 0.0013088008854538202, + -0.030876586213707924 + ], + [ + -0.00021081036538816988, + -0.0013091389555484056, + 0.9999991059303284, + 0.3679657280445099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999998152256012, + 0.001913013169541955, + 0.0002100548445014283, + -0.11959215998649597 + ], + [ + -0.0019132820889353752, + 0.9999973177909851, + 0.0012878578854724765, + -0.03929505497217178 + ], + [ + -0.0002075905940728262, + -0.0012882574228569865, + 0.9999991655349731, + 0.4146309196949005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999978542327881, + 0.0020660762675106525, + 0.00020658137509599328, + -0.13366934657096863 + ], + [ + -0.002066323533654213, + 0.9999971389770508, + 0.0012048035860061646, + -0.04514491930603981 + ], + [ + -0.00020409157150425017, + -0.001205227803438902, + 0.9999992251396179, + 0.45956844091415405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.999998152256012, + 0.001932992017827928, + 5.358711860026233e-05, + -0.14625996351242065 + ], + [ + -0.0019330697832629085, + 0.9999970197677612, + 0.0014932082267478108, + -0.04891613870859146 + ], + [ + -5.070060069556348e-05, + -0.001493309042416513, + 0.9999988675117493, + 0.5007525682449341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999980330467224, + 0.0019939204212278128, + 9.292146569350734e-05, + -0.16025643050670624 + ], + [ + -0.001994060119614005, + 0.9999968409538269, + 0.0015291686868295074, + -0.051678143441677094 + ], + [ + -8.98721264093183e-05, + -0.0015293509932234883, + 0.9999988079071045, + 0.547671377658844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999979138374329, + 0.002030322328209877, + 8.824557880870998e-05, + -0.17411759495735168 + ], + [ + -0.0020304624922573566, + 0.9999966025352478, + 0.0016193580813705921, + -0.05240423232316971 + ], + [ + -8.495745714753866e-05, + -0.0016195338685065508, + 0.9999986886978149, + 0.5893654227256775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999973773956299, + 0.0022285168524831533, + 0.00048360813525505364, + -0.189935564994812 + ], + [ + -0.0022292861249297857, + 0.9999962449073792, + 0.0015963056357577443, + -0.05266551673412323 + ], + [ + -0.00048004891141317785, + -0.0015973796835169196, + 0.9999986290931702, + 0.6393778324127197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999969005584717, + 0.002333584940060973, + 0.0008649708470329642, + -0.20432963967323303 + ], + [ + -0.0023348035756498575, + 0.9999963045120239, + 0.0014104145811870694, + -0.05227707698941231 + ], + [ + -0.000861676293425262, + -0.0014124297304078937, + 0.9999986290931702, + 0.6845909953117371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999945163726807, + 0.002933017909526825, + 0.0015486929332837462, + -0.2213430255651474 + ], + [ + -0.0029351292178034782, + 0.9999947547912598, + 0.001362765091471374, + -0.049997493624687195 + ], + [ + -0.0015446877805516124, + -0.0013673031935468316, + 0.9999978542327881, + 0.7323967814445496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999927282333374, + 0.00313432770781219, + 0.002174252877011895, + -0.23758409917354584 + ], + [ + -0.0031368581112474203, + 0.9999943971633911, + 0.0011612913804128766, + -0.04902179166674614 + ], + [ + -0.0021706006955355406, + -0.0011681033065542579, + 0.9999969601631165, + 0.779493510723114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999904036521912, + 0.003288096748292446, + 0.0028906562365591526, + -0.2575232684612274 + ], + [ + -0.0032911160960793495, + 0.9999940395355225, + 0.001040413393639028, + -0.04813999682664871 + ], + [ + -0.0028872182592749596, + -0.001049916842021048, + 0.9999952912330627, + 0.8297113180160522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999873638153076, + 0.0036171639803797007, + 0.003496230812743306, + -0.2737973928451538 + ], + [ + -0.003620222909376025, + 0.999993085861206, + 0.0008690130780451, + -0.05032417178153992 + ], + [ + -0.003493063384667039, + -0.0008816591580398381, + 0.9999935030937195, + 0.8742159605026245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999837279319763, + 0.003884674981236458, + 0.004184512887150049, + -0.29255837202072144 + ], + [ + -0.003886932972818613, + 0.999992311000824, + 0.0005316556198522449, + -0.0524132065474987 + ], + [ + -0.004182415548712015, + -0.000547911855392158, + 0.9999911189079285, + 0.9216400384902954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999815821647644, + 0.003990566357970238, + 0.004573466721922159, + -0.31162694096565247 + ], + [ + -0.003993554040789604, + 0.9999918341636658, + 0.0006442860467359424, + -0.05981620401144028 + ], + [ + -0.004570858087390661, + -0.0006625385722145438, + 0.9999893307685852, + 0.9660673141479492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999754428863525, + 0.0041850870475173, + 0.005623169708997011, + -0.3318539261817932 + ], + [ + -0.004190758801996708, + 0.999990701675415, + 0.000997187220491469, + -0.06878578662872314 + ], + [ + -0.005618944298475981, + -0.0010207280283793807, + 0.9999836683273315, + 1.0176349878311157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999677538871765, + 0.00425250269472599, + 0.006815800908952951, + -0.3511072099208832 + ], + [ + -0.004255741834640503, + 0.9999908208847046, + 0.0004608413146343082, + -0.07939600944519043 + ], + [ + -0.006813779007643461, + -0.0004898327169939876, + 0.9999766945838928, + 1.0613605976104736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999561905860901, + 0.004878554493188858, + 0.007988610304892063, + -0.3689788579940796 + ], + [ + -0.0048788366839289665, + 0.9999880790710449, + 1.5798246749909595e-05, + -0.08932280540466309 + ], + [ + -0.007988438941538334, + -5.4772677685832605e-05, + 0.9999681115150452, + 1.105696678161621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999455809593201, + 0.004831017926335335, + 0.009248060174286366, + -0.3854546844959259 + ], + [ + -0.004833932034671307, + 0.9999882578849792, + 0.00029279565205797553, + -0.09851915389299393 + ], + [ + -0.009246536530554295, + -0.00033748423447832465, + 0.9999572038650513, + 1.1496182680130005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999270439147949, + 0.005106725730001926, + 0.010946997441351414, + -0.4041755497455597 + ], + [ + -0.005110179074108601, + 0.9999868869781494, + 0.0002875220961868763, + -0.10591781139373779 + ], + [ + -0.010945386253297329, + -0.00034344225423410535, + 0.999940037727356, + 1.1975622177124023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999157786369324, + 0.004517493303865194, + 0.012166503816843033, + -0.4167593717575073 + ], + [ + -0.004522124771028757, + 0.9999896883964539, + 0.0003531952970661223, + -0.11407104134559631 + ], + [ + -0.012164782732725143, + -0.00040818401612341404, + 0.9999259114265442, + 1.2413376569747925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9998944401741028, + 0.0038926571141928434, + 0.013999723829329014, + -0.43225356936454773 + ], + [ + -0.0038946152199059725, + 0.9999924302101135, + 0.00011261778126936406, + -0.12203644216060638 + ], + [ + -0.013999179936945438, + -0.00016712943033780903, + 0.9999020099639893, + 1.285180926322937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9998717308044434, + 0.002071554306894541, + 0.01588243432343006, + -0.4494578242301941 + ], + [ + -0.002063085325062275, + 0.9999977350234985, + -0.0005495967343449593, + -0.12649007141590118 + ], + [ + -0.015883537009358406, + 0.0005167594645172358, + 0.999873697757721, + 1.3363116979599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9998375177383423, + 0.0012610501144081354, + 0.01798124611377716, + -0.46223998069763184 + ], + [ + -0.001252450980246067, + 0.9999991059303284, + -0.0004894749727100134, + -0.12585322558879852 + ], + [ + -0.017981845885515213, + 0.0004668748297262937, + 0.9998382329940796, + 1.3816603422164917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.99979168176651, + 0.001543833059258759, + 0.020352914929389954, + -0.47695234417915344 + ], + [ + -0.001536275609396398, + 0.9999987483024597, + -0.0003869560605380684, + -0.12402066588401794 + ], + [ + -0.020353488624095917, + 0.0003556077426765114, + 0.999792754650116, + 1.425736427307129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9997406005859375, + 0.0032116854563355446, + 0.02254866249859333, + -0.4906902015209198 + ], + [ + -0.0032078195363283157, + 0.9999948143959045, + -0.00020762585336342454, + -0.12037263065576553 + ], + [ + -0.022549213841557503, + 0.00013523994130082428, + 0.9997457265853882, + 1.4735841751098633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9996975064277649, + 0.0033680303022265434, + 0.024363046512007713, + -0.5016021728515625 + ], + [ + -0.0033617988228797913, + 0.9999942779541016, + -0.0002967300242744386, + -0.1189633160829544 + ], + [ + -0.024363907054066658, + 0.00021473661763593554, + 0.9997031092643738, + 1.517706274986267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9996482133865356, + 0.0022892924025654793, + 0.026422617956995964, + -0.5156428813934326 + ], + [ + -0.0022738315165042877, + 0.9999971985816956, + -0.0006151614361442626, + -0.11655797064304352 + ], + [ + -0.026423951610922813, + 0.0005548644694499671, + 0.9996506571769714, + 1.5663886070251465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9996004104614258, + 0.002341062529012561, + 0.028169598430395126, + -0.5290642380714417 + ], + [ + -0.002307783579453826, + 0.9999966025352478, + -0.0012138390447944403, + -0.11432834714651108 + ], + [ + -0.028172343969345093, + 0.0011483447160571814, + 0.9996024370193481, + 1.610236406326294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9995568990707397, + 0.003200073726475239, + 0.029592517763376236, + -0.540860116481781 + ], + [ + -0.0031565329991281033, + 0.9999938607215881, + -0.001517943455837667, + -0.11726245284080505 + ], + [ + -0.029597193002700806, + 0.0014238612493500113, + 0.9995608925819397, + 1.6593459844589233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9995036721229553, + 0.002597777172923088, + 0.031394947320222855, + -0.5525456070899963 + ], + [ + -0.0025484166108071804, + 0.9999954700469971, + -0.001612158608622849, + -0.12129472196102142 + ], + [ + -0.031398992985486984, + 0.001531351008452475, + 0.9995057582855225, + 1.7065646648406982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9994437098503113, + 0.0005466828588396311, + 0.03334558755159378, + -0.5651824474334717 + ], + [ + -0.0004823444178327918, + 0.9999980330467224, + -0.0019374581752344966, + -0.1279342770576477 + ], + [ + -0.03334657847881317, + 0.0019202964613214135, + 0.9994419813156128, + 1.754399061203003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9993939995765686, + -9.625888924347237e-05, + 0.03480806201696396, + -0.5773811936378479 + ], + [ + 0.00016497011529281735, + 0.9999980330467224, + -0.0019711367785930634, + -0.13439777493476868 + ], + [ + -0.034807801246643066, + 0.0019756844267249107, + 0.9993920922279358, + 1.7979053258895874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9993332028388977, + 0.0004312450473662466, + 0.036509715020656586, + -0.5891432166099548 + ], + [ + -0.0003750563773792237, + 0.9999987483024597, + -0.001545840292237699, + -0.1429077386856079 + ], + [ + -0.03651033341884613, + 0.001531116315163672, + 0.9993321299552917, + 1.8435237407684326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.999276876449585, + 0.00018102610192727298, + 0.03802230581641197, + -0.6007790565490723 + ], + [ + -0.0001252300717169419, + 0.999998927116394, + -0.0014698321465402842, + -0.14942437410354614 + ], + [ + -0.03802252933382988, + 0.001464007655158639, + 0.999275803565979, + 1.8829851150512695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9992308616638184, + 0.0004991973401047289, + 0.03921012952923775, + -0.614058792591095 + ], + [ + -0.00045415153726935387, + 0.9999992251396179, + -0.001157730002887547, + -0.1560032218694687 + ], + [ + -0.03921067342162132, + 0.0011390323052182794, + 0.9992303252220154, + 1.9259127378463745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9991990923881531, + 0.00036582184839062393, + 0.040012866258621216, + -0.6257724761962891 + ], + [ + -0.0003222064988221973, + 0.9999993443489075, + -0.0010964768007397652, + -0.16323091089725494 + ], + [ + -0.04001323878765106, + 0.0010827062651515007, + 0.9991985559463501, + 1.9682410955429077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9991523027420044, + 0.0008645627531222999, + 0.04115739092230797, + -0.6377537250518799 + ], + [ + -0.0008121011196635664, + 0.9999988079071045, + -0.001291360124014318, + -0.16814608871936798 + ], + [ + -0.04115845635533333, + 0.00125684158410877, + 0.9991518259048462, + 2.0110480785369873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.999119758605957, + 0.001079006353393197, + 0.04193492233753204, + -0.6505796909332275 + ], + [ + -0.001020470866933465, + 0.9999984502792358, + -0.0014172462979331613, + -0.172258198261261 + ], + [ + -0.04193639010190964, + 0.0013732054503634572, + 0.9991193413734436, + 2.051952362060547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9990745186805725, + 0.0008228832739405334, + 0.043005309998989105, + -0.6618490815162659 + ], + [ + -0.0007555548218078911, + 0.9999984502792358, + -0.0015818162355571985, + -0.17508205771446228 + ], + [ + -0.043006546795368195, + 0.0015478595159947872, + 0.9990735650062561, + 2.0948173999786377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9990254044532776, + 6.738869706168771e-05, + 0.04413936287164688, + -0.6725550889968872 + ], + [ + 3.149954864056781e-06, + 0.9999987483024597, + -0.0015980182215571404, + -0.17429664731025696 + ], + [ + -0.04413941502571106, + 0.001596599817276001, + 0.9990240931510925, + 2.1380040645599365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9989683628082275, + 0.0001027208854793571, + 0.04541165381669998, + -0.685382068157196 + ], + [ + -2.534873055992648e-05, + 0.9999985694885254, + -0.001704367808997631, + -0.17445434629917145 + ], + [ + -0.045411765575408936, + 0.0017014583572745323, + 0.9989669322967529, + 2.180320978164673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9989016056060791, + 0.001324706943705678, + 0.04683792591094971, + -0.6981818675994873 + ], + [ + -0.0012602000497281551, + 0.9999982118606567, + -0.0014067385345697403, + -0.17371200025081635 + ], + [ + -0.04683970659971237, + 0.001346168341115117, + 0.9989014863967896, + 2.2245376110076904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.998813271522522, + 0.0011530400952324271, + 0.04869043454527855, + -0.7113330364227295 + ], + [ + -0.0011134232627227902, + 0.9999990463256836, + -0.0008407630957663059, + -0.17388513684272766 + ], + [ + -0.04869135841727257, + 0.0007855523144826293, + 0.9988135695457458, + 2.267807960510254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9987038969993591, + 0.0009931765962392092, + 0.050887368619441986, + -0.7230440974235535 + ], + [ + -0.0009432511287741363, + 0.9999990463256836, + -0.0010051041608676314, + -0.17399272322654724 + ], + [ + -0.050888314843177795, + 0.0009558018646202981, + 0.9987038969993591, + 2.3071842193603516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9985581636428833, + 0.0018258151831105351, + 0.053649529814720154, + -0.7365793585777283 + ], + [ + -0.0017677330179139972, + 0.9999977946281433, + -0.0011300548212602735, + -0.17513690888881683 + ], + [ + -0.05365147441625595, + 0.0010335874976590276, + 0.9985591769218445, + 2.3500146865844727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9983757734298706, + 0.0009057718561962247, + 0.05696532130241394, + -0.7500898838043213 + ], + [ + -0.0008487151935696602, + 0.9999991059303284, + -0.0010257893009111285, + -0.17800378799438477 + ], + [ + -0.05696620047092438, + 0.0009757758816704154, + 0.998375654220581, + 2.3900952339172363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9981733560562134, + -0.0003248312568757683, + 0.0604136623442173, + -0.7632457613945007 + ], + [ + 0.0003636200854089111, + 0.9999997615814209, + -0.0006310608005151153, + -0.1830219328403473 + ], + [ + -0.06041343882679939, + 0.0006518757436424494, + 0.9981732368469238, + 2.4336905479431152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9979153871536255, + -0.0007885303348302841, + 0.06453097611665726, + -0.7771480083465576 + ], + [ + 0.0008159605786204338, + 0.9999995827674866, + -0.0003987174713984132, + -0.1893760710954666 + ], + [ + -0.0645306333899498, + 0.0004505410324782133, + 0.9979156255722046, + 2.4741885662078857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9976439476013184, + -0.0010766300838440657, + 0.06859615445137024, + -0.7907772660255432 + ], + [ + 0.0011123549193143845, + 0.9999992847442627, + -0.0004826045478694141, + -0.19668827950954437 + ], + [ + -0.06859558820724487, + 0.0005577707779593766, + 0.9976443648338318, + 2.511368751525879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9973863363265991, + 0.00012909098586533219, + 0.07225330173969269, + -0.8062590956687927 + ], + [ + -8.766509563429281e-05, + 0.9999998211860657, + -0.0005765135283581913, + -0.20303386449813843 + ], + [ + -0.07225336134433746, + 0.0005686726071871817, + 0.9973861575126648, + 2.5495026111602783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9971370100975037, + -0.00021107977954670787, + 0.07561544328927994, + -0.8217288255691528 + ], + [ + 0.00024105567717924714, + 0.9999998807907104, + -0.00038729916559532285, + -0.21016180515289307 + ], + [ + -0.07561535388231277, + 0.00040441786404699087, + 0.9971369504928589, + 2.5920844078063965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9969243407249451, + -0.0013803917681798339, + 0.07835818827152252, + -0.8369567394256592 + ], + [ + 0.0014235862763598561, + 0.9999988675117493, + -0.0004953867755830288, + -0.2177705466747284 + ], + [ + -0.07835741341114044, + 0.0006054127588868141, + 0.9969251751899719, + 2.6321513652801514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9967465996742249, + -0.0006932485848665237, + 0.0805959478020668, + -0.8498173356056213 + ], + [ + 0.0007162542315199971, + 0.9999997019767761, + -0.00025653341435827315, + -0.2210485190153122 + ], + [ + -0.08059573918581009, + 0.0003134259895887226, + 0.996746838092804, + 2.6683762073516846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9965636134147644, + -0.0006402592989616096, + 0.08282814919948578, + -0.8617907762527466 + ], + [ + 0.0006714775809086859, + 0.9999997019767761, + -0.00034904794301837683, + -0.22357375919818878 + ], + [ + -0.08282789587974548, + 0.00040346570312976837, + 0.9965637922286987, + 2.7051236629486084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.99638831615448, + -0.0008551045903004706, + 0.08490927517414093, + -0.8760277628898621 + ], + [ + 0.0008820698712952435, + 0.9999995827674866, + -0.0002800626971293241, + -0.22504672408103943 + ], + [ + -0.08490899205207825, + 0.0003539471363183111, + 0.9963886737823486, + 2.7473063468933105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9962241053581238, + -0.0007279235869646072, + 0.08681584894657135, + -0.8910863995552063 + ], + [ + 0.0007588565349578857, + 0.9999996423721313, + -0.00032330339308828115, + -0.22473092377185822 + ], + [ + -0.08681558072566986, + 0.0003879633732140064, + 0.9962243437767029, + 2.789604425430298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.99604332447052, + -0.0008029132150113583, + 0.08886531740427017, + -0.9058547019958496 + ], + [ + 0.0008011949248611927, + 0.9999997019767761, + 5.500577390193939e-05, + -0.2229575663805008 + ], + [ + -0.08886533230543137, + 1.641030394239351e-05, + 0.9960436224937439, + 2.8322644233703613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.995881199836731, + -0.00046358827967196703, + 0.09066662937402725, + -0.9176217317581177 + ], + [ + 0.00041206012247130275, + 0.9999997615814209, + 0.0005870434688404202, + -0.22105906903743744 + ], + [ + -0.09066688269376755, + -0.0005472654011100531, + 0.9958811402320862, + 2.8743338584899902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9957157969474792, + -0.0006720158271491528, + 0.09246401488780975, + -0.928596019744873 + ], + [ + 0.0006265428382903337, + 0.9999996423721313, + 0.000520818866789341, + -0.21773666143417358 + ], + [ + -0.09246432781219482, + -0.0004606549337040633, + 0.9957159161567688, + 2.9190375804901123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9955365061759949, + -0.00019082907238043845, + 0.09437680244445801, + -0.9417244791984558 + ], + [ + 0.0001044658783939667, + 0.9999995827674866, + 0.0009200288914144039, + -0.2157934457063675 + ], + [ + -0.09437693655490875, + -0.0009060632437467575, + 0.9955361485481262, + 2.961885690689087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.995362401008606, + -0.002516512991860509, + 0.0961630642414093, + -0.9545234441757202 + ], + [ + 0.002452129265293479, + 0.9999966621398926, + 0.0007876980234868824, + -0.21556465327739716 + ], + [ + -0.09616473317146301, + -0.00054824078688398, + 0.9953652620315552, + 3.007239818572998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9952983856201172, + -0.001682928646914661, + 0.09684128314256668, + -0.9693639278411865 + ], + [ + 0.0015929386718198657, + 0.9999982118606567, + 0.0010065570240840316, + -0.2136654257774353 + ], + [ + -0.09684280306100845, + -0.0008475624490529299, + 0.9952993392944336, + 3.0543618202209473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9952679872512817, + -0.0014791848370805383, + 0.09715680778026581, + -0.980674684047699 + ], + [ + 0.001332161366008222, + 0.9999978542327881, + 0.001578109571710229, + -0.21650733053684235 + ], + [ + -0.09715893864631653, + -0.0014412133023142815, + 0.9952678084373474, + 3.103806495666504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9952096343040466, + -0.0014152134535834193, + 0.09775350242853165, + -0.9936900734901428 + ], + [ + 0.0011910643661394715, + 0.999996542930603, + 0.002351320581510663, + -0.21979431807994843 + ], + [ + -0.09775649756193161, + -0.00222362601198256, + 0.9952079057693481, + 3.1492676734924316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9951905012130737, + -0.0023364974185824394, + 0.09793056547641754, + -1.004389762878418 + ], + [ + 0.00206335773691535, + 0.9999936819076538, + 0.002890300238505006, + -0.22728775441646576 + ], + [ + -0.0979367047548294, + -0.002674333518370986, + 0.9951890707015991, + 3.1971797943115234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9951661825180054, + -0.0023548470344394445, + 0.09817682206630707, + -1.0136138200759888 + ], + [ + 0.0020484270062297583, + 0.9999927282333374, + 0.003221786580979824, + -0.2347889393568039 + ], + [ + -0.09818369150161743, + -0.003005105070769787, + 0.9951637983322144, + 3.2366998195648193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9950979351997375, + -0.002900458639487624, + 0.09885183721780777, + -1.027327537536621 + ], + [ + 0.0025539782363921404, + 0.9999901652336121, + 0.00363141275011003, + -0.24306845664978027 + ], + [ + -0.09886138886213303, + -0.003361145732924342, + 0.9950955510139465, + 3.2879910469055176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9950512051582336, + -0.0031826640479266644, + 0.0993121936917305, + -1.040177345275879 + ], + [ + 0.0028225136920809746, + 0.9999889135360718, + 0.003766736714169383, + -0.24779105186462402 + ], + [ + -0.0993230864405632, + -0.003467785893008113, + 0.9950491786003113, + 3.3327503204345703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9949998259544373, + -0.0025952875148504972, + 0.09984289109706879, + -1.053827166557312 + ], + [ + 0.0022053869906812906, + 0.9999895095825195, + 0.004015316255390644, + -0.25273141264915466 + ], + [ + -0.09985226392745972, + -0.003775046905502677, + 0.9949951171875, + 3.380070686340332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.994961142539978, + -0.0016192776383832097, + 0.10024841129779816, + -1.0665849447250366 + ], + [ + 0.001222672057338059, + 0.9999911785125732, + 0.0040175411850214005, + -0.258712500333786 + ], + [ + -0.10025402903556824, + -0.0038747265934944153, + 0.9949543476104736, + 3.422151565551758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9949142932891846, + -0.0013885117368772626, + 0.10071565210819244, + -1.078879714012146 + ], + [ + 0.000987330568023026, + 0.9999913573265076, + 0.004033041186630726, + -0.26373013854026794 + ], + [ + -0.10072039067745209, + -0.003913090564310551, + 0.9949070811271667, + 3.4748270511627197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9948575496673584, + -0.000974460388533771, + 0.10127932578325272, + -1.0918139219284058 + ], + [ + 0.0005375349428504705, + 0.9999904036521912, + 0.00434126565232873, + -0.2658335566520691 + ], + [ + -0.10128258913755417, + -0.0042644995264709, + 0.9948485493659973, + 3.5158674716949463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9948179721832275, + -0.0005866853753104806, + 0.1016705110669136, + -1.1042166948318481 + ], + [ + 9.494533878751099e-05, + 0.9999882578849792, + 0.004841375630348921, + -0.26797589659690857 + ], + [ + -0.10167216509580612, + -0.00480663450434804, + 0.9948063492774963, + 3.5587711334228516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9947783350944519, + -0.00031958319596014917, + 0.10205837339162827, + -1.1141905784606934 + ], + [ + -0.000220457004616037, + 0.9999860525131226, + 0.005280161276459694, + -0.2693493664264679 + ], + [ + -0.10205864161252975, + -0.005275089293718338, + 0.9947643876075745, + 3.59743332862854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9947264194488525, + -0.0003391220816411078, + 0.10256349295377731, + -1.1278806924819946 + ], + [ + -0.0002142644370906055, + 0.9999854564666748, + 0.005384485237300396, + -0.2667497992515564 + ], + [ + -0.10256383568048477, + -0.0053780656307935715, + 0.9947118759155273, + 3.6509628295898438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9946824908256531, + 5.330087151378393e-05, + 0.10298918187618256, + -1.141394853591919 + ], + [ + -0.0006164295482449234, + 0.9999850392341614, + 0.005436023697257042, + -0.26433518528938293 + ], + [ + -0.10298734903335571, + -0.00547060277312994, + 0.994667649269104, + 3.7004318237304688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.99460768699646, + 0.0003589356492739171, + 0.1037081703543663, + -1.1556575298309326 + ], + [ + -0.0009526378707960248, + 0.9999834299087524, + 0.00567526463419199, + -0.264602929353714 + ], + [ + -0.10370441526174545, + -0.0057434579357504845, + 0.9945915937423706, + 3.7496895790100098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9945589900016785, + 0.0004131695022806525, + 0.10417425632476807, + -1.169020652770996 + ], + [ + -0.0010103888344019651, + 0.9999833703041077, + 0.005680182483047247, + -0.26368606090545654 + ], + [ + -0.10417017340660095, + -0.005754532758146524, + 0.9945428371429443, + 3.7961161136627197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9944722056388855, + 0.0005243999185040593, + 0.10499889403581619, + -1.1813920736312866 + ], + [ + -0.001171797513961792, + 0.9999806880950928, + 0.006104162894189358, + -0.2689306139945984 + ], + [ + -0.10499366372823715, + -0.00619345810264349, + 0.9944536089897156, + 3.840728759765625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9943978190422058, + 0.00047207780880853534, + 0.10570130497217178, + -1.1953589916229248 + ], + [ + -0.0011381290387362242, + 0.9999798536300659, + 0.006241026800125837, + -0.2719929814338684 + ], + [ + -0.10569623857736588, + -0.006326364818960428, + 0.9943783283233643, + 3.8896713256835938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9943383932113647, + 0.0005306719103828073, + 0.10625845938920975, + -1.2099299430847168 + ], + [ + -0.001252414076589048, + 0.9999765753746033, + 0.006725712213665247, + -0.2778225541114807 + ], + [ + -0.10625240951776505, + -0.006820713635534048, + 0.9943158030509949, + 3.936812162399292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.994276762008667, + 4.363100742921233e-06, + 0.10683505982160568, + -1.22032630443573 + ], + [ + -0.000717872055247426, + 0.999977707862854, + 0.006640147417783737, + -0.28597238659858704 + ], + [ + -0.10683264583349228, + -0.006678838282823563, + 0.9942545890808105, + 3.9835734367370605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.994248628616333, + 1.5208788681775331e-06, + 0.1070963516831398, + -1.2278106212615967 + ], + [ + -0.0007209255127236247, + 0.9999774098396301, + 0.006678643170744181, + -0.29311317205429077 + ], + [ + -0.1070939227938652, + -0.006717440206557512, + 0.9942262172698975, + 4.013479709625244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9942124485969543, + 0.00034045547363348305, + 0.10743112117052078, + -1.2447437047958374 + ], + [ + -0.0010701750870794058, + 0.9999767541885376, + 0.006734863389283419, + -0.29707613587379456 + ], + [ + -0.10742632299661636, + -0.006810855586081743, + 0.9941897392272949, + 4.063475608825684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9941397309303284, + 0.00037454304401762784, + 0.10810212045907974, + -1.2582030296325684 + ], + [ + -0.0011205730261281133, + 0.9999759793281555, + 0.006840496324002743, + -0.3036685585975647 + ], + [ + -0.10809696465730667, + -0.006921545602381229, + 0.9941162467002869, + 4.11154317855835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9941186308860779, + 0.000327365065459162, + 0.10829628258943558, + -1.2706923484802246 + ], + [ + -0.0010670069605112076, + 0.9999765157699585, + 0.00677192397415638, + -0.31065165996551514 + ], + [ + -0.10829151421785355, + -0.00684764888137579, + 0.9940956234931946, + 4.157059192657471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9940914511680603, + 0.00019060441991314292, + 0.10854554176330566, + -1.2794138193130493 + ], + [ + -0.0009281115490011871, + 0.9999768137931824, + 0.006743969861418009, + -0.31652432680130005 + ], + [ + -0.10854174196720123, + -0.0068048653192818165, + 0.9940686225891113, + 4.191774368286133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.994072437286377, + 0.00015267872367985547, + 0.10871948301792145, + -1.2878923416137695 + ], + [ + -0.0008895966457203031, + 0.9999769330024719, + 0.00672968989238143, + -0.3225390911102295 + ], + [ + -0.1087159514427185, + -0.006786515470594168, + 0.9940496683120728, + 4.223223686218262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9940406084060669, + 4.249808262102306e-05, + 0.1090102568268776, + -1.3017077445983887 + ], + [ + -0.0007680357666686177, + 0.9999778270721436, + 0.006613704841583967, + -0.32390451431274414 + ], + [ + -0.10900755971670151, + -0.0066580153070390224, + 0.9940186142921448, + 4.274220943450928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9940236806869507, + 0.0001326808996964246, + 0.10916455835103989, + -1.311246395111084 + ], + [ + -0.000852035591378808, + 0.999978244304657, + 0.006543016992509365, + -0.3245091140270233 + ], + [ + -0.10916130989789963, + -0.0065969256684184074, + 0.9940021634101868, + 4.308832168579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9939805865287781, + 0.0002797448541969061, + 0.1095561608672142, + -1.3270176649093628 + ], + [ + -0.0010037579340860248, + 0.9999780058860779, + 0.006553508806973696, + -0.3241041898727417 + ], + [ + -0.10955191403627396, + -0.00662402855232358, + 0.9939590096473694, + 4.36663818359375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9939376711845398, + 0.0003761980915442109, + 0.10994461178779602, + -1.3384031057357788 + ], + [ + -0.0010984680848196149, + 0.9999781847000122, + 0.006508904509246349, + -0.32274913787841797 + ], + [ + -0.10993976891040802, + -0.006590215489268303, + 0.993916392326355, + 4.408218860626221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9939051866531372, + 0.000613656360656023, + 0.11023645102977753, + -1.3533512353897095 + ], + [ + -0.0013398549053817987, + 0.9999778866767883, + 0.006513690110296011, + -0.32042261958122253 + ], + [ + -0.11023001372814178, + -0.006621690932661295, + 0.9938840270042419, + 4.4622907638549805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9938722252845764, + 0.00013568467693403363, + 0.11053501814603806, + -1.363110065460205 + ], + [ + -0.0009623155347071588, + 0.9999719858169556, + 0.0074251387268304825, + -0.3214375078678131 + ], + [ + -0.11053090542554855, + -0.0074860090389847755, + 0.9938445091247559, + 4.507349491119385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.993806779384613, + 0.0005541866994462907, + 0.11112039536237717, + -1.3750373125076294 + ], + [ + -0.001401001587510109, + 0.999970555305481, + 0.007542761042714119, + -0.3217966556549072 + ], + [ + -0.11111294478178024, + -0.0076517267152667046, + 0.9937783479690552, + 4.559657096862793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9937522411346436, + 0.0006751851178705692, + 0.11160682886838913, + -1.3889764547348022 + ], + [ + -0.0015439607668668032, + 0.9999691843986511, + 0.0076980069279670715, + -0.32395362854003906 + ], + [ + -0.1115981861948967, + -0.007822227664291859, + 0.9937226176261902, + 4.610667705535889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9936904907226562, + 0.0008205970516428351, + 0.11215393245220184, + -1.3974627256393433 + ], + [ + -0.001716039958409965, + 0.9999673962593079, + 0.00788775272667408, + -0.33230167627334595 + ], + [ + -0.11214379966259003, + -0.008030446246266365, + 0.9936595559120178, + 4.654910564422607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9936458468437195, + 0.0007649750332348049, + 0.11254937946796417, + -1.408176064491272 + ], + [ + -0.0016600755043327808, + 0.9999677538871765, + 0.007859455421566963, + -0.3399217426776886 + ], + [ + -0.11253973841667175, + -0.00799635611474514, + 0.9936150312423706, + 4.697872161865234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9935948848724365, + 0.0005552368238568306, + 0.1129995584487915, + -1.420081615447998 + ], + [ + -0.0014785313978791237, + 0.9999662041664124, + 0.008087140507996082, + -0.34800097346305847 + ], + [ + -0.11299124360084534, + -0.008202414028346539, + 0.9935621023178101, + 4.743063449859619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9935248494148254, + 0.00025102929794229567, + 0.11361494660377502, + -1.431220531463623 + ], + [ + -0.0012053577229380608, + 0.9999645948410034, + 0.008331055752933025, + -0.35580000281333923 + ], + [ + -0.11360883712768555, + -0.008414057083427906, + 0.9934899210929871, + 4.782752990722656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9934422969818115, + 0.0003001021104864776, + 0.11433405429124832, + -1.444823980331421 + ], + [ + -0.0013228412717580795, + 0.9999597668647766, + 0.008869417943060398, + -0.36416950821876526 + ], + [ + -0.11432679742574692, + -0.008962501771748066, + 0.9934027791023254, + 4.827640533447266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9933969974517822, + -9.631307329982519e-05, + 0.1147274449467659, + -1.4591377973556519 + ], + [ + -0.000924923806451261, + 0.9999604225158691, + 0.008848151192069054, + -0.37220340967178345 + ], + [ + -0.11472376435995102, + -0.008895840495824814, + 0.9933575987815857, + 4.877250671386719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9933419823646545, + -0.00021528665092773736, + 0.11520267277956009, + -1.4770963191986084 + ], + [ + -0.0007949105929583311, + 0.9999616146087646, + 0.00872285757213831, + -0.3767937421798706 + ], + [ + -0.11520012468099594, + -0.008756357245147228, + 0.9933037161827087, + 4.927958965301514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9933151006698608, + -0.0002368792484048754, + 0.11543422192335129, + -1.4853719472885132 + ], + [ + -0.0007708362536504865, + 0.9999619722366333, + 0.008685063570737839, + -0.3825816810131073 + ], + [ + -0.11543189734220505, + -0.008715985342860222, + 0.9932771325111389, + 4.958258628845215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.993269681930542, + -0.0001552643079776317, + 0.11582432687282562, + -1.4945214986801147 + ], + [ + -0.0008513502543792129, + 0.999962329864502, + 0.00864135380834341, + -0.38619956374168396 + ], + [ + -0.11582130193710327, + -0.00868180114775896, + 0.9932321310043335, + 4.992822647094727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9932246804237366, + -9.879493154585361e-05, + 0.11620975285768509, + -1.5066068172454834 + ], + [ + -0.0009074014378711581, + 0.999962568283081, + 0.008605515584349632, + -0.38667410612106323 + ], + [ + -0.11620625108480453, + -0.008652659133076668, + 0.993187427520752, + 5.031191825866699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9931690692901611, + -0.0002409463340882212, + 0.11668413877487183, + -1.5247548818588257 + ], + [ + -0.0007506933761760592, + 0.9999639987945557, + 0.008454474620521069, + -0.387614905834198 + ], + [ + -0.11668197810649872, + -0.008484316058456898, + 0.9931330680847168, + 5.08377742767334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9931424260139465, + -0.00018924192409031093, + 0.1169104352593422, + -1.538511037826538 + ], + [ + -0.0007915541063994169, + 0.9999648928642273, + 0.008342809975147247, + -0.3872506320476532 + ], + [ + -0.11690790206193924, + -0.008378138765692711, + 0.9931074380874634, + 5.117499828338623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.993090808391571, + -9.016474359668791e-05, + 0.11734837293624878, + -1.5547709465026855 + ], + [ + -0.0009023194434121251, + 0.9999642968177795, + 0.008404433727264404, + -0.3864455223083496 + ], + [ + -0.1173449456691742, + -0.008452251553535461, + 0.9930552244186401, + 5.159286022186279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9930709600448608, + -0.0002918654936365783, + 0.11751598119735718, + -1.5712718963623047 + ], + [ + -0.0007047278922982514, + 0.9999641180038452, + 0.008438852615654469, + -0.3865359425544739 + ], + [ + -0.1175142377614975, + -0.008463195525109768, + 0.9930351376533508, + 5.202249050140381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9930660724639893, + -0.0004784703778568655, + 0.1175563633441925, + -1.587580919265747 + ], + [ + -0.0005161450244486332, + 0.9999643564224243, + 0.00843016430735588, + -0.3848792314529419 + ], + [ + -0.11755619943141937, + -0.008432386443018913, + 0.9930304288864136, + 5.247705936431885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9930585622787476, + -0.0004283590824343264, + 0.11761996150016785, + -1.6055641174316406 + ], + [ + -0.0005792774609290063, + 0.9999634027481079, + 0.008532565087080002, + -0.3872073292732239 + ], + [ + -0.11761932075023651, + -0.008541472256183624, + 0.9930220246315002, + 5.291614532470703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9930515289306641, + -0.0004787352227140218, + 0.11767935007810593, + -1.622474193572998 + ], + [ + -0.0005337264738045633, + 0.999963104724884, + 0.008571899496018887, + -0.3907619118690491 + ], + [ + -0.11767911165952682, + -0.008575146086513996, + 0.9930146336555481, + 5.328402996063232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.99306720495224, + -0.000553347053937614, + 0.11754687130451202, + -1.6403495073318481 + ], + [ + -0.0005047352751716971, + 0.9999596476554871, + 0.008971406146883965, + -0.39634519815444946 + ], + [ + -0.11754709482192993, + -0.008968539535999298, + 0.9930267930030823, + 5.368286609649658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9930952191352844, + -0.0007369102677330375, + 0.11730865389108658, + -1.6551711559295654 + ], + [ + -0.0003885221667587757, + 0.999954104423523, + 0.009570615366101265, + -0.40383806824684143 + ], + [ + -0.11731032282114029, + -0.009550109505653381, + 0.9930493831634521, + 5.408288478851318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9930781126022339, + -0.0007928544655442238, + 0.11745314300060272, + -1.673208236694336 + ], + [ + -0.00033724738750606775, + 0.9999538660049438, + 0.009601540863513947, + -0.41336801648139954 + ], + [ + -0.11745533347129822, + -0.009574690833687782, + 0.9930320382118225, + 5.445225238800049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9930628538131714, + -0.0007510612485930324, + 0.1175822988152504, + -1.6849467754364014 + ], + [ + -0.0003911220992449671, + 0.9999529719352722, + 0.009690530598163605, + -0.42420414090156555 + ], + [ + -0.11758404225111008, + -0.009669294580817223, + 0.9930158853530884, + 5.469212055206299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9930492043495178, + -0.0007354911649599671, + 0.1176978349685669, + -1.708775520324707 + ], + [ + -0.00040810066275298595, + 0.9999529719352722, + 0.009691942483186722, + -0.425927996635437 + ], + [ + -0.11769942939281464, + -0.009672608226537704, + 0.99300217628479, + 5.522904396057129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9930368661880493, + -0.0007060884963721037, + 0.11780213564634323, + -1.7252551317214966 + ], + [ + -0.0005030726315453649, + 0.9999474883079529, + 0.0102342888712883, + -0.43368232250213623 + ], + [ + -0.1178031787276268, + -0.010222289711236954, + 0.9929843544960022, + 5.558323860168457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9930247664451599, + -0.0010524028912186623, + 0.11790117621421814, + -1.7399084568023682 + ], + [ + -0.00019744355813600123, + 0.9999439120292664, + 0.010588615201413631, + -0.43977248668670654 + ], + [ + -0.11790570616722107, + -0.010538036935031414, + 0.9929688572883606, + 5.594457626342773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9929956793785095, + -0.000965055194683373, + 0.11814670264720917, + -1.74830961227417 + ], + [ + -0.00029623197042383254, + 0.9999431371688843, + 0.01065757591277361, + -0.4476604759693146 + ], + [ + -0.11815027892589569, + -0.01061792578548193, + 0.9929389357566833, + 5.619298934936523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9929648041725159, + -0.0008606684277765453, + 0.1184065192937851, + -1.764485239982605 + ], + [ + -0.000410181877668947, + 0.9999426007270813, + 0.010708154179155827, + -0.4504139721393585 + ], + [ + -0.1184089332818985, + -0.010681387968361378, + 0.9929074645042419, + 5.660864353179932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.992900013923645, + -0.001048819744028151, + 0.11894715577363968, + -1.7839056253433228 + ], + [ + -0.0002608523063827306, + 0.999939501285553, + 0.010994432494044304, + -0.4545402228832245 + ], + [ + -0.11895149201154709, + -0.010947400704026222, + 0.9928396940231323, + 5.713260650634766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9928776025772095, + -0.0010319437133148313, + 0.11913423985242844, + -1.7927943468093872 + ], + [ + -0.0002840743400156498, + 0.9999391436576843, + 0.011029004119336605, + -0.4576300084590912 + ], + [ + -0.11913836747407913, + -0.010984295047819614, + 0.9928169250488281, + 5.73324728012085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9928364753723145, + -0.0009394310181960464, + 0.11947719007730484, + -1.8003417253494263 + ], + [ + -0.0004008139076177031, + 0.9999372959136963, + 0.011193054728209972, + -0.46088626980781555 + ], + [ + -0.11948021501302719, + -0.011160762049257755, + 0.9927738308906555, + 5.747867107391357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.992812991142273, + -0.0008631192613393068, + 0.11967276781797409, + -1.8213917016983032 + ], + [ + -0.00046050932724028826, + 0.9999390244483948, + 0.011032304726541042, + -0.45812058448791504 + ], + [ + -0.11967498809099197, + -0.011008125729858875, + 0.9927520751953125, + 5.805870532989502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9927836656570435, + -0.0009603521320968866, + 0.11991540342569351, + -1.8389147520065308 + ], + [ + -0.0003537749871611595, + 0.9999400973320007, + 0.010937015525996685, + -0.4548964500427246 + ], + [ + -0.11991872638463974, + -0.010900513269007206, + 0.9927238821983337, + 5.864120006561279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9927281737327576, + -0.0013118600472807884, + 0.12037041038274765, + -1.8488248586654663 + ], + [ + 2.6820111088454723e-05, + 0.9999430179595947, + 0.010676711797714233, + -0.4553171396255493 + ], + [ + -0.1203775629401207, + -0.010595845058560371, + 0.9926716089248657, + 5.897153377532959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9926972985267639, + -0.0013282112777233124, + 0.1206248551607132, + -1.8581891059875488 + ], + [ + 5.335913738235831e-05, + 0.9999440908432007, + 0.010571351274847984, + -0.4558432698249817 + ], + [ + -0.12063215672969818, + -0.010487714782357216, + 0.9926418662071228, + 5.927013397216797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.992660641670227, + -0.0013074602466076612, + 0.12092623859643936, + -1.8697872161865234 + ], + [ + 3.8111815229058266e-05, + 0.9999448657035828, + 0.010498599149286747, + -0.45589974522590637 + ], + [ + -0.12093330174684525, + -0.010416937060654163, + 0.992605984210968, + 5.9680352210998535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9926154017448425, + -0.0012443468440324068, + 0.1212974488735199, + -1.8802987337112427 + ], + [ + -4.001002525910735e-05, + 0.9999439716339111, + 0.010585479438304901, + -0.45858752727508545 + ], + [ + -0.12130382657051086, + -0.010512163862586021, + 0.9925597310066223, + 6.003839492797852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9925975799560547, + -0.0011904462007805705, + 0.12144412845373154, + -1.8889384269714355 + ], + [ + -9.18613513931632e-05, + 0.9999443292617798, + 0.010552682913839817, + -0.4635196030139923 + ], + [ + -0.12144992500543594, + -0.010485722683370113, + 0.9925421476364136, + 6.0342912673950195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9925590753555298, + -0.0012071751989424229, + 0.12175822257995605, + -1.8983937501907349 + ], + [ + -7.232272764667869e-05, + 0.999944806098938, + 0.010503547266125679, + -0.4692836105823517 + ], + [ + -0.1217641830444336, + -0.010434197261929512, + 0.9925042390823364, + 6.070920944213867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9925190806388855, + -0.0011779197957366705, + 0.12208396196365356, + -1.9134658575057983 + ], + [ + -9.334564674645662e-05, + 0.9999458193778992, + 0.010406801477074623, + -0.4752616882324219 + ], + [ + -0.12208960950374603, + -0.010340344160795212, + 0.9924651980400085, + 6.118237495422363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.992351233959198, + -0.0007654119981452823, + 0.12344413250684738, + -1.9275015592575073 + ], + [ + -0.0004493808373808861, + 0.9999517798423767, + 0.009812688454985619, + -0.48174020648002625 + ], + [ + -0.12344568222761154, + -0.009793106466531754, + 0.9923030138015747, + 6.165696620941162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.992128312587738, + -0.0005354746826924384, + 0.12522423267364502, + -1.9385888576507568 + ], + [ + -0.0006608940311707556, + 0.9999545216560364, + 0.00951207336038351, + -0.4874902665615082 + ], + [ + -0.12522363662719727, + -0.009519957937300205, + 0.9920828938484192, + 6.198103904724121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9919396042823792, + -0.0014538872055709362, + 0.12670312821865082, + -1.9437339305877686 + ], + [ + 0.0003041086602024734, + 0.9999586343765259, + 0.009093456901609898, + -0.49723365902900696 + ], + [ + -0.12671111524105072, + -0.008981629274785519, + 0.9918990135192871, + 6.225948333740234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9916349053382874, + -0.002536980900913477, + 0.12904950976371765, + -1.9549685716629028 + ], + [ + 0.0014628488570451736, + 0.9999635219573975, + 0.008417516946792603, + -0.5032578110694885 + ], + [ + -0.12906616926193237, + -0.008158324286341667, + 0.9916024208068848, + 6.261955738067627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9913107752799988, + -0.003758577862754464, + 0.13148705661296844, + -1.968121886253357 + ], + [ + 0.0027179408352822065, + 0.9999635815620422, + 0.008092939853668213, + -0.5064950585365295 + ], + [ + -0.13151268661022186, + -0.007665244396775961, + 0.9912848472595215, + 6.307977199554443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9909785985946655, + -0.0038663572631776333, + 0.1339644193649292, + -1.973517656326294 + ], + [ + 0.0028443471528589725, + 0.9999653697013855, + 0.00781951192766428, + -0.5097857117652893 + ], + [ + -0.13399001955986023, + -0.007367928046733141, + 0.9909552931785583, + 6.3340253829956055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9906345009803772, + -0.003933147992938757, + 0.13648363947868347, + -1.9816399812698364 + ], + [ + 0.002876728307455778, + 0.9999643564224243, + 0.007936638779938221, + -0.5134186148643494 + ], + [ + -0.1365099847316742, + -0.007469682022929192, + 0.9906105399131775, + 6.369832515716553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9902516603469849, + -0.005181604530662298, + 0.13919350504875183, + -1.9871333837509155 + ], + [ + 0.004153440240770578, + 0.9999619126319885, + 0.007676052860915661, + -0.5166319012641907 + ], + [ + -0.1392279863357544, + -0.007023092359304428, + 0.990235447883606, + 6.394842624664307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9898541569709778, + -0.005422784481197596, + 0.14198361337184906, + -1.992950677871704 + ], + [ + 0.004370723385363817, + 0.9999606609344482, + 0.007720558438450098, + -0.5157715082168579 + ], + [ + -0.14201988279819489, + -0.007021655794233084, + 0.9898388981819153, + 6.426048755645752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9894741177558899, + -0.004205543082207441, + 0.14464865624904633, + -2.000549554824829 + ], + [ + 0.003111995756626129, + 0.9999648332595825, + 0.007785458117723465, + -0.5168452858924866 + ], + [ + -0.1446763128042221, + -0.007253363728523254, + 0.9894524812698364, + 6.455928802490234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9890204668045044, + -0.00520893931388855, + 0.14768683910369873, + -2.0053000450134277 + ], + [ + 0.004117659293115139, + 0.9999619126319885, + 0.0076939258724451065, + -0.5225806832313538 + ], + [ + -0.1477212905883789, + -0.00700132641941309, + 0.9890042543411255, + 6.48099946975708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9885809421539307, + -0.006031740922480822, + 0.15057000517845154, + -2.012892007827759 + ], + [ + 0.004958274308592081, + 0.9999595284461975, + 0.007503763306885958, + -0.5236003994941711 + ], + [ + -0.15060916543006897, + -0.006671510171145201, + 0.9885708689689636, + 6.507598400115967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9881835579872131, + -0.005198812577873468, + 0.1531868577003479, + -2.021050453186035 + ], + [ + 0.004078584257513285, + 0.9999626278877258, + 0.0076261647045612335, + -0.5264498591423035 + ], + [ + -0.1532207727432251, + -0.006911264732480049, + 0.9881678223609924, + 6.541287422180176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9877038598060608, + -0.005524447187781334, + 0.15623882412910461, + -2.026540994644165 + ], + [ + 0.0044443029910326, + 0.9999637603759766, + 0.007261904422193766, + -0.5314396619796753 + ], + [ + -0.1562732756137848, + -0.006478238385170698, + 0.9876925945281982, + 6.560191631317139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9872183203697205, + -0.006208810955286026, + 0.1592528522014618, + -2.0387744903564453 + ], + [ + 0.00513024628162384, + 0.9999610185623169, + 0.007182893343269825, + -0.5335107445716858 + ], + [ + -0.15929123759269714, + -0.006274078041315079, + 0.9872117042541504, + 6.60996675491333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9866573810577393, + -0.007072721607983112, + 0.16265657544136047, + -2.0468990802764893 + ], + [ + 0.006026499904692173, + 0.9999578595161438, + 0.006924605928361416, + -0.5396016240119934 + ], + [ + -0.1626986861228943, + -0.00585196353495121, + 0.9866584539413452, + 6.6394944190979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9861010909080505, + -0.00732326228171587, + 0.16598480939865112, + -2.05045223236084 + ], + [ + 0.006284534931182861, + 0.999957263469696, + 0.006782324053347111, + -0.5464258790016174 + ], + [ + -0.16602739691734314, + -0.005644920282065868, + 0.9861049652099609, + 6.660965442657471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9855034947395325, + -0.008027749136090279, + 0.16946524381637573, + -2.0471746921539307 + ], + [ + 0.006923767272382975, + 0.9999507665634155, + 0.007104448042809963, + -0.5555189847946167 + ], + [ + -0.16951394081115723, + -0.005828120745718479, + 0.985510528087616, + 6.659983158111572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9848583340644836, + -0.00876418687403202, + 0.17313940823078156, + -2.052663803100586 + ], + [ + 0.007692553102970123, + 0.9999468922615051, + 0.006859482266008854, + -0.5587007999420166 + ], + [ + -0.17319034039974213, + -0.005423733964562416, + 0.9848734140396118, + 6.696305751800537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9842333197593689, + -0.008153748698532581, + 0.17668695747852325, + -2.053318500518799 + ], + [ + 0.007135563995689154, + 0.999954104423523, + 0.006397268734872341, + -0.5678887367248535 + ], + [ + -0.17673100531101227, + -0.005035644397139549, + 0.9842463135719299, + 6.701388835906982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9835333228111267, + -0.009216071106493473, + 0.18049170076847076, + -2.0552141666412354 + ], + [ + 0.008314543403685093, + 0.9999489188194275, + 0.005750791169703007, + -0.5735335350036621 + ], + [ + -0.1805354803800583, + -0.004155389033257961, + 0.9835596680641174, + 6.727285385131836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9829027056694031, + -0.010234619490802288, + 0.18384112417697906, + -2.0624289512634277 + ], + [ + 0.009476476348936558, + 0.9999426007270813, + 0.0050020297057926655, + -0.5741068720817566 + ], + [ + -0.18388177454471588, + -0.003174342680722475, + 0.9829432368278503, + 6.767116546630859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9822511672973633, + -0.011391103267669678, + 0.18722425401210785, + -2.066166877746582 + ], + [ + 0.010790999978780746, + 0.9999328255653381, + 0.004224169068038464, + -0.5762102603912354 + ], + [ + -0.18725980818271637, + -0.0021288583520799875, + 0.9823080897331238, + 6.793961048126221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9816058874130249, + -0.011608021333813667, + 0.1905653327703476, + -2.06862473487854 + ], + [ + 0.011141514405608177, + 0.9999317526817322, + 0.003519280580803752, + -0.5755749940872192 + ], + [ + -0.1905931681394577, + -0.001331360312178731, + 0.98166823387146, + 6.817281246185303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9809936285018921, + -0.011731235310435295, + 0.19368501007556915, + -2.066831111907959 + ], + [ + 0.01129167154431343, + 0.9999305605888367, + 0.0033733306918293238, + -0.5790243744850159 + ], + [ + -0.19371114671230316, + -0.0011221885215491056, + 0.9810579419136047, + 6.832644462585449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9803750514984131, + -0.012456502765417099, + 0.19674763083457947, + -2.0660269260406494 + ], + [ + 0.012140149250626564, + 0.9999223351478577, + 0.002813945058733225, + -0.5796594619750977 + ], + [ + -0.1967673897743225, + -0.00037017592694610357, + 0.9804501533508301, + 6.850933074951172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9797837138175964, + -0.013533872552216053, + 0.19960127770900726, + -2.067087173461914 + ], + [ + 0.013333967886865139, + 0.9999083280563354, + 0.0023458143696188927, + -0.5815579891204834 + ], + [ + -0.1996147185564041, + 0.0003630860010161996, + 0.9798743724822998, + 6.87220573425293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9792283773422241, + -0.012298558838665485, + 0.2023869901895523, + -2.069004535675049 + ], + [ + 0.012231449596583843, + 0.9999239444732666, + 0.0015823196154087782, + -0.5804896950721741 + ], + [ + -0.20239104330539703, + 0.0009260336519218981, + 0.9793043732643127, + 6.892847537994385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.978708028793335, + -0.011681430973112583, + 0.20492468774318695, + -2.0663599967956543 + ], + [ + 0.011714561842381954, + 0.9999308586120605, + 0.0010515463072806597, + -0.5792555212974548 + ], + [ + -0.20492281019687653, + 0.0013714462984353304, + 0.9787771701812744, + 6.907789707183838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9782055020332336, + -0.011741611175239086, + 0.2073068469762802, + -2.0678513050079346 + ], + [ + 0.01188975665718317, + 0.9999291896820068, + 0.0005313538713380694, + -0.5791550874710083 + ], + [ + -0.2072984129190445, + 0.0019450545078143477, + 0.9782758355140686, + 6.924348831176758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9777024984359741, + -0.012844830751419067, + 0.20960167050361633, + -2.068929672241211 + ], + [ + 0.01312127336859703, + 0.9999139308929443, + 7.167982403188944e-05, + -0.5790872573852539 + ], + [ + -0.2095845341682434, + 0.0026801591739058495, + 0.9777868390083313, + 6.950146198272705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9772831797599792, + -0.012719668447971344, + 0.21155555546283722, + -2.0654075145721436 + ], + [ + 0.013078177347779274, + 0.9999144077301025, + -0.0002954435767605901, + -0.5808964371681213 + ], + [ + -0.21153368055820465, + 0.003055492416024208, + 0.9773659110069275, + 6.961908340454102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9769070744514465, + -0.013007954694330692, + 0.21326828002929688, + -2.0637083053588867 + ], + [ + 0.013386675156652927, + 0.9999103546142578, + -0.00033173710107803345, + -0.5818125605583191 + ], + [ + -0.21324485540390015, + 0.003179029328748584, + 0.9769936203956604, + 6.980706691741943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9767386317253113, + -0.013127073645591736, + 0.21403120458126068, + -2.063185453414917 + ], + [ + 0.013564260676503181, + 0.9999078512191772, + -0.0005740902852267027, + -0.5836682915687561 + ], + [ + -0.21400393545627594, + 0.003463911125436425, + 0.9768266677856445, + 6.997128486633301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9765720963478088, + -0.013741090893745422, + 0.21475133299827576, + -2.0666589736938477 + ], + [ + 0.014284668490290642, + 0.9998974800109863, + -0.0009793913923203945, + -0.5854962468147278 + ], + [ + -0.2147158682346344, + 0.004024097695946693, + 0.9766682386398315, + 7.0316853523254395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9765104651451111, + -0.013830017298460007, + 0.21502575278282166, + -2.0612294673919678 + ], + [ + 0.014347275719046593, + 0.9998967051506042, + -0.0008449035231024027, + -0.5872035026550293 + ], + [ + -0.21499186754226685, + 0.003910090774297714, + 0.9766080379486084, + 7.033927917480469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9764001369476318, + -0.013686864636838436, + 0.21553532779216766, + -2.059215784072876 + ], + [ + 0.014169816859066486, + 0.9998993873596191, + -0.0006955864373594522, + -0.5925347805023193 + ], + [ + -0.21550412476062775, + 0.003733266843482852, + 0.9764958024024963, + 7.0536346435546875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9762687087059021, + -0.014152943156659603, + 0.2160998284816742, + -2.056697130203247 + ], + [ + 0.01472060289233923, + 0.9998911023139954, + -0.0010174084454774857, + -0.5969193577766418 + ], + [ + -0.21606189012527466, + 0.004174383357167244, + 0.9763707518577576, + 7.070969581604004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9761513471603394, + -0.013670744374394417, + 0.21666023135185242, + -2.054399251937866 + ], + [ + 0.014195363968610764, + 0.9998988509178162, + -0.000865238020196557, + -0.5995913743972778 + ], + [ + -0.21662649512290955, + 0.003920174203813076, + 0.97624671459198, + 7.091525077819824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9759969711303711, + -0.014774665236473083, + 0.2172822803258896, + -2.0508713722229004 + ], + [ + 0.015293002128601074, + 0.9998828172683716, + -0.0007041081553325057, + -0.6039102673530579 + ], + [ + -0.2172464281320572, + 0.0040101055055856705, + 0.9761085510253906, + 7.105743408203125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9759275317192078, + -0.014873743057250977, + 0.2175872027873993, + -2.047548770904541 + ], + [ + 0.015422061085700989, + 0.9998807311058044, + -0.0008219457231462002, + -0.6103718280792236 + ], + [ + -0.21754902601242065, + 0.004157802555710077, + 0.9760405421257019, + 7.1177778244018555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9757679104804993, + -0.014219994656741619, + 0.21834561228752136, + -2.048269748687744 + ], + [ + 0.014869282953441143, + 0.99988853931427, + -0.0013307329500094056, + -0.6125448346138 + ], + [ + -0.21830236911773682, + 0.004545128904283047, + 0.9758706092834473, + 7.130107402801514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9756813049316406, + -0.014313499443233013, + 0.2187262326478958, + -2.047097682952881 + ], + [ + 0.014980140142142773, + 0.9998868107795715, + -0.0013896914897486567, + -0.616989016532898 + ], + [ + -0.21868158876895905, + 0.004632445052266121, + 0.9757852554321289, + 7.145707130432129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9755740761756897, + -0.015274491161108017, + 0.219138965010643, + -2.043330192565918 + ], + [ + 0.016120929270982742, + 0.9998679161071777, + -0.0020748856477439404, + -0.621772289276123 + ], + [ + -0.21907831728458405, + 0.005556928459554911, + 0.9756914377212524, + 7.147778511047363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9754326343536377, + -0.015401331707835197, + 0.21975894272327423, + -2.0435197353363037 + ], + [ + 0.01638592965900898, + 0.9998621940612793, + -0.0026581885758787394, + -0.6230641007423401 + ], + [ + -0.21968771517276764, + 0.006193838082253933, + 0.9755505919456482, + 7.168419361114502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9753652215003967, + -0.014273772947490215, + 0.22013388574123383, + -2.040808916091919 + ], + [ + 0.015430386178195477, + 0.9998747110366821, + -0.0035354779101908207, + -0.6271487474441528 + ], + [ + -0.22005583345890045, + 0.006845132913440466, + 0.9754632711410522, + 7.172252178192139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.975238561630249, + -0.014193935319781303, + 0.22069956362247467, + -2.0371477603912354 + ], + [ + 0.01555890403687954, + 0.9998690485954285, + -0.004447525832802057, + -0.6312201023101807 + ], + [ + -0.22060753405094147, + 0.007771241944283247, + 0.975331723690033, + 7.177598476409912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9750279784202576, + -0.014664414338767529, + 0.22159726917743683, + -2.033977508544922 + ], + [ + 0.016167890280485153, + 0.9998569488525391, + -0.004972213879227638, + -0.6337519884109497 + ], + [ + -0.22149266302585602, + 0.00843080785125494, + 0.9751256108283997, + 7.177220821380615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9747629165649414, + -0.015596779994666576, + 0.2226971685886383, + -2.0351295471191406 + ], + [ + 0.017231034114956856, + 0.9998369812965393, + -0.005397174973040819, + -0.633461058139801 + ], + [ + -0.22257667779922485, + 0.009098268114030361, + 0.9748727083206177, + 7.195109844207764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9744893908500671, + -0.014395702630281448, + 0.22397145628929138, + -2.0351459980010986 + ], + [ + 0.01620381698012352, + 0.999849259853363, + -0.006237022578716278, + -0.633082389831543 + ], + [ + -0.223847895860672, + 0.009707104414701462, + 0.9745757579803467, + 7.199700355529785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9741829037666321, + -0.012621673755347729, + 0.2254071980714798, + -2.036652088165283 + ], + [ + 0.014553503133356571, + 0.9998701810836792, + -0.006910769734531641, + -0.6343069076538086 + ], + [ + -0.22529073059558868, + 0.010012817569077015, + 0.9742401242256165, + 7.208346843719482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9738065600395203, + -0.01305997371673584, + 0.2270025908946991, + -2.034790515899658 + ], + [ + 0.015229696407914162, + 0.9998535513877869, + -0.007809239439666271, + -0.6374236345291138 + ], + [ + -0.22686734795570374, + 0.011061868630349636, + 0.9738628268241882, + 7.202718257904053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9734533429145813, + -0.013334473595023155, + 0.22849668562412262, + -2.0389890670776367 + ], + [ + 0.015635553747415543, + 0.9998435974121094, + -0.008263112977147102, + -0.6369739174842834 + ], + [ + -0.22835077345371246, + 0.011616427451372147, + 0.9735096096992493, + 7.220598220825195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9731367826461792, + -0.013464532792568207, + 0.22983378171920776, + -2.041574239730835 + ], + [ + 0.015913862735033035, + 0.9998345971107483, + -0.00880662351846695, + -0.6381543278694153 + ], + [ + -0.2296772003173828, + 0.012227591127157211, + 0.9731900691986084, + 7.231563568115234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9727922677993774, + -0.01359877921640873, + 0.23127977550029755, + -2.0418834686279297 + ], + [ + 0.016224907711148262, + 0.9998236298561096, + -0.009456442669034004, + -0.6398189067840576 + ], + [ + -0.2311103790998459, + 0.012951646000146866, + 0.9728413224220276, + 7.243948936462402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9723186492919922, + -0.01367995236068964, + 0.2332579344511032, + -2.043865919113159 + ], + [ + 0.016452070325613022, + 0.9998152256011963, + -0.009942776523530483, + -0.6396231055259705 + ], + [ + -0.23307882249355316, + 0.013505122624337673, + 0.972364068031311, + 7.252993106842041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9715121984481812, + -0.013591569848358631, + 0.2365996241569519, + -2.0447568893432617 + ], + [ + 0.01652248203754425, + 0.9998093247413635, + -0.010409210808575153, + -0.6416573524475098 + ], + [ + -0.23641303181648254, + 0.014021887443959713, + 0.9715514779090881, + 7.2581586837768555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9706485867500305, + -0.013333266600966454, + 0.24013246595859528, + -2.0424323081970215 + ], + [ + 0.01638929359614849, + 0.9998080730438232, + -0.010733815841376781, + -0.641463041305542 + ], + [ + -0.2399432510137558, + 0.014354364015161991, + 0.9706807732582092, + 7.253056049346924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9697210192680359, + -0.012916799634695053, + 0.2438734769821167, + -2.0450589656829834 + ], + [ + 0.01605360209941864, + 0.9998119473457336, + -0.010879185982048512, + -0.641926646232605 + ], + [ + -0.24368709325790405, + 0.014464822597801685, + 0.9697460532188416, + 7.2645769119262695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9687108397483826, + -0.012952453456819057, + 0.2478538602590561, + -2.0505876541137695 + ], + [ + 0.0163873340934515, + 0.9997960925102234, + -0.011800404638051987, + -0.6408559083938599 + ], + [ + -0.24765045940876007, + 0.015492843464016914, + 0.9687255620956421, + 7.273463249206543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9677346348762512, + -0.012345968745648861, + 0.25166890025138855, + -2.0542831420898438 + ], + [ + 0.01591026596724987, + 0.9997997879981995, + -0.012132680043578148, + -0.6401031017303467 + ], + [ + -0.2514687478542328, + 0.015745334327220917, + 0.9677373170852661, + 7.284390449523926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9667373895645142, + -0.012848119251430035, + 0.2554481029510498, + -2.055448532104492 + ], + [ + 0.01660795323550701, + 0.9997830986976624, + -0.012566925026476383, + -0.640487551689148 + ], + [ + -0.25523126125335693, + 0.016391385346651077, + 0.9667410850524902, + 7.28283166885376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9657820463180542, + -0.012383409775793552, + 0.25905922055244446, + -2.059626340866089 + ], + [ + 0.016323955729603767, + 0.9997813701629639, + -0.013065282255411148, + -0.6375643610954285 + ], + [ + -0.25884076952934265, + 0.01684708520770073, + 0.9657731056213379, + 7.295253753662109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9649016857147217, + -0.012122072279453278, + 0.26233145594596863, + -2.0594353675842285 + ], + [ + 0.01618250086903572, + 0.9997802972793579, + -0.013323274441063404, + -0.6370652914047241 + ], + [ + -0.2621122896671295, + 0.017100827768445015, + 0.9648858308792114, + 7.2902092933654785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9639769792556763, + -0.012113668024539948, + 0.26570969820022583, + -2.062004566192627 + ], + [ + 0.016357703134417534, + 0.9997714757919312, + -0.013765211217105389, + -0.6381618976593018 + ], + [ + -0.26548224687576294, + 0.017615746706724167, + 0.9639548063278198, + 7.288822650909424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9632522463798523, + -0.012055406346917152, + 0.2683278024196625, + -2.064120292663574 + ], + [ + 0.016446193680167198, + 0.9997650384902954, + -0.014121752232313156, + -0.6389503479003906 + ], + [ + -0.2680945098400116, + 0.018015779554843903, + 0.9632241725921631, + 7.283267498016357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9625596404075623, + -0.01290934905409813, + 0.27076253294944763, + -2.0649776458740234 + ], + [ + 0.017431413754820824, + 0.9997457265853882, + -0.014302972704172134, + -0.6395834684371948 + ], + [ + -0.2705090343952179, + 0.01848723739385605, + 0.9625399112701416, + 7.282594680786133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9620094895362854, + -0.012064455077052116, + 0.27274927496910095, + -2.0652658939361572 + ], + [ + 0.016755715012550354, + 0.999748945236206, + -0.01487714797258377, + -0.6412558555603027 + ], + [ + -0.2725013196468353, + 0.018882066011428833, + 0.9619700908660889, + 7.2714524269104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9613993167877197, + -0.012296952307224274, + 0.27488207817077637, + -2.0670180320739746 + ], + [ + 0.01707492023706436, + 0.9997417330741882, + -0.014995669014751911, + -0.6424718499183655 + ], + [ + -0.2746266722679138, + 0.019110415130853653, + 0.9613609910011292, + 7.268990516662598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9608976244926453, + -0.012923983857035637, + 0.2766020894050598, + -2.071063995361328 + ], + [ + 0.017884520813822746, + 0.9997211694717407, + -0.015418588183820248, + -0.6404417157173157 + ], + [ + -0.27632570266723633, + 0.01976258121430874, + 0.9608608484268188, + 7.272632598876953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.960563063621521, + -0.01295461691915989, + 0.27776038646698, + -2.0753889083862305 + ], + [ + 0.017985275015234947, + 0.9997169971466064, + -0.015571113675832748, + -0.639122724533081 + ], + [ + -0.2774800658226013, + 0.01995263248682022, + 0.9605242013931274, + 7.279666900634766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9604827165603638, + -0.013073375448584557, + 0.278032511472702, + -2.076775074005127 + ], + [ + 0.018159538507461548, + 0.9997113943099976, + -0.01572592929005623, + -0.6385514140129089 + ], + [ + -0.27774670720100403, + 0.020153425633907318, + 0.9604429006576538, + 7.281442165374756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9603196978569031, + -0.013504991307854652, + 0.27857449650764465, + -2.0796356201171875 + ], + [ + 0.018561678007245064, + 0.9997072219848633, + -0.015522264875471592, + -0.6373811960220337 + ], + [ + -0.27828332781791687, + 0.020077146589756012, + 0.9602891802787781, + 7.285021781921387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9602521061897278, + -0.013264980167150497, + 0.278818815946579, + -2.081345319747925 + ], + [ + 0.018308419734239578, + 0.999712347984314, + -0.01549225952476263, + -0.6360839009284973 + ], + [ + -0.27853313088417053, + 0.019981207326054573, + 0.9602187275886536, + 7.288698196411133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9601078629493713, + -0.012729843147099018, + 0.2793399393558502, + -2.0854101181030273 + ], + [ + 0.017732881009578705, + 0.9997243285179138, + -0.015390370972454548, + -0.6365995407104492 + ], + [ + -0.2790670096874237, + 0.019729919731616974, + 0.960068941116333, + 7.293909072875977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.959984302520752, + -0.013397295027971268, + 0.27973318099975586, + -2.0874061584472656 + ], + [ + 0.0183868445456028, + 0.9997150897979736, + -0.015220235101878643, + -0.6360113620758057 + ], + [ + -0.27944958209991455, + 0.019754596054553986, + 0.9599571228027344, + 7.29694938659668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9598252177238464, + -0.014375199563801289, + 0.2802300751209259, + -2.0897507667541504 + ], + [ + 0.019324753433465958, + 0.9997020959854126, + -0.01490727812051773, + -0.6358527541160583 + ], + [ + -0.27993229031562805, + 0.019723758101463318, + 0.959817111492157, + 7.300273895263672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9597761034965515, + -0.014491571113467216, + 0.28039228916168213, + -2.090045213699341 + ], + [ + 0.019420983269810677, + 0.9997016787528992, + -0.014809779822826385, + -0.6363632678985596 + ], + [ + -0.2800940275192261, + 0.01965956762433052, + 0.9597712159156799, + 7.300070762634277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9595792293548584, + -0.014327424578368664, + 0.281073659658432, + -2.0922000408172607 + ], + [ + 0.019213631749153137, + 0.9997082948684692, + -0.014635873027145863, + -0.6371774077415466 + ], + [ + -0.28078195452690125, + 0.019444726407527924, + 0.9595745801925659, + 7.302431583404541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9594757556915283, + -0.013701468706130981, + 0.28145790100097656, + -2.0951766967773438 + ], + [ + 0.018561232835054398, + 0.9997209906578064, + -0.014607541263103485, + -0.6371187567710876 + ], + [ + -0.2811792492866516, + 0.01923978701233864, + 0.9594624042510986, + 7.306337833404541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9593387842178345, + -0.013915710151195526, + 0.2819138467311859, + -2.0967729091644287 + ], + [ + 0.01879047602415085, + 0.9997168779373169, + -0.014595461077988148, + -0.6383897066116333 + ], + [ + -0.28163090348243713, + 0.019299287348985672, + 0.9593287110328674, + 7.310259819030762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9592041969299316, + -0.014417719095945358, + 0.282346248626709, + -2.09830641746521 + ], + [ + 0.019312798976898193, + 0.9997074604034424, + -0.014561617746949196, + -0.6384934782981873 + ], + [ + -0.28205370903015137, + 0.019420461729168892, + 0.9592020511627197, + 7.310047149658203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9591168165206909, + -0.014543503522872925, + 0.2826366424560547, + -2.1011149883270264 + ], + [ + 0.019437767565250397, + 0.9997056126594543, + -0.014519941061735153, + -0.6384963393211365 + ], + [ + -0.28234225511550903, + 0.019420143216848373, + 0.9591171741485596, + 7.318010330200195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9589952230453491, + -0.014296917244791985, + 0.2830613851547241, + -2.1025478839874268 + ], + [ + 0.019205382093787193, + 0.9997093677520752, + -0.014573188498616219, + -0.6389557123184204 + ], + [ + -0.2827707529067993, + 0.01941191963851452, + 0.9589910507202148, + 7.316781997680664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9588882327079773, + -0.013566396199166775, + 0.2834596335887909, + -2.1040565967559814 + ], + [ + 0.01844578981399536, + 0.9997239708900452, + -0.01455162838101387, + -0.636210024356842 + ], + [ + -0.2831839621067047, + 0.019182022660970688, + 0.9588737487792969, + 7.325287342071533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.958766520023346, + -0.013637087307870388, + 0.28386756777763367, + -2.1053175926208496 + ], + [ + 0.018545102328062057, + 0.9997212886810303, + -0.01460940856486559, + -0.6378846168518066 + ], + [ + -0.2835892140865326, + 0.01927136443555355, + 0.9587522149085999, + 7.324773788452148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9586421847343445, + -0.013845379464328289, + 0.2842771112918854, + -2.107578992843628 + ], + [ + 0.018834184855222702, + 0.9997127056121826, + -0.014823008328676224, + -0.6370671987533569 + ], + [ + -0.2839902341365814, + 0.019564088433980942, + 0.9586275815963745, + 7.330455303192139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.958558201789856, + -0.013570712879300117, + 0.2845734655857086, + -2.1088314056396484 + ], + [ + 0.01861991174519062, + 0.9997134208679199, + -0.015045128762722015, + -0.6366187930107117 + ], + [ + -0.2842877209186554, + 0.01972036436200142, + 0.9585361480712891, + 7.331852436065674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9584797024726868, + -0.01352979987859726, + 0.2848397195339203, + -2.109985589981079 + ], + [ + 0.018599554896354675, + 0.9997129440307617, + -0.0151010537520051, + -0.6365532875061035 + ], + [ + -0.2845536172389984, + 0.019771944731473923, + 0.9584562182426453, + 7.340531349182129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9583988189697266, + -0.013717924244701862, + 0.2851025462150574, + -2.1118881702423096 + ], + [ + 0.01884269155561924, + 0.9997063279151917, + -0.01523984782397747, + -0.6361908316612244 + ], + [ + -0.28480976819992065, + 0.019977951422333717, + 0.958375871181488, + 7.347796440124512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9582891464233398, + -0.013978390023112297, + 0.2854584753513336, + -2.1134755611419678 + ], + [ + 0.019142134115099907, + 0.999699592590332, + -0.015306983143091202, + -0.6357783079147339 + ], + [ + -0.28515878319740295, + 0.020132798701524734, + 0.9582688212394714, + 7.353850364685059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9582585096359253, + -0.013913769274950027, + 0.2855644226074219, + -2.1148228645324707 + ], + [ + 0.019086595624685287, + 0.9997001886367798, + -0.01533908024430275, + -0.6348604559898376 + ], + [ + -0.28526538610458374, + 0.02014925703406334, + 0.9582367539405823, + 7.361342430114746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.958148717880249, + -0.013559110462665558, + 0.2859496474266052, + -2.1175074577331543 + ], + [ + 0.0186956524848938, + 0.9997090697288513, + -0.015240618959069252, + -0.6358161568641663 + ], + [ + -0.2856597900390625, + 0.019948793575167656, + 0.9581234455108643, + 7.365382194519043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.9581428170204163, + -0.013580300845205784, + 0.2859683334827423, + -2.1183362007141113 + ], + [ + 0.01871546171605587, + 0.9997088313102722, + -0.01523154228925705, + -0.6357571482658386 + ], + [ + -0.2856782376766205, + 0.01994602382183075, + 0.9581180214881897, + 7.371307849884033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.958166778087616, + -0.013742893934249878, + 0.2858802378177643, + -2.1201021671295166 + ], + [ + 0.018867284059524536, + 0.9997068047523499, + -0.01517817284911871, + -0.6377312541007996 + ], + [ + -0.2855878174304962, + 0.019937004894018173, + 0.9581451416015625, + 7.379338264465332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.9585614204406738, + -0.014227872714400291, + 0.28453055024147034, + -2.120774745941162 + ], + [ + 0.019332310184836388, + 0.9996984601020813, + -0.01513940654695034, + -0.6378586292266846 + ], + [ + -0.2842293679714203, + 0.020012682303786278, + 0.9585474133491516, + 7.381950378417969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.9594739079475403, + -0.015005962923169136, + 0.2813977003097534, + -2.118312358856201 + ], + [ + 0.019937148317694664, + 0.9996936321258545, + -0.014668945223093033, + -0.6399713158607483 + ], + [ + -0.2810913920402527, + 0.019684739410877228, + 0.9594790935516357, + 7.383938312530518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.9606095552444458, + -0.015288633294403553, + 0.27748069167137146, + -2.1184072494506836 + ], + [ + 0.020094983279705048, + 0.9996931552886963, + -0.014485660009086132, + -0.6423859000205994 + ], + [ + -0.27717408537864685, + 0.019491031765937805, + 0.9606220126152039, + 7.3909430503845215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 240, + "c2w": [ + [ + 0.9616965055465698, + -0.015487204305827618, + 0.2736785113811493, + -2.119231939315796 + ], + [ + 0.020251834765076637, + 0.9996883869171143, + -0.014592815190553665, + -0.642760157585144 + ], + [ + -0.2733672559261322, + 0.01957635208964348, + 0.961710512638092, + 7.404801845550537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 241, + "c2w": [ + [ + 0.9630101323127747, + -0.015875525772571564, + 0.26899710297584534, + -2.116976261138916 + ], + [ + 0.020525041967630386, + 0.9996844530105591, + -0.014480858109891415, + -0.6427227258682251 + ], + [ + -0.2686823308467865, + 0.01946639083325863, + 0.9630321264266968, + 7.405274391174316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 242, + "c2w": [ + [ + 0.9644820690155029, + -0.015740249305963516, + 0.26367902755737305, + -2.113114356994629 + ], + [ + 0.020174548029899597, + 0.9996967911720276, + -0.014117593877017498, + -0.644688069820404 + ], + [ + -0.2633768916130066, + 0.01893577165901661, + 0.9645071625709534, + 7.403816223144531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 243, + "c2w": [ + [ + 0.9660496711730957, + -0.014678942039608955, + 0.2579391300678253, + -2.1171765327453613 + ], + [ + 0.0189452413469553, + 0.9997216463088989, + -0.014062190428376198, + -0.6443529725074768 + ], + [ + -0.2576608955860138, + 0.0184714924544096, + 0.9660588502883911, + 7.422351360321045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 244, + "c2w": [ + [ + 0.9676172137260437, + -0.013969121500849724, + 0.25203534960746765, + -2.115756034851074 + ], + [ + 0.018062470480799675, + 0.9997397661209106, + -0.013934837654232979, + -0.6451994776725769 + ], + [ + -0.2517751157283783, + 0.018035968765616417, + 0.9676176905632019, + 7.427338600158691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 245, + "c2w": [ + [ + 0.969212532043457, + -0.013616076670587063, + 0.24584893882274628, + -2.1127989292144775 + ], + [ + 0.01752721332013607, + 0.9997521638870239, + -0.013727509416639805, + -0.6469006538391113 + ], + [ + -0.2456011027097702, + 0.01761392131447792, + 0.9692109227180481, + 7.428204536437988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 246, + "c2w": [ + [ + 0.9708105325698853, + -0.012948937714099884, + 0.2394978106021881, + -2.1163699626922607 + ], + [ + 0.016673168167471886, + 0.9997694492340088, + -0.013530546799302101, + -0.6468768119812012 + ], + [ + -0.23926737904548645, + 0.017128784209489822, + 0.9708026051521301, + 7.447181701660156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 247, + "c2w": [ + [ + 0.9724512696266174, + -0.012601244263350964, + 0.23276549577713013, + -2.115128517150879 + ], + [ + 0.01619006134569645, + 0.999777615070343, + -0.013514048419892788, + -0.6477629542350769 + ], + [ + -0.2325434386730194, + 0.016910240054130554, + 0.9724389910697937, + 7.452854156494141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 248, + "c2w": [ + [ + 0.97404545545578, + -0.012155010364949703, + 0.22602578997612, + -2.115097761154175 + ], + [ + 0.01553379837423563, + 0.9997925162315369, + -0.013176093809306622, + -0.6487604975700378 + ], + [ + -0.22581875324249268, + 0.016345154494047165, + 0.9740322232246399, + 7.466430187225342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/source/672d233e-7587-4e0b-988b-606ced1d1631/caption.txt b/dynpose_eval/source/672d233e-7587-4e0b-988b-606ced1d1631/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..d41e69695b85298725fc45a675a000c7c0f7e16b --- /dev/null +++ b/dynpose_eval/source/672d233e-7587-4e0b-988b-606ced1d1631/caption.txt @@ -0,0 +1 @@ +A young woman is wearing glasses and standing in front of a white picket fence. diff --git a/dynpose_eval/source/672d233e-7587-4e0b-988b-606ced1d1631/extras/source_metadata.json b/dynpose_eval/source/672d233e-7587-4e0b-988b-606ced1d1631/extras/source_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..533b96f8e002fc5f2419fc7e49a4bd9a4f0f8130 --- /dev/null +++ b/dynpose_eval/source/672d233e-7587-4e0b-988b-606ced1d1631/extras/source_metadata.json @@ -0,0 +1,33 @@ +{ + "sequence": "672d233e-7587-4e0b-988b-606ced1d1631", + "tar_name": "dpsp-8e433e62", + "youtube_link": "https://www.youtube.com/watch?v=FZ187fTxmes", + "youtube_timestamp": "0:00:48.381-0:00:52.585", + "num_frames": 127, + "original_canvas_hw": [ + 720, + 1280 + ], + "spatial_transform": { + "input_hw": [ + 720, + 1280 + ], + "crop_xywh": [ + 16, + 0, + 1248, + 720 + ], + "scale_xy": [ + 0.6666666666666666, + 0.6666666666666666 + ], + "output_hw": [ + 480, + 832 + ] + }, + "rgb_status": "complete", + "focal_sign_correction": "none" +} diff --git a/dynpose_eval/source/672d233e-7587-4e0b-988b-606ced1d1631/transforms.json b/dynpose_eval/source/672d233e-7587-4e0b-988b-606ced1d1631/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..b21ce734a112c7098b68a4e46b256aa3565a578b --- /dev/null +++ b/dynpose_eval/source/672d233e-7587-4e0b-988b-606ced1d1631/transforms.json @@ -0,0 +1,4458 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 127, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -9.838233381742612e-05, + -4.791899846168235e-05, + 9.177199535770342e-05 + ], + [ + 9.838460391620174e-05, + 1.0, + 4.736682240036316e-05, + -7.394507701974362e-05 + ], + [ + 4.791433457285166e-05, + -4.737153722089715e-05, + 1.0, + 0.00041252130176872015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999916553497314, + -0.002241932787001133, + 0.0034179030917584896, + 0.006127418018877506 + ], + [ + 0.002261039800941944, + 0.9999817609786987, + -0.005596743896603584, + 0.0024790826719254255 + ], + [ + -0.0034052934497594833, + 0.005604425445199013, + 0.9999784827232361, + -0.027977652847766876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999696016311646, + -0.004094271920621395, + 0.006635073106735945, + 0.011845085769891739 + ], + [ + 0.004166510887444019, + 0.999931812286377, + -0.010910453274846077, + 0.008051828481256962 + ], + [ + -0.006589950527995825, + 0.0109377671033144, + 0.9999184608459473, + -0.05918484553694725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998933672904968, + -0.008079848252236843, + 0.012164631858468056, + 0.015316618606448174 + ], + [ + 0.00826678704470396, + 0.9998472929000854, + -0.01539639849215746, + 0.01019664853811264 + ], + [ + -0.012038374319672585, + 0.015495319850742817, + 0.9998074769973755, + -0.09245613217353821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999704897403717, + -0.011359781958162785, + 0.021471405401825905, + 0.02107161656022072 + ], + [ + 0.011775110848248005, + 0.9997440576553345, + -0.019316894933581352, + 0.016539935022592545 + ], + [ + -0.021246476098895073, + 0.01956402324140072, + 0.999582827091217, + -0.11586488038301468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9993982911109924, + -0.012502751313149929, + 0.032354116439819336, + 0.02888881415128708 + ], + [ + 0.01325767021626234, + 0.9996423721313477, + -0.02322465367615223, + 0.021057704463601112 + ], + [ + -0.0320521742105484, + 0.0236396174877882, + 0.9992066025733948, + -0.13224278390407562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9989550709724426, + -0.012247668579220772, + 0.04403151571750641, + 0.03273293003439903 + ], + [ + 0.01340743713080883, + 0.9995683431625366, + -0.026141393929719925, + 0.026164822280406952 + ], + [ + -0.04369233548641205, + 0.02670442685484886, + 0.9986880421638489, + -0.1547061800956726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.998424768447876, + -0.012767252512276173, + 0.054634883999824524, + 0.036790527403354645 + ], + [ + 0.01434337254613638, + 0.9994893670082092, + -0.02855401113629341, + 0.031983599066734314 + ], + [ + -0.05424242466688156, + 0.029292680323123932, + 0.9980980157852173, + -0.17413322627544403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.997841477394104, + -0.014021948911249638, + 0.06415385007858276, + 0.038629740476608276 + ], + [ + 0.016056180000305176, + 0.9993809461593628, + -0.03130373731255531, + 0.03701755777001381 + ], + [ + -0.06367519497871399, + 0.03226623311638832, + 0.9974489212036133, + -0.1995544582605362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9970006942749023, + -0.015377753414213657, + 0.07584922760725021, + 0.04252360016107559 + ], + [ + 0.018015382811427116, + 0.9992521405220032, + -0.03421388939023018, + 0.041732240468263626 + ], + [ + -0.07526636868715286, + 0.03547772392630577, + 0.996532142162323, + -0.22593045234680176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9955771565437317, + -0.017929838970303535, + 0.09222082048654556, + 0.0486811064183712 + ], + [ + 0.021302005276083946, + 0.9991350173950195, + -0.03571276366710663, + 0.04631626605987549 + ], + [ + -0.09150072187185287, + 0.03751929849386215, + 0.9950979351997375, + -0.24762992560863495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9932959675788879, + -0.01911703497171402, + 0.11400706321001053, + 0.051256030797958374 + ], + [ + 0.02326909825205803, + 0.9991093277931213, + -0.035200417041778564, + 0.05079912394285202 + ], + [ + -0.11323259025812149, + 0.0376172736287117, + 0.9928561449050903, + -0.2747998833656311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.99052494764328, + -0.0200913418084383, + 0.13585540652275085, + 0.049961913377046585 + ], + [ + 0.02498818375170231, + 0.9990944862365723, + -0.034435659646987915, + 0.06208402290940285 + ], + [ + -0.1350405216217041, + 0.0375041589140892, + 0.9901300668716431, + -0.3006337583065033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9877152442932129, + -0.0217317845672369, + 0.15474584698677063, + 0.027389243245124817 + ], + [ + 0.026615483686327934, + 0.9992086887359619, + -0.029557714238762856, + 0.0694490298628807 + ], + [ + -0.1539810597896576, + 0.033313240855932236, + 0.9875120520591736, + -0.30577802658081055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9848666787147522, + -0.024674711748957634, + 0.17154835164546967, + 0.01671450398862362 + ], + [ + 0.02814839966595173, + 0.9994444251060486, + -0.017845792695879936, + 0.06184884533286095 + ], + [ + -0.17101271450519562, + 0.022404538467526436, + 0.9850140810012817, + -0.3475211262702942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9817764759063721, + -0.025655964389443398, + 0.18829971551895142, + 0.018141746520996094 + ], + [ + 0.028448646888136864, + 0.9995214939117432, + -0.012142995372414589, + 0.06158837676048279 + ], + [ + -0.18789806962013245, + 0.017278578132390976, + 0.9820365309715271, + -0.3696407079696655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9791658520698547, + -0.027267541736364365, + 0.20122313499450684, + 0.0162874273955822 + ], + [ + 0.02937253937125206, + 0.9995405077934265, + -0.0074821109883487225, + 0.054552722722291946 + ], + [ + -0.20092666149139404, + 0.01323666051030159, + 0.979516863822937, + -0.3923160135746002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9768103957176208, + -0.030081553384661674, + 0.21198241412639618, + 0.010667250491678715 + ], + [ + 0.03170735016465187, + 0.9994880557060242, + -0.004273544996976852, + 0.05725180357694626 + ], + [ + -0.21174533665180206, + 0.010895843617618084, + 0.9772641658782959, + -0.4208133816719055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9745444059371948, + -0.03212690353393555, + 0.22188082337379456, + 0.018079403787851334 + ], + [ + 0.03283137083053589, + 0.999460756778717, + 0.0005135596729815006, + 0.06085210293531418 + ], + [ + -0.22177767753601074, + 0.006784164812415838, + 0.9750736355781555, + -0.4446122348308563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9717581868171692, + -0.03481781482696533, + 0.23339608311653137, + 0.01871049590408802 + ], + [ + 0.03442387282848358, + 0.999390721321106, + 0.005762395914644003, + 0.06375099718570709 + ], + [ + -0.23345452547073364, + 0.0024347403086721897, + 0.9723646640777588, + -0.47219690680503845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.968708872795105, + -0.03825049847364426, + 0.24523460865020752, + 0.015773706138134003 + ], + [ + 0.036977045238018036, + 0.999268114566803, + 0.009796775877475739, + 0.0632442831993103 + ], + [ + -0.2454298436641693, + -0.0004221727140247822, + 0.969414234161377, + -0.4984036087989807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9659450054168701, + -0.04183477163314819, + 0.2553430497646332, + 0.016027983278036118 + ], + [ + 0.03982748091220856, + 0.9991216063499451, + 0.01302901841700077, + 0.06923261284828186 + ], + [ + -0.25566384196281433, + -0.0024156454019248486, + 0.9667627215385437, + -0.5236093401908875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9631688594818115, + -0.04527626186609268, + 0.26505815982818604, + 0.01265508122742176 + ], + [ + 0.0426354855298996, + 0.998967170715332, + 0.015710992738604546, + 0.07690702378749847 + ], + [ + -0.2654957175254822, + -0.003831456881016493, + 0.964104413986206, + -0.5419929027557373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9605509042739868, + -0.04850868508219719, + 0.2738409638404846, + 0.024659866467118263 + ], + [ + 0.04514709487557411, + 0.9988077878952026, + 0.018568333238363266, + 0.0762038454413414 + ], + [ + -0.27441519498825073, + -0.005472706630825996, + 0.9615957140922546, + -0.5720348358154297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9578958749771118, + -0.05179406329989433, + 0.28240546584129333, + 0.03459823504090309 + ], + [ + 0.04798213019967079, + 0.9986398220062256, + 0.020402325317263603, + 0.0826931893825531 + ], + [ + -0.28307804465293884, + -0.005992887541651726, + 0.9590781331062317, + -0.603389322757721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9550745487213135, + -0.054358188062906265, + 0.29133784770965576, + 0.03186829388141632 + ], + [ + 0.0502486489713192, + 0.9985036849975586, + 0.021575093269348145, + 0.08665713667869568 + ], + [ + -0.29207468032836914, + -0.005966491531580687, + 0.9563769102096558, + -0.6237571835517883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9522327184677124, + -0.056409720331430435, + 0.30011799931526184, + 0.029836930334568024 + ], + [ + 0.05232951417565346, + 0.9983957409858704, + 0.0216226689517498, + 0.0938100516796112 + ], + [ + -0.30085626244544983, + -0.004884785041213036, + 0.9536569714546204, + -0.643997073173523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9497489929199219, + -0.05798198655247688, + 0.3075954020023346, + 0.043578311800956726 + ], + [ + 0.05400319769978523, + 0.9983105659484863, + 0.021439027041196823, + 0.1000140830874443 + ], + [ + -0.3083188235759735, + -0.003750559873878956, + 0.9512757062911987, + -0.6791362762451172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9467777609825134, + -0.058775532990694046, + 0.31647634506225586, + 0.037417009472846985 + ], + [ + 0.05494852736592293, + 0.9982680678367615, + 0.02101166546344757, + 0.10296840220689774 + ], + [ + -0.31716322898864746, + -0.00250347051769495, + 0.9483676552772522, + -0.7005820274353027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9442948698997498, + -0.06002625823020935, + 0.3235799968242645, + 0.04710443317890167 + ], + [ + 0.056110285222530365, + 0.9981946349143982, + 0.02142663672566414, + 0.10656489431858063 + ], + [ + -0.3242819607257843, + -0.0020768968388438225, + 0.9459581971168518, + -0.7471339106559753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9421865940093994, + -0.06084030121564865, + 0.32951921224594116, + 0.04068247228860855 + ], + [ + 0.05699622631072998, + 0.998146653175354, + 0.021323390305042267, + 0.11068431288003922 + ], + [ + -0.3302057981491089, + -0.0013092616572976112, + 0.9439080357551575, + -0.7628722190856934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9405912160873413, + -0.061177417635917664, + 0.33398422598838806, + 0.034354306757450104 + ], + [ + 0.057651638984680176, + 0.9981269240379333, + 0.020468633621931076, + 0.11788846552371979 + ], + [ + -0.33461084961891174, + 2.1168962121009827e-06, + 0.9423564076423645, + -0.7854765057563782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9408734440803528, + -0.06329496204853058, + 0.33279258012771606, + 0.05043778568506241 + ], + [ + 0.05974291265010834, + 0.9979948401451111, + 0.020906493067741394, + 0.11887797713279724 + ], + [ + -0.33344852924346924, + 0.00021163001656532288, + 0.9427682757377625, + -0.828506350517273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9403935074806213, + -0.06485264748334885, + 0.33384761214256287, + 0.07479269802570343 + ], + [ + 0.06145622581243515, + 0.9978943467140198, + 0.020737171173095703, + 0.11988124996423721 + ], + [ + -0.33448949456214905, + 0.001015910878777504, + 0.9423989653587341, + -0.8634046316146851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9380123615264893, + -0.06486009806394577, + 0.3404790163040161, + 0.06620559096336365 + ], + [ + 0.062333036214113235, + 0.9978863596916199, + 0.01836780458688736, + 0.1281801164150238 + ], + [ + -0.34095072746276855, + 0.00399386091157794, + 0.9400727152824402, + -0.8624099493026733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.935484766960144, + -0.06381519138813019, + 0.34755709767341614, + 0.05668777972459793 + ], + [ + 0.061931487172842026, + 0.9979434013366699, + 0.01653825119137764, + 0.13698193430900574 + ], + [ + -0.3478976786136627, + 0.006053442135453224, + 0.937512993812561, + -0.8806309103965759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9313384294509888, + -0.0634487196803093, + 0.3585847020149231, + 0.01727179065346718 + ], + [ + 0.062046777456998825, + 0.9979540109634399, + 0.015428297221660614, + 0.12781107425689697 + ], + [ + -0.35882991552352905, + 0.007880054414272308, + 0.9333696961402893, + -0.8377912640571594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.929852306842804, + -0.06192407011985779, + 0.36268460750579834, + 0.04550837352871895 + ], + [ + 0.06134369224309921, + 0.9980303645133972, + 0.013128557242453098, + 0.13103322684764862 + ], + [ + -0.36278319358825684, + 0.010040792636573315, + 0.9318194389343262, + -0.9190688729286194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9275209307670593, + -0.060161735862493515, + 0.3688976466655731, + 0.04724036902189255 + ], + [ + 0.06062023714184761, + 0.9981071352958679, + 0.010358748026192188, + 0.13122452795505524 + ], + [ + -0.3688226044178009, + 0.012754705734550953, + 0.929412305355072, + -0.928176760673523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9265342354774475, + -0.05769183859229088, + 0.37176060676574707, + 0.09362746775150299 + ], + [ + 0.059049341827631, + 0.9982250332832336, + 0.007742076180875301, + 0.13296525180339813 + ], + [ + -0.3715474009513855, + 0.014778916724026203, + 0.9282963871955872, + -1.0185222625732422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9224653244018555, + -0.05553293228149414, + 0.3820652663707733, + 0.05676736310124397 + ], + [ + 0.058368004858493805, + 0.9982864260673523, + 0.004175487440079451, + 0.14527054131031036 + ], + [ + -0.3816424310207367, + 0.018448643386363983, + 0.9241259098052979, + -0.996074914932251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9189937114715576, + -0.05347760394215584, + 0.39062854647636414, + 0.04532107338309288 + ], + [ + 0.05754448100924492, + 0.9983420968055725, + 0.001295161433517933, + 0.15341654419898987 + ], + [ + -0.3900502026081085, + 0.021288271993398666, + 0.9205474853515625, + -1.0180612802505493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9160626530647278, + -0.052571382373571396, + 0.3975744843482971, + 0.04918202757835388 + ], + [ + 0.05757199600338936, + 0.9983411431312561, + -0.0006423536688089371, + 0.15063872933387756 + ], + [ + -0.39688122272491455, + 0.023477591574192047, + 0.9175696969032288, + -1.060628056526184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.913345456123352, + -0.051446933299303055, + 0.4039224088191986, + 0.050868816673755646 + ], + [ + 0.057252805680036545, + 0.9983570575714111, + -0.0023003993555903435, + 0.14834493398666382 + ], + [ + -0.40314045548439026, + 0.02522674947977066, + 0.9147903919219971, + -1.1043691635131836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9099667072296143, + -0.05065470561385155, + 0.4115758240222931, + 0.030039045959711075 + ], + [ + 0.05769206956028938, + 0.9983234405517578, + -0.004684637300670147, + 0.1574842929840088 + ], + [ + -0.41064849495887756, + 0.028007522225379944, + 0.9113634824752808, + -1.1128923892974854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9072164297103882, + -0.050020668655633926, + 0.41767966747283936, + 0.023852180689573288 + ], + [ + 0.0577256940305233, + 0.9983155131340027, + -0.0058257440105080605, + 0.15812253952026367 + ], + [ + -0.41668468713760376, + 0.02939605712890625, + 0.908575713634491, + -1.1423282623291016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9064701795578003, + -0.04998716711997986, + 0.41930073499679565, + 0.0009498037397861481 + ], + [ + 0.058385156095027924, + 0.9982680678367615, + -0.00721154548227787, + 0.16252632439136505 + ], + [ + -0.4182140827178955, + 0.031017987057566643, + 0.9078187942504883, + -1.1555629968643188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9097920656204224, + -0.05076143145561218, + 0.41194865107536316, + -0.002485845237970352 + ], + [ + 0.059169284999370575, + 0.9982184767723083, + -0.0076726749539375305, + 0.16146056354045868 + ], + [ + -0.41082528233528137, + 0.03135524317622185, + 0.9111747741699219, + -1.2065532207489014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9138450026512146, + -0.05140462517738342, + 0.40279635787010193, + -0.04143868759274483 + ], + [ + 0.059789106249809265, + 0.9981768727302551, + -0.008259939029812813, + 0.17209474742412567 + ], + [ + -0.40163740515708923, + 0.03163113445043564, + 0.9152523875236511, + -1.183178424835205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9209753274917603, + -0.05365537479519844, + 0.38590869307518005, + -0.043242670595645905 + ], + [ + 0.061059240251779556, + 0.9981099963188171, + -0.006944888271391392, + 0.17085929214954376 + ], + [ + -0.38480666279792786, + 0.029959362000226974, + 0.9225108623504639, + -1.2186304330825806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.925698459148407, + -0.05491144210100174, + 0.3742554187774658, + -0.036868028342723846 + ], + [ + 0.061262525618076324, + 0.9981087446212769, + -0.00508485920727253, + 0.16472747921943665 + ], + [ + -0.37326836585998535, + 0.02763487584888935, + 0.9273117184638977, + -1.2771927118301392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9264135360717773, + -0.05562080070376396, + 0.37237659096717834, + -0.023011721670627594 + ], + [ + 0.061973270028829575, + 0.9980647563934326, + -0.005101587623357773, + 0.17179042100906372 + ], + [ + -0.37137219309806824, + 0.02780357003211975, + 0.928067684173584, + -1.316773772239685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9252727031707764, + -0.05760994926095009, + 0.3749019503593445, + -0.03109869733452797 + ], + [ + 0.06371057033538818, + 0.9979608654975891, + -0.003886832855641842, + 0.1785685420036316 + ], + [ + -0.3739135265350342, + 0.027481596916913986, + 0.9270563125610352, + -1.3281522989273071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.92606121301651, + -0.06108393520116806, + 0.37239688634872437, + -0.058486029505729675 + ], + [ + 0.06626682728528976, + 0.9978013038635254, + -0.0011211447417736053, + 0.17645587027072906 + ], + [ + -0.3715096116065979, + 0.02571580745279789, + 0.9280729293823242, + -1.3547168970108032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9354329705238342, + -0.04911627992987633, + 0.3500753343105316, + -0.07130642235279083 + ], + [ + 0.05287927761673927, + 0.99860018491745, + -0.0011925799772143364, + 0.18307456374168396 + ], + [ + -0.3495267331600189, + 0.01962731033563614, + 0.9367207884788513, + -1.377041220664978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9408570528030396, + -0.053557172417640686, + 0.334543913602829, + -0.06318739056587219 + ], + [ + 0.05691435933113098, + 0.9983790516853333, + -0.00023292377591133118, + 0.17648394405841827 + ], + [ + -0.3339891731739044, + 0.0192594975233078, + 0.9423801302909851, + -1.4265642166137695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9427377581596375, + -0.06241566687822342, + 0.3276427686214447, + -0.04493164271116257 + ], + [ + 0.06643692404031754, + 0.9977900385856628, + -0.0010830946266651154, + 0.1839396208524704 + ], + [ + -0.32685109972953796, + 0.022788649424910545, + 0.9448010921478271, + -1.4660875797271729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.942598819732666, + -0.06560719013214111, + 0.3274190127849579, + -0.040609344840049744 + ], + [ + 0.07057535648345947, + 0.997501015663147, + -0.003301599994301796, + 0.20132917165756226 + ], + [ + -0.32638415694236755, + 0.026219794526696205, + 0.9448735117912292, + -1.4836560487747192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9421377182006836, + -0.06680790334939957, + 0.3285015821456909, + -0.04586026072502136 + ], + [ + 0.07247097045183182, + 0.9973579049110413, + -0.005011371336877346, + 0.20798391103744507 + ], + [ + -0.3272988796234131, + 0.028528228402137756, + 0.9444901347160339, + -1.5001447200775146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9416967034339905, + -0.06573233753442764, + 0.32997965812683105, + -0.03611521050333977 + ], + [ + 0.07180822640657425, + 0.9973989129066467, + -0.006243442185223103, + 0.21663540601730347 + ], + [ + -0.32871097326278687, + 0.0295746847987175, + 0.9439674019813538, + -1.5339863300323486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.941001296043396, + -0.06520580500364304, + 0.3320613503456116, + -0.028205813840031624 + ], + [ + 0.0714835450053215, + 0.9974191784858704, + -0.006711370311677456, + 0.22065897285938263 + ], + [ + -0.3307667374610901, + 0.03005232661962509, + 0.9432339072227478, + -1.572141170501709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9400871396064758, + -0.06533044576644897, + 0.33461642265319824, + -0.020491572096943855 + ], + [ + 0.07220950722694397, + 0.9973562359809875, + -0.008145156316459179, + 0.22528785467147827 + ], + [ + -0.3331996202468872, + 0.03181964159011841, + 0.9423192143440247, + -1.5981736183166504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9394663572311401, + -0.06353916972875595, + 0.3366982340812683, + -0.005724180489778519 + ], + [ + 0.07088176161050797, + 0.9974390268325806, + -0.009547378867864609, + 0.22667498886585236 + ], + [ + -0.3352293372154236, + 0.032835204154253006, + 0.9415642023086548, + -1.6343984603881836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9382351040840149, + -0.061381515115499496, + 0.34051021933555603, + -0.021027810871601105 + ], + [ + 0.06896502524614334, + 0.9975669384002686, + -0.010200089775025845, + 0.23230740427970886 + ], + [ + -0.3390556275844574, + 0.03305337578058243, + 0.9401854872703552, + -1.6606632471084595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9374127388000488, + -0.0614573210477829, + 0.3427541255950928, + -0.02114231325685978 + ], + [ + 0.06917043030261993, + 0.9975515604019165, + -0.010311754420399666, + 0.2297346591949463 + ], + [ + -0.3412811756134033, + 0.03337481617927551, + 0.9393685460090637, + -1.6971691846847534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9370938539505005, + -0.0627216324210167, + 0.3433963656425476, + -0.009933501482009888 + ], + [ + 0.07151175290346146, + 0.9973552823066711, + -0.012980547733604908, + 0.23859760165214539 + ], + [ + -0.3416740298271179, + 0.036720868200063705, + 0.9391008615493774, + -1.7188048362731934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9359426498413086, + -0.06103440374135971, + 0.3468228876590729, + -0.018697474151849747 + ], + [ + 0.07068385928869247, + 0.9973825216293335, + -0.015227923169732094, + 0.24727310240268707 + ], + [ + -0.34498563408851624, + 0.038767240941524506, + 0.937807023525238, + -1.7276685237884521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9349378943443298, + -0.06056318059563637, + 0.34960445761680603, + -0.014994965866208076 + ], + [ + 0.06995159387588501, + 0.997448205947876, + -0.014278296381235123, + 0.24284812808036804 + ], + [ + -0.3478476107120514, + 0.03780470788478851, + 0.9367885589599609, + -1.784730315208435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9348143935203552, + -0.061501018702983856, + 0.3497709333896637, + -0.006183981895446777 + ], + [ + 0.07092873007059097, + 0.9973803758621216, + -0.014195832423865795, + 0.2400631308555603 + ], + [ + -0.34798160195350647, + 0.03807927295565605, + 0.9367277026176453, + -1.8070564270019531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9342742562294006, + -0.06225062534213066, + 0.3510790765285492, + -0.009715262800455093 + ], + [ + 0.07277660816907883, + 0.9972058534622192, + -0.016852673143148422, + 0.2521499693393707 + ], + [ + -0.34904900193214417, + 0.041295357048511505, + 0.9361941814422607, + -1.8188704252243042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9337188005447388, + -0.06021620333194733, + 0.35290685296058655, + 0.0037339329719543457 + ], + [ + 0.07049886882305145, + 0.9973779320716858, + -0.01634370908141136, + 0.2560901939868927 + ], + [ + -0.35099735856056213, + 0.04013996198773384, + 0.9355157017707825, + -1.8654677867889404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9323063492774963, + -0.05917394906282425, + 0.35679593682289124, + -0.008538469672203064 + ], + [ + 0.06932971626520157, + 0.9974697828292847, + -0.015729743987321854, + 0.26121100783348083 + ], + [ + -0.35496237874031067, + 0.039401497691869736, + 0.9340499043464661, + -1.8818799257278442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.931443989276886, + -0.05932425707578659, + 0.3590163290500641, + -0.008538167923688889 + ], + [ + 0.06973522156476974, + 0.9974355101585388, + -0.016106050461530685, + 0.2671874761581421 + ], + [ + -0.3571401536464691, + 0.040037963539361954, + 0.9331923127174377, + -1.9064515829086304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9305073618888855, + -0.06047224998474121, + 0.36124664545059204, + -0.006768852472305298 + ], + [ + 0.07151481509208679, + 0.9972901344299316, + -0.017264343798160553, + 0.27072328329086304 + ], + [ + -0.35922372341156006, + 0.04189908504486084, + 0.9323104619979858, + -1.9331117868423462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9290190935134888, + -0.06319940090179443, + 0.36459484696388245, + -0.0033277347683906555 + ], + [ + 0.07507100701332092, + 0.9970071911811829, + -0.018464714288711548, + 0.272264301776886 + ], + [ + -0.3623367249965668, + 0.04452457278966904, + 0.9309831857681274, + -1.966018795967102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9274462461471558, + -0.06522997468709946, + 0.3682234585285187, + -0.0036691688001155853 + ], + [ + 0.07810129970312119, + 0.9967418909072876, + -0.020143501460552216, + 0.27904650568962097 + ], + [ + -0.3657098114490509, + 0.04744074493646622, + 0.9295190572738647, + -1.9979336261749268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9257420897483826, + -0.06675709038972855, + 0.37221649289131165, + -0.009059175848960876 + ], + [ + 0.08076367527246475, + 0.9964872002601624, + -0.022147737443447113, + 0.28532013297080994 + ], + [ + -0.36943045258522034, + 0.050564661622047424, + 0.92788165807724, + -2.0141348838806152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9244701862335205, + -0.06788799166679382, + 0.3751614987850189, + -0.0034763216972351074 + ], + [ + 0.08289383351802826, + 0.996269702911377, + -0.02398465946316719, + 0.2926858961582184 + ], + [ + -0.3721337616443634, + 0.05327167734503746, + 0.9266490936279297, + -2.0616390705108643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9235008955001831, + -0.07112137973308563, + 0.376945436000824, + 0.008825816214084625 + ], + [ + 0.08691717684268951, + 0.9959008097648621, + -0.025038782507181168, + 0.3020784556865692 + ], + [ + -0.3736194968223572, + 0.055886369198560715, + 0.9258970022201538, + -2.106414794921875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9223323464393616, + -0.0708150863647461, + 0.37985295057296753, + 0.003148183226585388 + ], + [ + 0.08768205344676971, + 0.9957753419876099, + -0.027263395488262177, + 0.3017956018447876 + ], + [ + -0.37631756067276, + 0.058452196419239044, + 0.9246450662612915, + -2.1386728286743164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9218298196792603, + -0.0679236575961113, + 0.38159680366516113, + 0.0018337592482566833 + ], + [ + 0.0863780602812767, + 0.9957668781280518, + -0.03141992911696434, + 0.30755195021629333 + ], + [ + -0.3778473138809204, + 0.06192541494965553, + 0.923794686794281, + -2.190530300140381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9254414439201355, + -0.06346864998340607, + 0.3735370337963104, + -0.038270629942417145 + ], + [ + 0.08223865926265717, + 0.9960149526596069, + -0.03451152518391609, + 0.3023146092891693 + ], + [ + -0.369858056306839, + 0.06265757977962494, + 0.9269730448722839, + -2.1908628940582275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9371210336685181, + -0.06100258231163025, + 0.34363195300102234, + -0.08411379158496857 + ], + [ + 0.07836025953292847, + 0.9962441921234131, + -0.036840520799160004, + 0.3003774881362915 + ], + [ + -0.3400939404964447, + 0.06145111471414566, + 0.9383814930915833, + -2.192455530166626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.949031412601471, + -0.06003505736589432, + 0.30941107869148254, + -0.06376884877681732 + ], + [ + 0.07576001435518265, + 0.9963611960411072, + -0.039048485457897186, + 0.3248918652534485 + ], + [ + -0.3059408962726593, + 0.06049922853708267, + 0.9501262903213501, + -2.2513675689697266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9526041150093079, + -0.05983032286167145, + 0.29827117919921875, + -0.07041148841381073 + ], + [ + 0.07483595609664917, + 0.9964277148246765, + -0.03913368657231331, + 0.32943448424339294 + ], + [ + -0.294864296913147, + 0.05960031971335411, + 0.9536786079406738, + -2.3040921688079834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9542319178581238, + -0.06183915585279465, + 0.29260438680648804, + -0.03155885264277458 + ], + [ + 0.07550535351037979, + 0.9965085387229919, + -0.03563300147652626, + 0.31773874163627625 + ], + [ + -0.2893792390823364, + 0.056095343083143234, + 0.9555694460868835, + -2.31646466255188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9551575183868408, + -0.060409583151340485, + 0.28987038135528564, + -0.029014622792601585 + ], + [ + 0.07233431190252304, + 0.9969111680984497, + -0.03059186041355133, + 0.3143143355846405 + ], + [ + -0.28712695837020874, + 0.0501876175403595, + 0.9565768837928772, + -2.356931686401367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9556084275245667, + -0.05920679494738579, + 0.2886296510696411, + -0.03887719660997391 + ], + [ + 0.06949914991855621, + 0.9972552061080933, + -0.025533385574817657, + 0.31284043192863464 + ], + [ + -0.28632569313049316, + 0.04445943236351013, + 0.9571002721786499, + -2.40700101852417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9573544263839722, + -0.060839325189590454, + 0.2824377417564392, + -0.03654998168349266 + ], + [ + 0.06980516016483307, + 0.9973227977752686, + -0.021781189367175102, + 0.3123306930065155 + ], + [ + -0.2803564667701721, + 0.040567927062511444, + 0.9590383172035217, + -2.445347309112549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9594680666923523, + -0.05843625217676163, + 0.27569228410720825, + -0.02162446640431881 + ], + [ + 0.06662849336862564, + 0.9975685477256775, + -0.020434901118278503, + 0.3197753429412842 + ], + [ + -0.27382779121398926, + 0.03797559067606926, + 0.9610286951065063, + -2.4726290702819824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9609877467155457, + -0.056226253509521484, + 0.27081575989723206, + 0.0019230954349040985 + ], + [ + 0.06412791460752487, + 0.997732937335968, + -0.02041001431643963, + 0.32823625206947327 + ], + [ + -0.26905420422554016, + 0.03698062151670456, + 0.9624148011207581, + -2.4881720542907715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9624417424201965, + -0.04681570082902908, + 0.2674214243888855, + 0.016106555238366127 + ], + [ + 0.05417246371507645, + 0.998327374458313, + -0.020194513723254204, + 0.3371935486793518 + ], + [ + -0.2660287022590637, + 0.033922918140888214, + 0.9633680582046509, + -2.5141613483428955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9636372923851013, + -0.033648256212472916, + 0.26508674025535583, + 0.028342388570308685 + ], + [ + 0.040293436497449875, + 0.9989942908287048, + -0.01966843381524086, + 0.3438721001148224 + ], + [ + -0.26415833830833435, + 0.029634490609169006, + 0.9640239477157593, + -2.54135799407959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9640087485313416, + -0.027478035539388657, + 0.26444679498672485, + 0.039346445351839066 + ], + [ + 0.03386874869465828, + 0.9992333650588989, + -0.019636468961834908, + 0.34993475675582886 + ], + [ + -0.26370447874069214, + 0.02788621000945568, + 0.9642003178596497, + -2.5714216232299805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9635701775550842, + -0.029953619465231895, + 0.26577305793762207, + 0.04590097814798355 + ], + [ + 0.03640526533126831, + 0.9991491436958313, + -0.019380800426006317, + 0.3554161489009857 + ], + [ + -0.2649664282798767, + 0.02835030108690262, + 0.9638407826423645, + -2.608083963394165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9629307389259338, + -0.032618649303913116, + 0.2677692770957947, + 0.05825744569301605 + ], + [ + 0.03899028152227402, + 0.9990681409835815, + -0.018511049449443817, + 0.3602864444255829 + ], + [ + -0.2669159173965454, + 0.02826525643467903, + 0.9633052349090576, + -2.6368930339813232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9619884490966797, + -0.034979451447725296, + 0.27084067463874817, + 0.06529605388641357 + ], + [ + 0.04112568125128746, + 0.9990085363388062, + -0.017049362882971764, + 0.3624859154224396 + ], + [ + -0.2699757516384125, + 0.027539798989892006, + 0.9624732136726379, + -2.671865940093994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9614325761795044, + -0.037853289395570755, + 0.27242353558540344, + 0.07853303849697113 + ], + [ + 0.044110361486673355, + 0.9988840818405151, + -0.01687844842672348, + 0.3657955825328827 + ], + [ + -0.27148064970970154, + 0.02824418991804123, + 0.9620293974876404, + -2.6942648887634277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9615046381950378, + -0.034319907426834106, + 0.27263715863227844, + 0.09156370908021927 + ], + [ + 0.04053870588541031, + 0.9990297555923462, + -0.01720801368355751, + 0.366188108921051 + ], + [ + -0.2717820703983307, + 0.02759794145822525, + 0.9619629979133606, + -2.7211732864379883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.961287796497345, + -0.026705622673034668, + 0.27424919605255127, + 0.09894010424613953 + ], + [ + 0.03225232660770416, + 0.9993559122085571, + -0.01573512889444828, + 0.3688850700855255 + ], + [ + -0.2736523151397705, + 0.023971160873770714, + 0.9615299105644226, + -2.7551913261413574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.961094081401825, + -0.02373455837368965, + 0.27519962191581726, + 0.10744330286979675 + ], + [ + 0.02877836674451828, + 0.9994834661483765, + -0.014303874224424362, + 0.36476680636405945 + ], + [ + -0.27471795678138733, + 0.02166716381907463, + 0.9612807035446167, + -2.78275990486145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9614242911338806, + -0.018258247524499893, + 0.27446305751800537, + 0.11669362336397171 + ], + [ + 0.023049838840961456, + 0.9996328353881836, + -0.014242833480238914, + 0.36772239208221436 + ], + [ + -0.27410227060317993, + 0.020019734278321266, + 0.9614921808242798, + -2.8094289302825928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9613152146339417, + -0.009037544019520283, + 0.27530229091644287, + 0.12062251567840576 + ], + [ + 0.012941903434693813, + 0.999839723110199, + -0.012368777766823769, + 0.36679795384407043 + ], + [ + -0.27514636516571045, + 0.01545323058962822, + 0.9612781405448914, + -2.845567464828491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9605717062950134, + -0.00632533710449934, + 0.27796050906181335, + 0.12525592744350433 + ], + [ + 0.009694869630038738, + 0.9998952150344849, + -0.010749523527920246, + 0.3708774745464325 + ], + [ + -0.27786341309547424, + 0.013020479120314121, + 0.9605323672294617, + -2.872687339782715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.959878146648407, + -0.007949160411953926, + 0.28030475974082947, + 0.13114207983016968 + ], + [ + 0.01123676635324955, + 0.999885618686676, + -0.010123535990715027, + 0.3763650357723236 + ], + [ + -0.28019222617149353, + 0.012867080047726631, + 0.959857702255249, + -2.894313335418701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9590999484062195, + -0.015886932611465454, + 0.28262144327163696, + 0.13225480914115906 + ], + [ + 0.019482698291540146, + 0.9997609853744507, + -0.009916863404214382, + 0.38131627440452576 + ], + [ + -0.2823963761329651, + 0.015017491765320301, + 0.9591802358627319, + -2.927713632583618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9581760168075562, + -0.016893241554498672, + 0.2856804132461548, + 0.13866281509399414 + ], + [ + 0.02070866897702217, + 0.9997320771217346, + -0.010339649394154549, + 0.38507968187332153 + ], + [ + -0.2854291796684265, + 0.01582326553761959, + 0.9582691788673401, + -2.955326557159424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9570173621177673, + -0.0185684971511364, + 0.28943559527397156, + 0.146438866853714 + ], + [ + 0.022635184228420258, + 0.9996864199638367, + -0.010709090158343315, + 0.3908720016479492 + ], + [ + -0.28914597630500793, + 0.01680021360516548, + 0.9571375846862793, + -2.9833357334136963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9557433128356934, + -0.01905619539320469, + 0.29358407855033875, + 0.1479623019695282 + ], + [ + 0.023282485082745552, + 0.9996694326400757, + -0.010907205753028393, + 0.3936735987663269 + ], + [ + -0.2932792007923126, + 0.017259854823350906, + 0.955871045589447, + -3.011512279510498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9544944763183594, + -0.020030740648508072, + 0.29755517840385437, + 0.15536360442638397 + ], + [ + 0.024548087269067764, + 0.9996330738067627, + -0.011452073231339455, + 0.40177443623542786 + ], + [ + -0.29721662402153015, + 0.018235351890325546, + 0.9546359181404114, + -3.044154167175293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9528345465660095, + -0.020064590498805046, + 0.30282631516456604, + 0.16018952429294586 + ], + [ + 0.024819081649184227, + 0.9996216297149658, + -0.01185987051576376, + 0.4088934361934662 + ], + [ + -0.3024737536907196, + 0.01881636492908001, + 0.9529719352722168, + -3.069643974304199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9512482285499573, + -0.021730531007051468, + 0.3076598048210144, + 0.16586796939373016 + ], + [ + 0.02669128030538559, + 0.9995725750923157, + -0.011924821883440018, + 0.4148534834384918 + ], + [ + -0.3072691559791565, + 0.01955530047416687, + 0.9514216780662537, + -3.099285364151001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9498369693756104, + -0.023642640560865402, + 0.31185051798820496, + 0.16790169477462769 + ], + [ + 0.028688952326774597, + 0.999521017074585, + -0.011603347025811672, + 0.4213308095932007 + ], + [ + -0.3114268481731415, + 0.019967950880527496, + 0.9500603079795837, + -3.1270053386688232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9485756158828735, + -0.03154425695538521, + 0.3149751126766205, + 0.17503780126571655 + ], + [ + 0.03671595826745033, + 0.9992706179618835, + -0.01049802079796791, + 0.4246085286140442 + ], + [ + -0.31441423296928406, + 0.021522779017686844, + 0.9490419030189514, + -3.161414384841919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9471825957298279, + -0.03916244953870773, + 0.31829458475112915, + 0.178930401802063 + ], + [ + 0.04455256462097168, + 0.9989602565765381, + -0.00966930203139782, + 0.42297181487083435 + ], + [ + -0.3175849914550781, + 0.02333943359553814, + 0.9479425549507141, + -3.1912615299224854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9464491605758667, + -0.037353575229644775, + 0.3206847608089447, + 0.18211407959461212 + ], + [ + 0.04248126596212387, + 0.9990566968917847, + -0.009005779400467873, + 0.4278777241706848 + ], + [ + -0.3200458586215973, + 0.02214660681784153, + 0.9471431970596313, + -3.2249300479888916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9459692239761353, + -0.03929330036044121, + 0.32186681032180786, + 0.18581241369247437 + ], + [ + 0.0435807965695858, + 0.999031126499176, + -0.0061232247389853, + 0.428159236907959 + ], + [ + -0.32131439447402954, + 0.01981959491968155, + 0.9467651844024658, + -3.262455940246582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9453795552253723, + -0.042825013399124146, + 0.3231463134288788, + 0.1927403211593628 + ], + [ + 0.046565450727939606, + 0.9989078044891357, + -0.0038489713333547115, + 0.428329199552536 + ], + [ + -0.32262852787971497, + 0.018686188384890556, + 0.9463412165641785, + -3.290353775024414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9456824660301208, + -0.043216463178396225, + 0.3222065269947052, + 0.2062498927116394 + ], + [ + 0.046214643865823746, + 0.9989301562309265, + -0.0016577821224927902, + 0.43035516142845154 + ], + [ + -0.3217901885509491, + 0.01645839400589466, + 0.9466679692268372, + -3.3222298622131348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9456599950790405, + -0.04351062700152397, + 0.32223281264305115, + 0.21518680453300476 + ], + [ + 0.045356836169958115, + 0.9989692568778992, + 0.0017801900394260883, + 0.43673402070999146 + ], + [ + -0.3219781219959259, + 0.012932004407048225, + 0.9466587901115417, + -3.35927414894104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9454672336578369, + -0.043852828443050385, + 0.32275164127349854, + 0.21581320464611053 + ], + [ + 0.04473123699426651, + 0.9989880323410034, + 0.00469875056296587, + 0.43597885966300964 + ], + [ + -0.3226310610771179, + 0.009994563646614552, + 0.9464720487594604, + -3.3926877975463867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.948436439037323, + -0.0460655577480793, + 0.31360211968421936, + 0.2196681797504425 + ], + [ + 0.046526554971933365, + 0.9988989233970642, + 0.006018324755132198, + 0.43956148624420166 + ], + [ + -0.31353405117988586, + 0.008882827125489712, + 0.9495354294776917, + -3.4273719787597656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9511978626251221, + -0.047523919492959976, + 0.3049001395702362, + 0.23715591430664062 + ], + [ + 0.04775164648890495, + 0.9988366961479187, + 0.006714877672493458, + 0.4426768124103546 + ], + [ + -0.3048645555973053, + 0.00817230436950922, + 0.9523606300354004, + -3.4603679180145264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9526217579841614, + -0.04775090515613556, + 0.3003857731819153, + 0.24943187832832336 + ], + [ + 0.04785420000553131, + 0.9988296627998352, + 0.007017871830612421, + 0.4480457901954651 + ], + [ + -0.3003693222999573, + 0.007689341437071562, + 0.9537919759750366, + -3.4944546222686768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9539773464202881, + -0.04774659126996994, + 0.2960532009601593, + 0.25840553641319275 + ], + [ + 0.04776716232299805, + 0.9988327622413635, + 0.007167873904109001, + 0.454194039106369 + ], + [ + -0.2960498631000519, + 0.007303630001842976, + 0.9551445841789246, + -3.520779609680176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9572524428367615, + -0.0505884625017643, + 0.2847955822944641, + 0.26525068283081055 + ], + [ + 0.0504840649664402, + 0.9986950755119324, + 0.007712373975664377, + 0.4620628356933594 + ], + [ + -0.28481411933898926, + 0.0069949510507285595, + 0.9585572481155396, + -3.551219940185547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9606821537017822, + -0.05435311794281006, + 0.27227848768234253, + 0.2839747965335846 + ], + [ + 0.05416678637266159, + 0.9984982013702393, + 0.00820639356970787, + 0.46989908814430237 + ], + [ + -0.2723156213760376, + 0.006864713504910469, + 0.9621834754943848, + -3.577174663543701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/source/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/caption.txt b/dynpose_eval/source/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..17742b001f5a3a1a333554d221d9188dd0da9d13 --- /dev/null +++ b/dynpose_eval/source/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/caption.txt @@ -0,0 +1 @@ +A man is holding a small rainbow trout in his hand and examining it. diff --git a/dynpose_eval/source/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/extras/source_metadata.json b/dynpose_eval/source/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/extras/source_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..8296bb339c16317f54f2a01efc82ade2f38cc775 --- /dev/null +++ b/dynpose_eval/source/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/extras/source_metadata.json @@ -0,0 +1,33 @@ +{ + "sequence": "c7f53ab9-3b26-40ee-8750-2c2887c3e2c2", + "tar_name": "dpsp-e9b029fc", + "youtube_link": "https://www.youtube.com/watch?v=AmUCA4qQvHg", + "youtube_timestamp": "0:04:57.597-0:05:05.071", + "num_frames": 225, + "original_canvas_hw": [ + 720, + 1280 + ], + "spatial_transform": { + "input_hw": [ + 720, + 1280 + ], + "crop_xywh": [ + 16, + 0, + 1248, + 720 + ], + "scale_xy": [ + 0.6666666666666666, + 0.6666666666666666 + ], + "output_hw": [ + 480, + 832 + ] + }, + "rgb_status": "complete", + "focal_sign_correction": "none" +} diff --git a/dynpose_eval/source/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/transforms.json b/dynpose_eval/source/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..3c705cb363cdf6ebbdd380c4bd2d8b7803a1cced --- /dev/null +++ b/dynpose_eval/source/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/transforms.json @@ -0,0 +1,7888 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 225, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 5.429926386568695e-05, + 6.081355968490243e-05, + -9.924238838721067e-06 + ], + [ + -5.429988959804177e-05, + 1.0, + 1.0281693903380074e-05, + -4.616683509084396e-05 + ], + [ + -6.081299943616614e-05, + -1.028499536914751e-05, + 1.0, + -0.00013104858226142824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999940991401672, + -0.000524801725987345, + -0.0033989716321229935, + -0.0052675181068480015 + ], + [ + 0.0005185141344554722, + 0.999998152256012, + -0.0018504558829590678, + -9.438030974706635e-05 + ], + [ + 0.003399936482310295, + 0.0018486824119463563, + 0.9999924898147583, + 0.0017687218496575952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999714493751526, + -0.000941636273637414, + -0.007498056627810001, + -0.009046407416462898 + ], + [ + 0.0009150825208052993, + 0.9999933242797852, + -0.003544056788086891, + -0.00016379433509428054 + ], + [ + 0.007501343265175819, + 0.003537094220519066, + 0.9999656081199646, + 0.00035851835855282843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999345541000366, + -0.0008186700870282948, + -0.011413106694817543, + -0.014580958522856236 + ], + [ + 0.0007583763799630105, + 0.9999857544898987, + -0.005286171566694975, + 0.00036839323001913726 + ], + [ + 0.011417271569371223, + 0.005277170334011316, + 0.9999209046363831, + 0.003210940398275852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998676776885986, + -0.0019139857031404972, + -0.01615421660244465, + -0.018993724137544632 + ], + [ + 0.0017907950095832348, + 0.9999692440032959, + -0.00763694616034627, + 0.0010275484528392553 + ], + [ + 0.01616833545267582, + 0.007607006933540106, + 0.9998403191566467, + 0.002893161727115512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9997848868370056, + -0.0023734024725854397, + -0.020604988560080528, + -0.0242948979139328 + ], + [ + 0.002175173256546259, + 0.999951183795929, + -0.009637533687055111, + 0.0012027209158986807 + ], + [ + 0.0206268560141325, + 0.009590641595423222, + 0.99974125623703, + 0.0019990415312349796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999688982963562, + -0.0010817669099196792, + -0.024916311725974083, + -0.03037315607070923 + ], + [ + 0.0008171632653102279, + 0.999943196773529, + -0.01062743365764618, + 0.0011448391014710069 + ], + [ + 0.02492639236152172, + 0.01060376688838005, + 0.9996330738067627, + 0.0019302371656522155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9995627403259277, + -0.0005323534714989364, + -0.02956518903374672, + -0.036326538771390915 + ], + [ + 0.000184318792889826, + 0.9999306797981262, + -0.011773251928389072, + 0.0017911582253873348 + ], + [ + 0.029569406062364578, + 0.011762653477489948, + 0.9994935393333435, + -0.0009701634990051389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9994422197341919, + -0.0002050281473202631, + -0.033395010977983475, + -0.042928289622068405 + ], + [ + -0.00021745330013800412, + 0.9999200105667114, + -0.012646914459764957, + 0.0011509074829518795 + ], + [ + 0.03339492902159691, + 0.012647121213376522, + 0.9993622303009033, + -0.0002584755711723119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9992830753326416, + -0.0006102025508880615, + -0.03785432502627373, + -0.04805976524949074 + ], + [ + 0.00011476478539407253, + 0.9999143481254578, + -0.013088801875710487, + -0.000620744307525456 + ], + [ + 0.03785907104611397, + 0.013075074180960655, + 0.9991975426673889, + -0.001295340247452259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9990656971931458, + 7.511320291087031e-05, + -0.04321671277284622, + -0.052159592509269714 + ], + [ + -0.0006541114416904747, + 0.9999102354049683, + -0.01338357012718916, + -0.001982587156817317 + ], + [ + 0.04321182519197464, + 0.01339933555573225, + 0.9989760518074036, + -0.005377321038395166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9990081787109375, + 0.0005726817180402577, + -0.04452284798026085, + -0.06032204627990723 + ], + [ + -0.0012013160157948732, + 0.9998999834060669, + -0.01409388892352581, + -0.001997115556150675 + ], + [ + 0.04451032355427742, + 0.014133397489786148, + 0.9989089369773865, + -0.0006498123984783888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9988492727279663, + 0.0012008092598989606, + -0.047944359481334686, + -0.06576675176620483 + ], + [ + -0.0019254976650699973, + 0.9998845458030701, + -0.015071873553097248, + -0.0018377496162429452 + ], + [ + 0.047920726239681244, + 0.015146846882998943, + 0.9987362623214722, + -0.0020072581246495247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9986376166343689, + 0.0035616722889244556, + -0.05205990746617317, + -0.06895852833986282 + ], + [ + -0.004335870500653982, + 0.9998815655708313, + -0.014765923842787743, + -0.0026366449892520905 + ], + [ + 0.05200115218758583, + 0.014971531927585602, + 0.9985347986221313, + -0.003806389169767499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.998422384262085, + 0.00528716342523694, + -0.055899716913700104, + -0.0723005086183548 + ], + [ + -0.0061421445570886135, + 0.9998666048049927, + -0.015134178102016449, + -0.0026637904811650515 + ], + [ + 0.05581224709749222, + 0.015453645959496498, + 0.9983216524124146, + -0.00509157357737422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9981784820556641, + 0.0062154619954526424, + -0.060008704662323, + -0.07524210214614868 + ], + [ + -0.007152061443775892, + 0.9998557567596436, + -0.015405572019517422, + -0.002105612540617585 + ], + [ + 0.05990429222583771, + 0.01580669730901718, + 0.9980789422988892, + -0.006380242295563221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.997832179069519, + 0.00663546659052372, + -0.06547434628009796, + -0.07673667371273041 + ], + [ + -0.007689968682825565, + 0.9998445510864258, + -0.015866728499531746, + -0.0028140288777649403 + ], + [ + 0.06535889208316803, + 0.016335828229784966, + 0.9977281093597412, + -0.012405778281390667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9975054860115051, + 0.006460017058998346, + -0.07029300183057785, + -0.07909034192562103 + ], + [ + -0.007616034243255854, + 0.9998399019241333, + -0.01619013398885727, + -0.004138188902288675 + ], + [ + 0.07017716020345688, + 0.01668510213494301, + 0.9973949790000916, + -0.018617305904626846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9973834156990051, + 0.004202523734420538, + -0.07217133790254593, + -0.08507169038057327 + ], + [ + -0.0053828260861337185, + 0.9998548030853271, + -0.016167467460036278, + -0.007135832216590643 + ], + [ + 0.07209291309118271, + 0.016513647511601448, + 0.9972612261772156, + -0.01285360474139452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9971669316291809, + 0.003244871972128749, + -0.07515043020248413, + -0.08975296467542648 + ], + [ + -0.004402914084494114, + 0.9998740553855896, + -0.015249108895659447, + -0.011362023651599884 + ], + [ + 0.07509148120880127, + 0.015536786988377571, + 0.9970555901527405, + -0.012184027582406998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9968822002410889, + 0.003172739874571562, + -0.07884043455123901, + -0.09417548775672913 + ], + [ + -0.004221676383167505, + 0.9999047517776489, + -0.013141436502337456, + -0.01644853875041008 + ], + [ + 0.07879123091697693, + 0.0134333036839962, + 0.9968006014823914, + -0.012930475175380707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9964529871940613, + 0.007055305875837803, + -0.08385535329580307, + -0.09566255658864975 + ], + [ + -0.00770771037787199, + 0.9999424815177917, + -0.007458925247192383, + -0.023624833673238754 + ], + [ + 0.08379790931940079, + 0.0080788005143404, + 0.9964500069618225, + -0.016064411029219627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.996464192867279, + 0.005916144698858261, + -0.08381001651287079, + -0.10446517169475555 + ], + [ + -0.006354592740535736, + 0.9999674558639526, + -0.004965651780366898, + -0.029479434713721275 + ], + [ + 0.08377791941165924, + 0.005480672232806683, + 0.9964693784713745, + -0.006715734954923391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9962736964225769, + 0.005605824291706085, + -0.08606579899787903, + -0.11151609569787979 + ], + [ + -0.005895278416574001, + 0.9999777674674988, + -0.003109376411885023, + -0.03437196463346481 + ], + [ + 0.08604645729064941, + 0.003605171572417021, + 0.9962846040725708, + -0.004265307914465666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9960087537765503, + 0.005215528886765242, + -0.08910275995731354, + -0.1179237887263298 + ], + [ + -0.005348358768969774, + 0.9999849200248718, + -0.0012520585441961884, + -0.039027877151966095 + ], + [ + 0.08909489214420319, + 0.0017236148705706, + 0.9960216283798218, + -0.007473186124116182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9956978559494019, + 0.002971149981021881, + -0.09261176735162735, + -0.12408402562141418 + ], + [ + -0.0030042272992432117, + 0.9999954700469971, + -0.00021774844208266586, + -0.042535342276096344 + ], + [ + 0.09261069446802139, + 0.0004950384027324617, + 0.9957022666931152, + -0.012753552757203579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9954857230186462, + 0.00293578184209764, + -0.09486605226993561, + -0.130506694316864 + ], + [ + -0.002805527066811919, + 0.9999949336051941, + 0.001506383647210896, + -0.046108365058898926 + ], + [ + 0.09487000107765198, + -0.0012334341881796718, + 0.9954888820648193, + -0.016094651073217392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.995131254196167, + 0.0033743365202099085, + -0.09850090742111206, + -0.13424116373062134 + ], + [ + -0.002973983297124505, + 0.9999867081642151, + 0.00421100901439786, + -0.05131860822439194 + ], + [ + 0.09851381182670593, + -0.0038975668139755726, + 0.9951280355453491, + -0.022913696244359016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9949544072151184, + 0.0022510988637804985, + -0.100302554666996, + -0.13863897323608398 + ], + [ + -0.0017347722314298153, + 0.9999848008155823, + 0.005234616342931986, + -0.054815199226140976 + ], + [ + 0.10031280666589737, + -0.005034202244132757, + 0.9949432015419006, + -0.021062927320599556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9945237040519714, + 0.0020090490579605103, + -0.10449186712503433, + -0.14167821407318115 + ], + [ + -0.0013550854055210948, + 0.9999790787696838, + 0.0063291285187006, + -0.05885312333703041 + ], + [ + 0.10450238734483719, + -0.0061528729274868965, + 0.9945055842399597, + -0.028797941282391548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9941442608833313, + 0.0022488199174404144, + -0.1080377921462059, + -0.14555448293685913 + ], + [ + -0.0013999015791341662, + 0.9999675750732422, + 0.007932805456221104, + -0.06270211189985275 + ], + [ + 0.10805212706327438, + -0.007735110353678465, + 0.9941151142120361, + -0.03867015615105629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.993832528591156, + 0.000539722794201225, + -0.11089025437831879, + -0.150779590010643 + ], + [ + 0.0003340734983794391, + 0.9999690651893616, + 0.00786109920591116, + -0.064582958817482 + ], + [ + 0.11089105904102325, + -0.007849660702049732, + 0.9938015937805176, + -0.043461039662361145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9934127330780029, + -0.0003444814938120544, + -0.11459057033061981, + -0.157171368598938 + ], + [ + 0.00118216872215271, + 0.9999730587005615, + 0.007242387626320124, + -0.06441877782344818 + ], + [ + 0.11458499729633331, + -0.007330145221203566, + 0.9933863878250122, + -0.05042165145277977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9931498765945435, + -0.0006783365970477462, + -0.11684539914131165, + -0.1658918261528015 + ], + [ + 0.0013714333763346076, + 0.9999819397926331, + 0.005851445719599724, + -0.0623285248875618 + ], + [ + 0.11683931946754456, + -0.005971608683466911, + 0.9931328892707825, + -0.05737094581127167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9928338527679443, + -0.001985865645110607, + -0.11948620527982712, + -0.17425303161144257 + ], + [ + 0.0024133059196174145, + 0.9999911785125732, + 0.003432728350162506, + -0.05801832303404808 + ], + [ + 0.11947833746671677, + -0.0036964858882129192, + 0.9928299188613892, + -0.06860294193029404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9927089810371399, + 0.004223942756652832, + -0.12046174705028534, + -0.18580995500087738 + ], + [ + -0.0034181056544184685, + 0.9999703764915466, + 0.006895413156598806, + -0.05468723550438881 + ], + [ + 0.12048730254173279, + -0.006433387752622366, + 0.9926940202713013, + -0.06852870434522629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9928902983665466, + 0.005899191368371248, + -0.11888688802719116, + -0.1984897255897522 + ], + [ + -0.0050647989846765995, + 0.9999603629112244, + 0.007319290190935135, + -0.04904767870903015 + ], + [ + 0.11892536282539368, + -0.006665114313364029, + 0.9928808212280273, + -0.06331787258386612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9930081963539124, + 0.0072663226164877415, + -0.11782153695821762, + -0.2100297212600708 + ], + [ + -0.0066042267717421055, + 0.9999601244926453, + 0.006008932366967201, + -0.04272260516881943 + ], + [ + 0.11786050349473953, + -0.0051887985318899155, + 0.9930166006088257, + -0.06254909932613373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9934129118919373, + 0.011571774259209633, + -0.11400401592254639, + -0.22182674705982208 + ], + [ + -0.01056690327823162, + 0.9998998641967773, + 0.009414730593562126, + -0.04094979912042618 + ], + [ + 0.11410154402256012, + -0.00814804621040821, + 0.9934356808662415, + -0.04659492149949074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9932152628898621, + 0.014665169641375542, + -0.11536205559968948, + -0.23132313787937164 + ], + [ + -0.013468045741319656, + 0.9998471140861511, + 0.01114975567907095, + -0.03868917003273964 + ], + [ + 0.11550793796777725, + -0.00952040683478117, + 0.99326092004776, + -0.057199668139219284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9932880401611328, + 0.015775708481669426, + -0.11458612233400345, + -0.24032172560691833 + ], + [ + -0.014470522291958332, + 0.9998207092285156, + 0.012213376350700855, + -0.03683902695775032 + ], + [ + 0.11475824564695358, + -0.01047328021377325, + 0.9933382272720337, + -0.0578455775976181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9932069778442383, + 0.01807323284447193, + -0.11494898796081543, + -0.24897147715091705 + ], + [ + -0.016652198508381844, + 0.9997727274894714, + 0.013310663402080536, + -0.034144409000873566 + ], + [ + 0.11516343057155609, + -0.011306090280413628, + 0.9932821989059448, + -0.059485916048288345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9928529262542725, + 0.01824348233640194, + -0.11794166266918182, + -0.25918710231781006 + ], + [ + -0.016831854358315468, + 0.9997743964195251, + 0.012953964062035084, + -0.031691692769527435 + ], + [ + 0.11815138161182404, + -0.010876203887164593, + 0.9929360151290894, + -0.06485472619533539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9933094382286072, + 0.021204473450779915, + -0.11351996660232544, + -0.27256110310554504 + ], + [ + -0.019827144220471382, + 0.9997156262397766, + 0.013248386792838573, + -0.030926108360290527 + ], + [ + 0.11376860737800598, + -0.010908971540629864, + 0.9934473633766174, + -0.06758129596710205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9938482046127319, + 0.03586491197347641, + -0.10478276759386063, + -0.2837905287742615 + ], + [ + -0.03347736597061157, + 0.999140202999115, + 0.024456825107336044, + -0.034719742834568024 + ], + [ + 0.10556981712579727, + -0.020798519253730774, + 0.9941943883895874, + -0.03561268746852875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9939356446266174, + 0.034998804330825806, + -0.10424481332302094, + -0.2952137887477875 + ], + [ + -0.0330176055431366, + 0.9992409944534302, + 0.020671160891652107, + -0.0354958176612854 + ], + [ + 0.1048891544342041, + -0.01710388995707035, + 0.9943368434906006, + -0.05720587074756622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9952325820922852, + 0.022283431142568588, + -0.09495047479867935, + -0.3048831820487976 + ], + [ + -0.01989760622382164, + 0.9994639158248901, + 0.02600027248263359, + -0.043546032160520554 + ], + [ + 0.09547894448041916, + -0.02398703247308731, + 0.99514240026474, + -0.06282302737236023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9946903586387634, + 0.02808489464223385, + -0.09900665283203125, + -0.30263009667396545 + ], + [ + -0.025564825162291527, + 0.9993183612823486, + 0.0266311913728714, + -0.04398227110505104 + ], + [ + 0.09968709945678711, + -0.023958701640367508, + 0.9947303533554077, + -0.06746840476989746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9949796199798584, + 0.019916994497179985, + -0.09807608276605606, + -0.2978200912475586 + ], + [ + -0.0169504564255476, + 0.9993759989738464, + 0.030988262966275215, + -0.04906138777732849 + ], + [ + 0.0986320748925209, + -0.02917025424540043, + 0.994696319103241, + -0.062348540872335434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9944373965263367, + 0.02012706734240055, + -0.10338827222585678, + -0.28688743710517883 + ], + [ + -0.01702454872429371, + 0.9993804693222046, + 0.030803797766566277, + -0.049249302595853806 + ], + [ + 0.10394420474767685, + -0.028872309252619743, + 0.994163990020752, + -0.06589251011610031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9934733510017395, + 0.02524719387292862, + -0.11123543977737427, + -0.27493852376937866 + ], + [ + -0.02238023281097412, + 0.9993863105773926, + 0.02694767341017723, + -0.044467493891716 + ], + [ + 0.11184751987457275, + -0.024282321333885193, + 0.993428647518158, + -0.07524127513170242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9930144548416138, + 0.026521842926740646, + -0.11497350037097931, + -0.26293236017227173 + ], + [ + -0.02351594716310501, + 0.9993472695350647, + 0.027422450482845306, + -0.042914897203445435 + ], + [ + 0.11562575399875641, + -0.024527177214622498, + 0.9929899573326111, + -0.07761785387992859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9924052357673645, + 0.02515990659594536, + -0.12041106820106506, + -0.24612510204315186 + ], + [ + -0.02175479382276535, + 0.9993277192115784, + 0.029510753229260445, + -0.04132692143321037 + ], + [ + 0.12107260525226593, + -0.02666710875928402, + 0.9922853708267212, + -0.0726676806807518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9923263192176819, + 0.02479124814271927, + -0.12113559246063232, + -0.23340700566768646 + ], + [ + -0.02117912843823433, + 0.9992944598197937, + 0.03101605735719204, + -0.03717515990138054 + ], + [ + 0.12181904911994934, + -0.02821250446140766, + 0.9921512603759766, + -0.06439134478569031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9920835494995117, + 0.022380176931619644, + -0.12356916815042496, + -0.21939700841903687 + ], + [ + -0.018947362899780273, + 0.9994031190872192, + 0.028886251151561737, + -0.03454585745930672 + ], + [ + 0.12414189428091049, + -0.026316266506910324, + 0.9919154644012451, + -0.06843670457601547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9922812581062317, + 0.020047249272465706, + -0.12237676233053207, + -0.21191155910491943 + ], + [ + -0.017011811956763268, + 0.9995223879814148, + 0.025798799470067024, + -0.030305080115795135 + ], + [ + 0.12283550947904587, + -0.02351781539618969, + 0.9921483397483826, + -0.08014091849327087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9928100109100342, + 0.012904680334031582, + -0.11900295317173004, + -0.2059846967458725 + ], + [ + -0.010300095193088055, + 0.9996943473815918, + 0.022475900128483772, + -0.02492213435471058 + ], + [ + 0.11925661563873291, + -0.021088557317852974, + 0.9926394820213318, + -0.061335284262895584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9935962557792664, + 0.020664729177951813, + -0.11108306795358658, + -0.19581127166748047 + ], + [ + -0.019686654210090637, + 0.9997572302818298, + 0.009894650429487228, + 0.02462799660861492 + ], + [ + 0.11126057058572769, + -0.007644433528184891, + 0.9937618970870972, + 0.005716243758797646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9942190051078796, + 0.013682366348803043, + -0.10649557411670685, + -0.1932002454996109 + ], + [ + -0.013351223431527615, + 0.9999035596847534, + 0.0038218130357563496, + 0.03227555751800537 + ], + [ + 0.1065375953912735, + -0.0023778732866048813, + 0.9943058490753174, + 0.03320194408297539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9950547218322754, + 0.019083619117736816, + -0.09747787564992905, + -0.19796444475650787 + ], + [ + -0.018497522920370102, + 0.9998050332069397, + 0.006912839598953724, + 0.03420332074165344 + ], + [ + 0.09759079664945602, + -0.005075554363429546, + 0.9952136874198914, + 0.06785185635089874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9946458339691162, + 0.017915215343236923, + -0.1017778068780899, + -0.1921486109495163 + ], + [ + -0.017567895352840424, + 0.9998363852500916, + 0.004307905212044716, + 0.04358232021331787 + ], + [ + 0.10183833539485931, + -0.002496818546205759, + 0.9947978258132935, + 0.04210168868303299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9944194555282593, + 0.02022327296435833, + -0.10354237258434296, + -0.18518002331256866 + ], + [ + -0.020202593877911568, + 0.999795138835907, + 0.0012485581682994962, + 0.05766109377145767 + ], + [ + 0.10354641079902649, + 0.0008502340642735362, + 0.9946242570877075, + 0.033219438046216965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9945304989814758, + 0.02305944450199604, + -0.10186926275491714, + -0.18123862147331238 + ], + [ + -0.02217739261686802, + 0.9997062087059021, + 0.009782880544662476, + 0.0424409955739975 + ], + [ + 0.10206491500139236, + -0.007470178883522749, + 0.9947496652603149, + 0.03920186683535576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9942171573638916, + 0.014444018714129925, + -0.10641220211982727, + -0.1716773957014084 + ], + [ + -0.014387913979589939, + 0.9998956322669983, + 0.0012949600350111723, + 0.054135579615831375 + ], + [ + 0.10641980171203613, + 0.00024357804795727134, + 0.9943212866783142, + 0.020991062745451927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9946256279945374, + 0.01696351170539856, + -0.10213781148195267, + -0.17210333049297333 + ], + [ + -0.016582518815994263, + 0.9998520016670227, + 0.0045781806111335754, + 0.04928355664014816 + ], + [ + 0.10220035165548325, + -0.0028598736971616745, + 0.994759738445282, + 0.0369839146733284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9946163296699524, + 0.015923423692584038, + -0.10239560157060623, + -0.1690608114004135 + ], + [ + -0.01568802259862423, + 0.999872088432312, + 0.0031039013992995024, + 0.054273031651973724 + ], + [ + 0.10243193060159683, + -0.001480806851759553, + 0.9947389364242554, + 0.033329933881759644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9947681427001953, + 0.01422614324837923, + -0.10116278380155563, + -0.16831587255001068 + ], + [ + -0.01417273748666048, + 0.9998987913131714, + 0.0012466523330658674, + 0.05838409811258316 + ], + [ + 0.10117027908563614, + 0.00019362347666174173, + 0.9948691129684448, + 0.030288903042674065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9949952363967896, + 0.01861332170665264, + -0.09817326813936234, + -0.16838352382183075 + ], + [ + -0.018187785521149635, + 0.9998209476470947, + 0.005227767396718264, + 0.056910257786512375 + ], + [ + 0.09825298935174942, + -0.003416049759835005, + 0.9951556324958801, + 0.037536364048719406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9952532649040222, + 0.015842288732528687, + -0.09602067619562149, + -0.16707617044448853 + ], + [ + -0.015520483255386353, + 0.9998711347579956, + 0.004097406752407551, + 0.05860346183180809 + ], + [ + 0.096073217689991, + -0.002587670460343361, + 0.9953709244728088, + 0.03667835146188736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9954195618629456, + 0.01510812807828188, + -0.09440119564533234, + -0.16440583765506744 + ], + [ + -0.014936831779778004, + 0.9998852610588074, + 0.002520930487662554, + 0.06324601918458939 + ], + [ + 0.09442844986915588, + -0.001099328976124525, + 0.9955310225486755, + 0.03817644342780113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9955585598945618, + 0.015541225671768188, + -0.09285259246826172, + -0.1633928418159485 + ], + [ + -0.01538245938718319, + 0.9998787641525269, + 0.0024253693409264088, + 0.06512971967458725 + ], + [ + 0.0928790271282196, + -0.0009862962178885937, + 0.9956769347190857, + 0.03816037252545357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9957451820373535, + 0.016847755759954453, + -0.09059640020132065, + -0.16339144110679626 + ], + [ + -0.016652807593345642, + 0.9998571276664734, + 0.0029073581099510193, + 0.06646914035081863 + ], + [ + 0.09063243120908737, + -0.0013863035710528493, + 0.9958834648132324, + 0.04202290624380112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9958940148353577, + 0.016624007374048233, + -0.08898746222257614, + -0.16216617822647095 + ], + [ + -0.016437146812677383, + 0.9998608827590942, + 0.00283231632784009, + 0.0677664503455162 + ], + [ + 0.08902216702699661, + -0.0013579874066635966, + 0.99602872133255, + 0.041008736938238144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9959496855735779, + 0.01695217750966549, + -0.0882997140288353, + -0.1586848497390747 + ], + [ + -0.016644613817334175, + 0.9998525977134705, + 0.00421835808083415, + 0.06530025601387024 + ], + [ + 0.08835820108652115, + -0.002731557935476303, + 0.9960850477218628, + 0.04441811889410019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9959126114845276, + 0.013698362745344639, + -0.08927696198225021, + -0.15312741696834564 + ], + [ + -0.013527334667742252, + 0.9999053478240967, + 0.0025205041747540236, + 0.06604752689599991 + ], + [ + 0.08930303901433945, + -0.0013025228399783373, + 0.9960036277770996, + 0.040550749748945236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9958646297454834, + 0.011794793419539928, + -0.09008052945137024, + -0.14855825901031494 + ], + [ + -0.011653958819806576, + 0.9999299049377441, + 0.0020892489701509476, + 0.06611558049917221 + ], + [ + 0.09009885787963867, + -0.0010308142518624663, + 0.9959322810173035, + 0.038136303424835205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9959360957145691, + 0.011463133618235588, + -0.0893300473690033, + -0.14731688797473907 + ], + [ + -0.011309400200843811, + 0.9999335408210754, + 0.002226929645985365, + 0.066007100045681 + ], + [ + 0.0893496423959732, + -0.0012076104758307338, + 0.9959995746612549, + 0.03757523372769356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9958791732788086, + 0.011566673405468464, + -0.08994904905557632, + -0.14229480922222137 + ], + [ + -0.011366567574441433, + 0.9999316334724426, + 0.002736593596637249, + 0.06585629284381866 + ], + [ + 0.08997455984354019, + -0.0017029047012329102, + 0.9959425926208496, + 0.03601422533392906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9965335726737976, + 0.01979604735970497, + -0.080802321434021, + -0.1589018553495407 + ], + [ + -0.01932418718934059, + 0.9997913837432861, + 0.006617577746510506, + 0.06846828013658524 + ], + [ + 0.08091646432876587, + -0.005033198744058609, + 0.9967081546783447, + 0.04974338412284851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9965062737464905, + 0.020632188767194748, + -0.08092904835939407, + -0.15660515427589417 + ], + [ + -0.01988305151462555, + 0.9997518062591553, + 0.010051790624856949, + 0.061262983828783035 + ], + [ + 0.08111635595560074, + -0.008407555520534515, + 0.9966691732406616, + 0.044342830777168274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9965483546257019, + 0.017819412052631378, + -0.08107908070087433, + -0.15367597341537476 + ], + [ + -0.017160259187221527, + 0.9998138546943665, + 0.008819364942610264, + 0.06080213189125061 + ], + [ + 0.08122114837169647, + -0.0073975855484604836, + 0.9966686367988586, + 0.041098702698946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9966121912002563, + 0.017840994521975517, + -0.08028606325387955, + -0.15214207768440247 + ], + [ + -0.01714789681136608, + 0.9998095631599426, + 0.009314112365245819, + 0.06075364723801613 + ], + [ + 0.08043695241212845, + -0.00790582038462162, + 0.9967283606529236, + 0.041580524295568466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9967845678329468, + 0.016843946650624275, + -0.07833774387836456, + -0.1524645835161209 + ], + [ + -0.016316348686814308, + 0.999839723110199, + 0.007370145060122013, + 0.06508445739746094 + ], + [ + 0.0784493237733841, + -0.006068261340260506, + 0.9968996047973633, + 0.04544775187969208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9968114495277405, + 0.021736696362495422, + -0.07677500694990158, + -0.15267719328403473 + ], + [ + -0.02087249979376793, + 0.9997096657752991, + 0.012040856294333935, + 0.060107577592134476 + ], + [ + 0.07701443880796432, + -0.010399977676570415, + 0.9969757199287415, + 0.04533325880765915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.996864378452301, + 0.016162043437361717, + -0.07746078819036484, + -0.14743122458457947 + ], + [ + -0.015681086108088493, + 0.9998538494110107, + 0.006813297048211098, + 0.06639065593481064 + ], + [ + 0.07755958288908005, + -0.005577264353632927, + 0.9969721436500549, + 0.04233637452125549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9968461990356445, + 0.01647915691137314, + -0.07762819528579712, + -0.14338143169879913 + ], + [ + -0.01590864732861519, + 0.9998417496681213, + 0.007961971685290337, + 0.06378772109746933 + ], + [ + 0.07774712145328522, + -0.006701902020722628, + 0.9969505667686462, + 0.04408484324812889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.997064471244812, + 0.021117670461535454, + -0.07359712570905685, + -0.15033812820911407 + ], + [ + -0.020262377336621284, + 0.999718427658081, + 0.012348704040050507, + 0.060490723699331284 + ], + [ + 0.07383718341588974, + -0.010821200907230377, + 0.9972115755081177, + 0.04799504205584526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9970395565032959, + 0.016500312834978104, + -0.07509934902191162, + -0.14438867568969727 + ], + [ + -0.01588905230164528, + 0.9998356699943542, + 0.008729587309062481, + 0.06516732275485992 + ], + [ + 0.07523104548454285, + -0.0075104860588908195, + 0.9971378445625305, + 0.04516734182834625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.997036337852478, + 0.015346040017902851, + -0.0753859281539917, + -0.1446755826473236 + ], + [ + -0.014478717930614948, + 0.999822735786438, + 0.012038211338222027, + 0.055585749447345734 + ], + [ + 0.07555730640888214, + -0.010911042802035809, + 0.9970817565917969, + 0.035023584961891174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.997204601764679, + 0.018176307901740074, + -0.07247501611709595, + -0.1452394276857376 + ], + [ + -0.017430609092116356, + 0.9997885823249817, + 0.010908323340117931, + 0.06347544491291046 + ], + [ + 0.07265797257423401, + -0.009614546783268452, + 0.9973105788230896, + 0.048306871205568314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9971070289611816, + 0.015908166766166687, + -0.07432664930820465, + -0.13770687580108643 + ], + [ + -0.015167475678026676, + 0.9998296499252319, + 0.01051922794431448, + 0.06223418563604355 + ], + [ + 0.07448132336139679, + -0.0093614486977458, + 0.9971784949302673, + 0.04412180930376053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9973818063735962, + 0.023457694798707962, + -0.0684051662683487, + -0.1480201631784439 + ], + [ + -0.022286031395196915, + 0.9995924234390259, + 0.017841512337327003, + 0.05583975091576576 + ], + [ + 0.06879580020904541, + -0.016270318999886513, + 0.997498095035553, + 0.05118682608008385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.997377336025238, + 0.024339638650417328, + -0.0681614801287651, + -0.14567428827285767 + ], + [ + -0.0231335312128067, + 0.9995625019073486, + 0.01842876523733139, + 0.055370599031448364 + ], + [ + 0.06858020275831223, + -0.016803618520498276, + 0.9975040555000305, + 0.04825710505247116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9973924160003662, + 0.023590322583913803, + -0.06820439547300339, + -0.1438928097486496 + ], + [ + -0.022321626543998718, + 0.9995644688606262, + 0.019304150715470314, + 0.05218028649687767 + ], + [ + 0.06863007694482803, + -0.017731381580233574, + 0.997484564781189, + 0.046609628945589066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9978054761886597, + 0.025309337303042412, + -0.061185870319604874, + -0.1575898975133896 + ], + [ + -0.024268465116620064, + 0.9995488524436951, + 0.017695436254143715, + 0.056145571172237396 + ], + [ + 0.06160612776875496, + -0.016171714290976524, + 0.9979695081710815, + 0.053176864981651306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9975317716598511, + 0.023455826565623283, + -0.06618264317512512, + -0.14199499785900116 + ], + [ + -0.022049827501177788, + 0.9995170831680298, + 0.021895399317145348, + 0.04569404572248459 + ], + [ + 0.06666426360607147, + -0.020382041111588478, + 0.9975672364234924, + 0.04041682556271553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9975511431694031, + 0.015440588817000389, + -0.06821534782648087, + -0.12995508313179016 + ], + [ + -0.01450423151254654, + 0.9997939467430115, + 0.014200546778738499, + 0.05690385773777962 + ], + [ + 0.06842055171728134, + -0.013176360167562962, + 0.9975695610046387, + 0.04297851398587227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9977785348892212, + 0.02272852323949337, + -0.06262128800153732, + -0.14314004778862 + ], + [ + -0.021499028429389, + 0.999563992023468, + 0.02023824118077755, + 0.05232895538210869 + ], + [ + 0.06305397301912308, + -0.018846986815333366, + 0.9978321194648743, + 0.047888632863759995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9980905055999756, + 0.023285837844014168, + -0.05721140280365944, + -0.1513330638408661 + ], + [ + -0.021970441564917564, + 0.9994820356369019, + 0.023514362052083015, + 0.047523241490125656 + ], + [ + 0.057729322463274, + -0.022212499752640724, + 0.9980851411819458, + 0.05857133865356445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9946548938751221, + 0.039727769792079926, + -0.09530650079250336, + -0.20126067101955414 + ], + [ + -0.04139016568660736, + 0.999022364616394, + -0.015528826043009758, + 0.04106013849377632 + ], + [ + 0.09459640085697174, + 0.019390573725104332, + 0.995326817035675, + 0.04673970118165016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9946045279502869, + 0.039806924760341644, + -0.09579773247241974, + -0.20168021321296692 + ], + [ + -0.04132373631000519, + 0.9990491271018982, + -0.013901187106966972, + 0.03989524021744728 + ], + [ + 0.09515327215194702, + 0.017784902825951576, + 0.995303750038147, + 0.04570288956165314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9945985078811646, + 0.03973943740129471, + -0.09588811546564102, + -0.20280009508132935 + ], + [ + -0.04118870198726654, + 0.9990644454956055, + -0.013181641697883606, + 0.04084504768252373 + ], + [ + 0.09527457505464554, + 0.017059948295354843, + 0.9953048229217529, + 0.04509707912802696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9946054816246033, + 0.03978746011853218, + -0.09579590708017349, + -0.20359304547309875 + ], + [ + -0.04125744476914406, + 0.9990585446357727, + -0.013412689790129662, + 0.04436672851443291 + ], + [ + 0.09517205506563187, + 0.017292629927396774, + 0.9953106045722961, + 0.04764242470264435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9945728778839111, + 0.038458481431007385, + -0.09667355567216873, + -0.20289593935012817 + ], + [ + -0.04010387510061264, + 0.9990808963775635, + -0.015134318731725216, + 0.0487627275288105 + ], + [ + 0.09600266069173813, + 0.018929166719317436, + 0.995201051235199, + 0.04789379984140396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9946970343589783, + 0.03972727805376053, + -0.09486575424671173, + -0.20926342904567719 + ], + [ + -0.04122079908847809, + 0.9990542531013489, + -0.013835319317877293, + 0.05036845803260803 + ], + [ + 0.09422639012336731, + 0.01767239347100258, + 0.9953939318656921, + 0.04741149768233299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9945297837257385, + 0.03905880078673363, + -0.09687553346157074, + -0.20742937922477722 + ], + [ + -0.04062054678797722, + 0.9990737438201904, + -0.014200970530509949, + 0.054277580231428146 + ], + [ + 0.0962311327457428, + 0.018058426678180695, + 0.995195209980011, + 0.05149383470416069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9944732785224915, + 0.0389300175011158, + -0.09750551730394363, + -0.2085099220275879 + ], + [ + -0.04028015211224556, + 0.999117374420166, + -0.011916047893464565, + 0.05236811563372612 + ], + [ + 0.0969555601477623, + 0.015777727589011192, + 0.99516361951828, + 0.050403766334056854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9944483637809753, + 0.04014831408858299, + -0.09726545214653015, + -0.21146880090236664 + ], + [ + -0.0413333885371685, + 0.9990933537483215, + -0.010198928415775299, + 0.05358376353979111 + ], + [ + 0.09676779806613922, + 0.014162618666887283, + 0.9952062368392944, + 0.053259365260601044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9944525361061096, + 0.03874902427196503, + -0.09778892993927002, + -0.2132187932729721 + ], + [ + -0.04001564532518387, + 0.9991382360458374, + -0.011024068109691143, + 0.05615617334842682 + ], + [ + 0.09727749228477478, + 0.01487599965184927, + 0.9951460957527161, + 0.053095538169145584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9945011138916016, + 0.04093387722969055, + -0.09639488905668259, + -0.21937623620033264 + ], + [ + -0.042136311531066895, + 0.9990569949150085, + -0.010470818728208542, + 0.0596592016518116 + ], + [ + 0.09587537497282028, + 0.014474965631961823, + 0.995288074016571, + 0.05788923799991608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9942319989204407, + 0.039773277938365936, + -0.09960360825061798, + -0.21979734301567078 + ], + [ + -0.04110310971736908, + 0.9990906119346619, + -0.01133408211171627, + 0.061749864369630814 + ], + [ + 0.0990622341632843, + 0.015362724661827087, + 0.9949626326560974, + 0.05331016704440117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.994101345539093, + 0.04117410257458687, + -0.10033561289310455, + -0.22351211309432983 + ], + [ + -0.042462121695280075, + 0.999040424823761, + -0.010734586976468563, + 0.0642857775092125 + ], + [ + 0.0997973382472992, + 0.01493172999471426, + 0.9948957562446594, + 0.05431373789906502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9938545823097229, + 0.043411266058683395, + -0.10182585567235947, + -0.2247970849275589 + ], + [ + -0.04468996450304985, + 0.9989477396011353, + -0.010309208184480667, + 0.0688358023762703 + ], + [ + 0.10127117484807968, + 0.01479644700884819, + 0.9947488307952881, + 0.05968238413333893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9937043786048889, + 0.04401043429970741, + -0.10302768647670746, + -0.22739234566688538 + ], + [ + -0.04527400806546211, + 0.998924970626831, + -0.00995713472366333, + 0.07102573662996292 + ], + [ + 0.10247871279716492, + 0.014558924362063408, + 0.9946286678314209, + 0.05848105624318123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9935451745986938, + 0.04621761664748192, + -0.1035948395729065, + -0.231333926320076 + ], + [ + -0.04733210429549217, + 0.9988445043563843, + -0.00832449272274971, + 0.07288184762001038 + ], + [ + 0.10309040546417236, + 0.013174120336771011, + 0.9945847392082214, + 0.06055758148431778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9934014081954956, + 0.04876402020454407, + -0.1038062795996666, + -0.23414117097854614 + ], + [ + -0.04985944926738739, + 0.9987243413925171, + -0.007982466369867325, + 0.07851807028055191 + ], + [ + 0.10328460484743118, + 0.013105517253279686, + 0.994565486907959, + 0.06411797553300858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9931538701057434, + 0.04845524951815605, + -0.1062898188829422, + -0.23518213629722595 + ], + [ + -0.0495990626513958, + 0.9987360239028931, + -0.00814279355108738, + 0.08029366284608841 + ], + [ + 0.10576090216636658, + 0.013358920812606812, + 0.9943018555641174, + 0.06123208627104759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.993095874786377, + 0.05263610556721687, + -0.10483326017856598, + -0.2448844164609909 + ], + [ + -0.05364173278212547, + 0.9985371232032776, + -0.006794390268623829, + 0.08494514971971512 + ], + [ + 0.10432226955890656, + 0.01237091887742281, + 0.9944666028022766, + 0.0631021037697792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9928365349769592, + 0.050890304148197174, + -0.1081007570028305, + -0.24462081491947174 + ], + [ + -0.052018798887729645, + 0.9986168742179871, + -0.007643335498869419, + 0.08830776810646057 + ], + [ + 0.10756227374076843, + 0.013211854733526707, + 0.9941105842590332, + 0.062365006655454636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.992465615272522, + 0.04960649460554123, + -0.11203228682279587, + -0.2445894181728363 + ], + [ + -0.05063933879137039, + 0.9986965656280518, + -0.006390697322785854, + 0.09217077493667603 + ], + [ + 0.11156923323869705, + 0.012015786953270435, + 0.9936839938163757, + 0.060133177787065506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9921673536300659, + 0.047976501286029816, + -0.11533529311418533, + -0.2461927980184555 + ], + [ + -0.049125783145427704, + 0.998767077922821, + -0.007141312584280968, + 0.10055223852396011 + ], + [ + 0.1148504838347435, + 0.012751312926411629, + 0.9933009743690491, + 0.05880364775657654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9919195175170898, + 0.04764078930020332, + -0.11758407950401306, + -0.2503463923931122 + ], + [ + -0.048521120101213455, + 0.9988114237785339, + -0.004633978940546513, + 0.1054137796163559 + ], + [ + 0.11722356081008911, + 0.010301846079528332, + 0.9930521249771118, + 0.06066734343767166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9911925196647644, + 0.045752160251140594, + -0.12427420914173126, + -0.24566036462783813 + ], + [ + -0.0461127907037735, + 0.9989362359046936, + -2.544233575463295e-05, + 0.1060284897685051 + ], + [ + 0.12414084374904633, + 0.005755848251283169, + 0.9922479391098022, + 0.059223420917987823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9906643033027649, + 0.04561739042401314, + -0.1284652054309845, + -0.24594391882419586 + ], + [ + -0.04537003114819527, + 0.9989584684371948, + 0.004852726589888334, + 0.10732006281614304 + ], + [ + 0.12855276465415955, + 0.0010210474720224738, + 0.991702139377594, + 0.05791130289435387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9908685088157654, + 0.04998753219842911, + -0.12522296607494354, + -0.2598174512386322 + ], + [ + -0.04914408177137375, + 0.99874347448349, + 0.009817632846534252, + 0.11392336338758469 + ], + [ + 0.1255563646554947, + -0.0035740165039896965, + 0.99208003282547, + 0.06614687293767929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9904139637947083, + 0.049922775477170944, + -0.12879416346549988, + -0.2633908689022064 + ], + [ + -0.04859558120369911, + 0.9987282752990723, + 0.013428769074380398, + 0.11924319714307785 + ], + [ + 0.1293007731437683, + -0.0070412131026387215, + 0.9915804266929626, + 0.06264248490333557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9903194308280945, + 0.051056139171123505, + -0.12907621264457703, + -0.26779603958129883 + ], + [ + -0.04996834695339203, + 0.9986827969551086, + 0.011654038913547993, + 0.13848602771759033 + ], + [ + 0.12950119376182556, + -0.005091496743261814, + 0.9915661811828613, + 0.07033254951238632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9898748397827148, + 0.05325969308614731, + -0.13157226145267487, + -0.273282915353775 + ], + [ + -0.05132486671209335, + 0.9985187649726868, + 0.018055567517876625, + 0.14051949977874756 + ], + [ + 0.1323390156030655, + -0.011119823902845383, + 0.9911421537399292, + 0.06656745076179504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9894037246704102, + 0.04670748859643936, + -0.13747252523899078, + -0.26473498344421387 + ], + [ + -0.04575568437576294, + 0.9989018440246582, + 0.01007731445133686, + 0.1628766804933548 + ], + [ + 0.13779224455356598, + -0.0036803828552365303, + 0.9904543161392212, + 0.07236504554748535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9890732169151306, + 0.05269836261868477, + -0.13768470287322998, + -0.2731633186340332 + ], + [ + -0.05036573484539986, + 0.9985229969024658, + 0.020373553037643433, + 0.1619063913822174 + ], + [ + 0.13855499029159546, + -0.013216343708336353, + 0.9902665615081787, + 0.07784882932901382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9886603951454163, + 0.043121498078107834, + -0.1438443958759308, + -0.26692673563957214 + ], + [ + -0.04151264205574989, + 0.999037504196167, + 0.014168722555041313, + 0.17558470368385315 + ], + [ + 0.1443169116973877, + -0.008036693558096886, + 0.9894988536834717, + 0.07740486413240433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9879354238510132, + 0.03897721320390701, + -0.1498812884092331, + -0.26686331629753113 + ], + [ + -0.03735818713903427, + 0.9992093443870544, + 0.013603542000055313, + 0.18282252550125122 + ], + [ + 0.1502930074930191, + -0.007840128615498543, + 0.9886103868484497, + 0.06651782989501953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9876646399497986, + 0.03972150757908821, + -0.15146197378635406, + -0.26990294456481934 + ], + [ + -0.03785310313105583, + 0.9991676807403564, + 0.01520034484565258, + 0.19262556731700897 + ], + [ + 0.15193970501422882, + -0.009279537945985794, + 0.9883462190628052, + 0.07702936977148056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9877361059188843, + 0.03928206488490105, + -0.15111039578914642, + -0.27694156765937805 + ], + [ + -0.03744402155280113, + 0.9991862773895264, + 0.014990963973104954, + 0.20330718159675598 + ], + [ + 0.15157629549503326, + -0.009148935787379742, + 0.9884032011032104, + 0.0867210328578949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9871538877487183, + 0.04029477760195732, + -0.15460774302482605, + -0.2795126438140869 + ], + [ + -0.037817541509866714, + 0.9991053342819214, + 0.01893174648284912, + 0.2064286470413208 + ], + [ + 0.1552322804927826, + -0.0128416633233428, + 0.9877945184707642, + 0.08749684691429138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9864243865013123, + 0.03630470484495163, + -0.1601525992155075, + -0.2782211899757385 + ], + [ + -0.034228190779685974, + 0.9992906451225281, + 0.01570644974708557, + 0.21865056455135345 + ], + [ + 0.1606092005968094, + -0.010011491365730762, + 0.9869673252105713, + 0.08862879872322083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.986010730266571, + 0.036110181361436844, + -0.16272327303886414, + -0.28312113881111145 + ], + [ + -0.03331797197461128, + 0.9992475509643555, + 0.019856592640280724, + 0.22069454193115234 + ], + [ + 0.16331785917282104, + -0.014157203957438469, + 0.986471951007843, + 0.09000083804130554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9860256314277649, + 0.03614966571331024, + -0.16262421011924744, + -0.2885102331638336 + ], + [ + -0.032949648797512054, + 0.9992074966430664, + 0.022332563996315002, + 0.22676001489162445 + ], + [ + 0.16330263018608093, + -0.016662072390317917, + 0.9864352941513062, + 0.09812667965888977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9855204224586487, + 0.035859305411577225, + -0.16572143137454987, + -0.290265828371048 + ], + [ + -0.03250085189938545, + 0.9992085695266724, + 0.02293410710990429, + 0.23516038060188293 + ], + [ + 0.16641266644001007, + -0.017215942963957787, + 0.9859058856964111, + 0.10401804000139236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9846513867378235, + 0.03125649318099022, + -0.17171114683151245, + -0.28859516978263855 + ], + [ + -0.02798687107861042, + 0.9993785619735718, + 0.02142992615699768, + 0.24261979758739471 + ], + [ + 0.17227426171302795, + -0.01629534736275673, + 0.984914243221283, + 0.0978846326470375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.985007107257843, + 0.03484990447759628, + -0.16895712912082672, + -0.2968321144580841 + ], + [ + -0.03065349906682968, + 0.9991549253463745, + 0.02738291025161743, + 0.2442805916070938 + ], + [ + 0.16976864635944366, + -0.02179323509335518, + 0.9852429628372192, + 0.11710289865732193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9843167662620544, + 0.039446212351322174, + -0.17194333672523499, + -0.300184428691864 + ], + [ + -0.03456167131662369, + 0.99891197681427, + 0.03131066635251045, + 0.24934452772140503 + ], + [ + 0.1729913353919983, + -0.02487696334719658, + 0.9846091270446777, + 0.1140206977725029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9836912751197815, + 0.04000692069530487, + -0.17535947263240814, + -0.30017194151878357 + ], + [ + -0.03435441851615906, + 0.9987912774085999, + 0.035153042525053024, + 0.25005868077278137 + ], + [ + 0.1765538901090622, + -0.02855536714196205, + 0.9838767051696777, + 0.1136508584022522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9840283393859863, + 0.040694382041692734, + -0.17329806089401245, + -0.30607420206069946 + ], + [ + -0.03497931733727455, + 0.9987427592277527, + 0.03590680658817291, + 0.2572982609272003 + ], + [ + 0.1745413839817047, + -0.02927146852016449, + 0.9842146635055542, + 0.13051141798496246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9835222959518433, + 0.03956824913620949, + -0.1764037162065506, + -0.30814263224601746 + ], + [ + -0.03350288048386574, + 0.9987449049949646, + 0.03723142296075821, + 0.2603203058242798 + ], + [ + 0.17765550315380096, + -0.03070790320634842, + 0.9836134910583496, + 0.12875452637672424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.984245777130127, + 0.036179088056087494, + -0.17306450009346008, + -0.3161739110946655 + ], + [ + -0.03082851879298687, + 0.998962938785553, + 0.03350617364048958, + 0.26748213171958923 + ], + [ + 0.1740972399711609, + -0.02764298766851425, + 0.9843403697013855, + 0.1348748803138733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9832988977432251, + 0.039637189358472824, + -0.17762930691242218, + -0.31129512190818787 + ], + [ + -0.033830676227808, + 0.9987933039665222, + 0.03560049086809158, + 0.268294095993042 + ], + [ + 0.17882607877254486, + -0.028996603563427925, + 0.9834533333778381, + 0.1377708464860916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9838452935218811, + 0.039371855556964874, + -0.17463745176792145, + -0.3190973401069641 + ], + [ + -0.03354644775390625, + 0.9987818598747253, + 0.03618570417165756, + 0.26981937885284424 + ], + [ + 0.17584942281246185, + -0.02974267117679119, + 0.983967661857605, + 0.14676740765571594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9833954572677612, + 0.036547139286994934, + -0.1777573823928833, + -0.31862884759902954 + ], + [ + -0.03167446702718735, + 0.9990426898002625, + 0.030173849314451218, + 0.2783723473548889 + ], + [ + 0.17868998646736145, + -0.024042457342147827, + 0.9836116433143616, + 0.1464928835630417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9831177592277527, + 0.040422290563583374, + -0.17845310270786285, + -0.3211212158203125 + ], + [ + -0.034584179520606995, + 0.9987637400627136, + 0.03570682927966118, + 0.27280309796333313 + ], + [ + 0.17967583239078522, + -0.028932364657521248, + 0.9833003282546997, + 0.1443869024515152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9833177924156189, + 0.03684435784816742, + -0.17812539637088776, + -0.3222196698188782 + ], + [ + -0.03191686421632767, + 0.9990265369415283, + 0.030450869351625443, + 0.27923986315727234 + ], + [ + 0.17907394468784332, + -0.024257678538560867, + 0.9835365414619446, + 0.15175621211528778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9827612042427063, + 0.038814742118120193, + -0.18075890839099884, + -0.3225708603858948 + ], + [ + -0.03342975303530693, + 0.9989045262336731, + 0.03274393454194069, + 0.27794092893600464 + ], + [ + 0.18183185160160065, + -0.026136742904782295, + 0.9829822182655334, + 0.15169215202331543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9812502861022949, + 0.036835409700870514, + -0.1891852170228958, + -0.3148304522037506 + ], + [ + -0.031185925006866455, + 0.9989767670631409, + 0.032753728330135345, + 0.2772037088871002 + ], + [ + 0.1901981383562088, + -0.02623968943953514, + 0.9813950061798096, + 0.14299307763576508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9813196659088135, + 0.03504137322306633, + -0.18916600942611694, + -0.31805434823036194 + ], + [ + -0.029543237760663033, + 0.9990572929382324, + 0.03180793300271034, + 0.2795526087284088 + ], + [ + 0.19010227918624878, + -0.02562517672777176, + 0.9814298152923584, + 0.1473274677991867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9819334745407104, + 0.030313855037093163, + -0.1867826282978058, + -0.32610023021698 + ], + [ + -0.02600204013288021, + 0.9993367791175842, + 0.02549208328127861, + 0.2892083525657654 + ], + [ + 0.18743151426315308, + -0.020174801349639893, + 0.9820704460144043, + 0.15660406649112701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9819741249084473, + 0.03294249624013901, + -0.18612243235111237, + -0.32936185598373413 + ], + [ + -0.027720853686332703, + 0.9991475939750671, + 0.030588757246732712, + 0.2861802577972412 + ], + [ + 0.18697144091129303, + -0.024877898395061493, + 0.9820502996444702, + 0.16327255964279175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9818066358566284, + 0.03714270144701004, + -0.18621531128883362, + -0.3324925899505615 + ], + [ + -0.030587561428546906, + 0.9988112449645996, + 0.037953250110149384, + 0.27962344884872437 + ], + [ + 0.18740364909172058, + -0.03156688064336777, + 0.9817756414413452, + 0.16583169996738434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9814580082893372, + 0.03658453747630119, + -0.18815356492996216, + -0.33447858691215515 + ], + [ + -0.030216116458177567, + 0.9988728761672974, + 0.03660549223423004, + 0.28329363465309143 + ], + [ + 0.1892806887626648, + -0.030241481959819794, + 0.9814572334289551, + 0.16530384123325348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9809152483940125, + 0.038246944546699524, + -0.19063688814640045, + -0.33439692854881287 + ], + [ + -0.031209716573357582, + 0.9987208247184753, + 0.0397820919752121, + 0.2814171314239502 + ], + [ + 0.19191457331180573, + -0.03307313472032547, + 0.9808542132377625, + 0.16906362771987915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.981278657913208, + 0.04430675506591797, + -0.1874275505542755, + -0.34557798504829407 + ], + [ + -0.036954790353775024, + 0.9984110593795776, + 0.0425412580370903, + 0.28457844257354736 + ], + [ + 0.18901461362838745, + -0.034818485379219055, + 0.9813567996025085, + 0.17251165211200714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9798880815505981, + 0.03704782947897911, + -0.19607873260974884, + -0.335170179605484 + ], + [ + -0.030533496290445328, + 0.9988800287246704, + 0.036143288016319275, + 0.2896607518196106 + ], + [ + 0.19719816744327545, + -0.02942940592765808, + 0.979921817779541, + 0.16723474860191345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9813386797904968, + 0.04823989421129227, + -0.1861378699541092, + -0.3548829257488251 + ], + [ + -0.04032207280397415, + 0.9981229901313782, + 0.046093448996543884, + 0.28469327092170715 + ], + [ + 0.1880120187997818, + -0.03772781789302826, + 0.981441855430603, + 0.18057608604431152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9813615083694458, + 0.04768792912364006, + -0.18615961074829102, + -0.35683590173721313 + ], + [ + -0.040376562625169754, + 0.9982643127441406, + 0.04287264496088028, + 0.2910008430480957 + ], + [ + 0.1878809928894043, + -0.03455708175897598, + 0.9815837144851685, + 0.18945299088954926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9782460331916809, + 0.0362817719578743, + -0.2042505443096161, + -0.35009822249412537 + ], + [ + -0.02979928068816662, + 0.9989525079727173, + 0.03472568094730377, + 0.3085037171840668 + ], + [ + 0.20529651641845703, + -0.0278837401419878, + 0.978302538394928, + 0.21428954601287842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9768620133399963, + 0.03369762375950813, + -0.21119923889636993, + -0.3467966318130493 + ], + [ + -0.02592857927083969, + 0.9988851547241211, + 0.03944811224937439, + 0.30907776951789856 + ], + [ + 0.2122931033372879, + -0.033059269189834595, + 0.9766466617584229, + 0.2300824224948883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9721911549568176, + 0.03843916580080986, + -0.23101243376731873, + -0.32892683148384094 + ], + [ + -0.02466186322271824, + 0.997756838798523, + 0.062234293669462204, + 0.28658702969551086 + ], + [ + 0.23288646340370178, + -0.054806437343358994, + 0.9709583520889282, + 0.2279919981956482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9801905155181885, + 0.05378718674182892, + -0.19061337411403656, + -0.36890000104904175 + ], + [ + -0.0450008362531662, + 0.9977283477783203, + 0.05013084411621094, + 0.29541656374931335 + ], + [ + 0.19287677109241486, + -0.04056002199649811, + 0.980384349822998, + 0.2057652473449707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9796887040138245, + 0.051700081676244736, + -0.19374513626098633, + -0.36957311630249023 + ], + [ + -0.04271036013960838, + 0.9978207349777222, + 0.05029575526714325, + 0.29563596844673157 + ], + [ + 0.19592320919036865, + -0.04099925607442856, + 0.9797617793083191, + 0.2047765851020813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9806210994720459, + 0.05302557349205017, + -0.18860165774822235, + -0.38045400381088257 + ], + [ + -0.04425550997257233, + 0.9977473616600037, + 0.05041441321372986, + 0.3006594181060791 + ], + [ + 0.19085006415843964, + -0.041090771555900574, + 0.980758786201477, + 0.21475915610790253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9814570546150208, + 0.051852207630872726, + -0.18453557789325714, + -0.38893187046051025 + ], + [ + -0.043721120804548264, + 0.9978964924812317, + 0.04786466807126999, + 0.3064061403274536 + ], + [ + 0.1866293102502823, + -0.03890901803970337, + 0.9816595911979675, + 0.2198943942785263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9810110330581665, + 0.04894094169139862, + -0.18767571449279785, + -0.38957029581069946 + ], + [ + -0.04083140939474106, + 0.9980676174163818, + 0.046837735921144485, + 0.30914366245269775 + ], + [ + 0.18960535526275635, + -0.0382852740585804, + 0.9811136722564697, + 0.2222054898738861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9813628792762756, + 0.03824065998196602, + -0.18832038342952728, + -0.3936922550201416 + ], + [ + -0.033928196877241135, + 0.9990841746330261, + 0.0260713379830122, + 0.3376304805278778 + ], + [ + 0.18914489448070526, + -0.019196072593331337, + 0.9817615151405334, + 0.23621198534965515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9802757501602173, + 0.04170132800936699, + -0.19318518042564392, + -0.39047104120254517 + ], + [ + -0.03515664115548134, + 0.9986898303031921, + 0.037184473127126694, + 0.32773396372795105 + ], + [ + 0.1944827139377594, + -0.029659295454621315, + 0.9804574251174927, + 0.22606243193149567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9800023436546326, + 0.039918769150972366, + -0.19494085013866425, + -0.39076897501945496 + ], + [ + -0.032624658197164536, + 0.9986473321914673, + 0.04048681631684303, + 0.32700392603874207 + ], + [ + 0.19629333913326263, + -0.03331729397177696, + 0.9799790382385254, + 0.22756651043891907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9804461598396301, + 0.02876748889684677, + -0.19467346370220184, + -0.39668363332748413 + ], + [ + -0.024507202208042145, + 0.9994053244590759, + 0.024257993325591087, + 0.34874749183654785 + ], + [ + 0.19525553286075592, + -0.019012754783034325, + 0.9805681109428406, + 0.24052032828330994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9799361824989319, + 0.039951007813215256, + -0.19526657462120056, + -0.3962459862232208 + ], + [ + -0.03236104175448418, + 0.998597264289856, + 0.04190791770815849, + 0.3339405655860901 + ], + [ + 0.1966669261455536, + -0.034748051315546036, + 0.9798544049263, + 0.23487740755081177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9816285967826843, + 0.03504381701350212, + -0.18755590915679932, + -0.4098004102706909 + ], + [ + -0.030307400971651077, + 0.9991466403007507, + 0.02806256338953972, + 0.3548014461994171 + ], + [ + 0.18837925791740417, + -0.021862681955099106, + 0.9818530082702637, + 0.24479953944683075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9800726175308228, + 0.04077933356165886, + -0.19440858066082, + -0.40495529770851135 + ], + [ + -0.03350183740258217, + 0.9986146092414856, + 0.040577441453933716, + 0.34644579887390137 + ], + [ + 0.1957939714193344, + -0.033255793154239655, + 0.9800810217857361, + 0.24476319551467896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9788609743118286, + 0.039842281490564346, + -0.20060868561267853, + -0.4011399447917938 + ], + [ + -0.0328047089278698, + 0.9987282156944275, + 0.038285307586193085, + 0.35211512446403503 + ], + [ + 0.20187892019748688, + -0.030895084142684937, + 0.9789230823516846, + 0.2454569935798645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.978499710559845, + 0.04232272505760193, + -0.20185905694961548, + -0.40154287219047546 + ], + [ + -0.033581241965293884, + 0.9983519911766052, + 0.04653614014387131, + 0.34546908736228943 + ], + [ + 0.20349591970443726, + -0.038756921887397766, + 0.978308379650116, + 0.24257858097553253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9785603284835815, + 0.04276402294635773, + -0.20147177577018738, + -0.4050871729850769 + ], + [ + -0.03396274894475937, + 0.9983200430870056, + 0.04694247990846634, + 0.3493335545063019 + ], + [ + 0.2031407654285431, + -0.039093516767024994, + 0.9783688187599182, + 0.2491278350353241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9782780408859253, + 0.03912702947854996, + -0.20357105135917664, + -0.4048979580402374 + ], + [ + -0.030536524951457977, + 0.9985124468803406, + 0.045171529054641724, + 0.35288360714912415 + ], + [ + 0.20503565669059753, + -0.03797396272420883, + 0.9780175685882568, + 0.24779430031776428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9774669408798218, + 0.04221084341406822, + -0.20682522654533386, + -0.4051762819290161 + ], + [ + -0.03241746500134468, + 0.998197078704834, + 0.0505148284137249, + 0.34936320781707764 + ], + [ + 0.20858460664749146, + -0.04267182573676109, + 0.9770729541778564, + 0.24604135751724243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9779177308082581, + 0.04341774061322212, + -0.20443041622638702, + -0.40954160690307617 + ], + [ + -0.03369125351309776, + 0.9981392621994019, + 0.05082254856824875, + 0.3531765043735504 + ], + [ + 0.20625661313533783, + -0.042812757194042206, + 0.9775608777999878, + 0.24984125792980194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9779651165008545, + 0.04133177921175957, + -0.2046360820531845, + -0.41130056977272034 + ], + [ + -0.031611453741788864, + 0.9982213973999023, + 0.05054517462849617, + 0.3545866310596466 + ], + [ + 0.20636121928691864, + -0.04296257719397545, + 0.9775322079658508, + 0.2501893937587738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9777652621269226, + 0.046346161514520645, + -0.20451679825782776, + -0.41343337297439575 + ], + [ + -0.035835232585668564, + 0.9978538751602173, + 0.05480358004570007, + 0.35428255796432495 + ], + [ + 0.2066178321838379, + -0.046256132423877716, + 0.9773277044296265, + 0.25252777338027954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9776152968406677, + 0.04622408747673035, + -0.2052600383758545, + -0.4144097566604614 + ], + [ + -0.036020562052726746, + 0.99793541431427, + 0.053173549473285675, + 0.3574118912220001 + ], + [ + 0.20729416608810425, + -0.04458969086408615, + 0.9772619605064392, + 0.25514864921569824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9775484800338745, + 0.043984659016132355, + -0.2060687094926834, + -0.41604575514793396 + ], + [ + -0.03426015377044678, + 0.998134970664978, + 0.05052521079778671, + 0.3610212802886963 + ], + [ + 0.20790670812129974, + -0.042330898344516754, + 0.9772322773933411, + 0.2542562484741211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9767021536827087, + 0.04886986315250397, + -0.20896080136299133, + -0.41371282935142517 + ], + [ + -0.038086146116256714, + 0.9977417588233948, + 0.055324651300907135, + 0.35754793882369995 + ], + [ + 0.21119263768196106, + -0.046077191829681396, + 0.9763578176498413, + 0.2520782947540283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9775208234786987, + 0.05245504900813103, + -0.20420949161052704, + -0.4201935827732086 + ], + [ + -0.0405970998108387, + 0.9972605109214783, + 0.06183278560638428, + 0.3536596894264221 + ], + [ + 0.20689351856708527, + -0.052152521908283234, + 0.9769724607467651, + 0.2536170780658722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9761684536933899, + 0.04609309136867523, + -0.21206262707710266, + -0.41362738609313965 + ], + [ + -0.03493694216012955, + 0.9978160262107849, + 0.05605929344892502, + 0.3583371341228485 + ], + [ + 0.21418341994285583, + -0.04731449484825134, + 0.9756468534469604, + 0.25475311279296875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9763355255126953, + 0.051222868263721466, + -0.2101074904203415, + -0.4174390733242035 + ], + [ + -0.038054510951042175, + 0.9970772862434387, + 0.06624792516231537, + 0.35012948513031006 + ], + [ + 0.21288679540157318, + -0.05668466538190842, + 0.9754312038421631, + 0.2549763023853302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9761223793029785, + 0.047249503433704376, + -0.21202023327350616, + -0.4171203076839447 + ], + [ + -0.035780541598796844, + 0.9976977705955505, + 0.057610251009464264, + 0.35779717564582825 + ], + [ + 0.21425415575504303, + -0.04864846169948578, + 0.9755657315254211, + 0.2516699731349945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9754644632339478, + 0.04893382638692856, + -0.21464987099170685, + -0.4154937267303467 + ], + [ + -0.036298684775829315, + 0.9973897933959961, + 0.06241801381111145, + 0.35311359167099 + ], + [ + 0.2171439379453659, + -0.053095050156116486, + 0.974694550037384, + 0.25228026509284973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9762403964996338, + 0.04768259823322296, + -0.211378812789917, + -0.4200696349143982 + ], + [ + -0.03587944060564041, + 0.9975934624671936, + 0.05932897329330444, + 0.3569163680076599 + ], + [ + 0.213699072599411, + -0.05033519119024277, + 0.9756019115447998, + 0.2573000490665436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9764856100082397, + 0.04553608596324921, + -0.21071845293045044, + -0.4218042492866516 + ], + [ + -0.034361034631729126, + 0.9978170394897461, + 0.056395772844552994, + 0.35894137620925903 + ], + [ + 0.21282649040222168, + -0.04782916232943535, + 0.9759186506271362, + 0.2606048583984375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9751425385475159, + 0.04521111398935318, + -0.2169169783592224, + -0.41675856709480286 + ], + [ + -0.033771492540836334, + 0.9978504776954651, + 0.05615934357047081, + 0.3588694930076599 + ], + [ + 0.21898972988128662, + -0.04743775352835655, + 0.9745733141899109, + 0.257782906293869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9751710295677185, + 0.046018123626708984, + -0.21661913394927979, + -0.4187171459197998 + ], + [ + -0.034438394010066986, + 0.9977838397026062, + 0.056933194398880005, + 0.3586844801902771 + ], + [ + 0.21875903010368347, + -0.04805958271026611, + 0.9745946526527405, + 0.25830143690109253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.975213885307312, + 0.05068529024720192, + -0.21538092195987701, + -0.4229503273963928 + ], + [ + -0.038428183645009995, + 0.9974146485328674, + 0.06072290241718292, + 0.3571036756038666 + ], + [ + 0.21790184080600739, + -0.050941117107868195, + 0.9746403694152832, + 0.25962308049201965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9744794368743896, + 0.050179317593574524, + -0.21879629790782928, + -0.4190405607223511 + ], + [ + -0.037934236228466034, + 0.9974884390830994, + 0.05981434881687164, + 0.3568117320537567 + ], + [ + 0.22124822437763214, + -0.04998798668384552, + 0.9739355444908142, + 0.25729653239250183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9739938974380493, + 0.049837321043014526, + -0.2210252434015274, + -0.4177495539188385 + ], + [ + -0.03738419711589813, + 0.9974875450134277, + 0.06017472222447395, + 0.3559146523475647 + ], + [ + 0.22346888482570648, + -0.05034695938229561, + 0.97340989112854, + 0.25793758034706116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9736804366111755, + 0.049320828169584274, + -0.22251705825328827, + -0.4175831973552704 + ], + [ + -0.03734184429049492, + 0.9976338148117065, + 0.05772639438509941, + 0.358583927154541 + ], + [ + 0.22483764588832855, + -0.04789786413311958, + 0.9732182621955872, + 0.258034348487854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9732658863067627, + 0.04618198052048683, + -0.22499050199985504, + -0.41590532660484314 + ], + [ + -0.034166332334280014, + 0.9977887868881226, + 0.057011015713214874, + 0.3584137260913849 + ], + [ + 0.2271258682012558, + -0.04779978096485138, + 0.9726916551589966, + 0.257572203874588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9736862182617188, + 0.04760148003697395, + -0.22286587953567505, + -0.41965287923812866 + ], + [ + -0.03630353882908821, + 0.9978524446487427, + 0.05452154949307442, + 0.36151769757270813 + ], + [ + 0.22498255968093872, + -0.04499606415629387, + 0.9733232855796814, + 0.2611221671104431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.973693311214447, + 0.045935481786727905, + -0.2231845110654831, + -0.42147135734558105 + ], + [ + -0.03520573675632477, + 0.9980356097221375, + 0.05182107165455818, + 0.3630530834197998 + ], + [ + 0.22512651979923248, + -0.04260045662522316, + 0.9733977913856506, + 0.258387953042984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9737008810043335, + 0.05108634755015373, + -0.222028911113739, + -0.42379677295684814 + ], + [ + -0.03848285600543022, + 0.9974122643470764, + 0.06072795391082764, + 0.35778528451919556 + ], + [ + 0.22455671429634094, + -0.05058655887842178, + 0.9731470942497253, + 0.264894962310791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9741619825363159, + 0.05366671457886696, + -0.21938173472881317, + -0.4284577965736389 + ], + [ + -0.0404033400118351, + 0.997098982334137, + 0.064506895840168, + 0.355052649974823 + ], + [ + 0.222207173705101, + -0.05397640913724899, + 0.9735042452812195, + 0.26365000009536743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.973824679851532, + 0.05242420732975006, + -0.2211722433567047, + -0.42681050300598145 + ], + [ + -0.03936917334794998, + 0.9972348213195801, + 0.06303039193153381, + 0.3572064936161041 + ], + [ + 0.22386497259140015, + -0.052673183381557465, + 0.9731957912445068, + 0.2643144428730011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9735780954360962, + 0.04936404898762703, + -0.22295495867729187, + -0.4255979359149933 + ], + [ + -0.03669549152255058, + 0.9974865913391113, + 0.06061336025595665, + 0.3589456379413605 + ], + [ + 0.22538670897483826, + -0.05083039775490761, + 0.9729424715042114, + 0.264524906873703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9732796549797058, + 0.05226244777441025, + -0.22359639406204224, + -0.4254699945449829 + ], + [ + -0.038958609104156494, + 0.9972208142280579, + 0.0635053813457489, + 0.3584229350090027 + ], + [ + 0.2262939214706421, + -0.05309749394655228, + 0.9726107716560364, + 0.2684982717037201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9716777801513672, + 0.05356193333864212, + -0.23015956580638885, + -0.4209746718406677 + ], + [ + -0.038797102868556976, + 0.9969165325164795, + 0.06820700317621231, + 0.35397961735725403 + ], + [ + 0.2331031709909439, + -0.05734570696949959, + 0.9707596898078918, + 0.2658687233924866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9730092287063599, + 0.05760304629802704, + -0.22346125543117523, + -0.42768150568008423 + ], + [ + -0.04270080476999283, + 0.9965647459030151, + 0.07096035778522491, + 0.35383301973342896 + ], + [ + 0.22678114473819733, + -0.05950310826301575, + 0.9721263647079468, + 0.2705923020839691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9732639789581299, + 0.05660118907690048, + -0.22260621190071106, + -0.42951256036758423 + ], + [ + -0.042556583881378174, + 0.9968184232711792, + 0.06739399582147598, + 0.3569962978363037 + ], + [ + 0.22571256756782532, + -0.056118786334991455, + 0.9725762009620667, + 0.27039849758148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9733157157897949, + 0.05558507889509201, + -0.22263599932193756, + -0.42963218688964844 + ], + [ + -0.04060353338718414, + 0.9966269731521606, + 0.07131612300872803, + 0.3534747362136841 + ], + [ + 0.22584916651248932, + -0.06037329509854317, + 0.9722896814346313, + 0.2674199640750885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9730719923973083, + 0.056108225136995316, + -0.22356832027435303, + -0.4289800822734833 + ], + [ + -0.0415382944047451, + 0.9967271089553833, + 0.0693516880273819, + 0.35584867000579834 + ], + [ + 0.22672781348228455, + -0.058197539299726486, + 0.972217857837677, + 0.2718281149864197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9747859239578247, + 0.05415768176317215, + -0.2164701372385025, + -0.4381360411643982 + ], + [ + -0.04181217402219772, + 0.9972485899925232, + 0.06121284142136574, + 0.36335936188697815 + ], + [ + 0.21918968856334686, + -0.050618331879377365, + 0.9743683338165283, + 0.2711547315120697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9725808501243591, + 0.051635805517435074, + -0.22676043212413788, + -0.42668434977531433 + ], + [ + -0.03932473435997963, + 0.9975137114524841, + 0.05847998335957527, + 0.36505040526390076 + ], + [ + 0.2292162925004959, + -0.04795921966433525, + 0.9721933007240295, + 0.2711203992366791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9749566316604614, + 0.05663636699318886, + -0.21506257355213165, + -0.43825221061706543 + ], + [ + -0.044533971697092056, + 0.997161328792572, + 0.06071212515234947, + 0.3652188181877136 + ], + [ + 0.21789060533046722, + -0.04961409792304039, + 0.9747112989425659, + 0.27130070328712463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9730164408683777, + 0.05251527577638626, + -0.22467999160289764, + -0.42818790674209595 + ], + [ + -0.040386803448200226, + 0.9974851012229919, + 0.05824362859129906, + 0.3673144280910492 + ], + [ + 0.22717364132404327, + -0.04759790375828743, + 0.9726904034614563, + 0.272676557302475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9740945100784302, + 0.0508735328912735, + -0.22034470736980438, + -0.43188828229904175 + ], + [ + -0.04041891545057297, + 0.9978443384170532, + 0.051700908690690994, + 0.3735574185848236 + ], + [ + 0.22249992191791534, + -0.0414554737508297, + 0.9740509390830994, + 0.27583059668540955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9745395183563232, + 0.060229115188121796, + -0.2159750759601593, + -0.43572336435317993 + ], + [ + -0.04752165079116821, + 0.9968459010124207, + 0.06356023252010345, + 0.36054426431655884 + ], + [ + 0.219122052192688, + -0.05167846381664276, + 0.9743279218673706, + 0.2686450183391571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.973020613193512, + 0.05692782253026962, + -0.22358457744121552, + -0.4293771982192993 + ], + [ + -0.04324537515640259, + 0.9969066977500916, + 0.06562654674053192, + 0.36008745431900024 + ], + [ + 0.22662894427776337, + -0.05418698862195015, + 0.9724726676940918, + 0.2726764380931854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9749944806098938, + 0.05978137254714966, + -0.21403729915618896, + -0.4388658106327057 + ], + [ + -0.04703809320926666, + 0.9968311786651611, + 0.06414798647165298, + 0.3630255460739136 + ], + [ + 0.21719390153884888, + -0.052476029843091965, + 0.9747169017791748, + 0.26968270540237427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9743273854255676, + 0.06118094176054001, + -0.21666352450847626, + -0.43634822964668274 + ], + [ + -0.04694730043411255, + 0.9964241981506348, + 0.07024778425693512, + 0.3566076159477234 + ], + [ + 0.22018660604953766, + -0.05827257037162781, + 0.9737156629562378, + 0.27249589562416077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9746309518814087, + 0.05679415538907051, + -0.21649222075939178, + -0.4403214156627655 + ], + [ + -0.04365858808159828, + 0.996930718421936, + 0.06498537957668304, + 0.3657469153404236 + ], + [ + 0.2195185273885727, + -0.053885020315647125, + 0.9741191267967224, + 0.27782565355300903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/source/d6e614e4-9a32-44ea-b5ed-2a8826235986/transforms.json b/dynpose_eval/source/d6e614e4-9a32-44ea-b5ed-2a8826235986/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..6a2f4ecfa7656fabfe9bf028c76ce6a08fa4760f --- /dev/null +++ b/dynpose_eval/source/d6e614e4-9a32-44ea-b5ed-2a8826235986/transforms.json @@ -0,0 +1,4213 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 120, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 7.723971066297963e-05, + -1.4080933397053741e-05, + -5.3621548431692645e-05 + ], + [ + -7.723937596892938e-05, + 1.0, + 2.4279892386402935e-05, + -0.00024398512323386967 + ], + [ + 1.4082808775128797e-05, + -2.4278804630739614e-05, + 1.0, + 4.324977635405958e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999961853027344, + 0.0006289781886152923, + 0.0026800960768014193, + -0.001264858990907669 + ], + [ + -0.0006253070314414799, + 0.9999988675117493, + -0.001370407291688025, + -0.0004224416334182024 + ], + [ + -0.002680955221876502, + 0.001368726254440844, + 0.9999954700469971, + -0.0008873505285009742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999898076057434, + 0.0008661671308800578, + 0.00443456182256341, + -0.0004902671207673848 + ], + [ + -0.0008557980181649327, + 0.9999969005584717, + -0.0023396143224090338, + 0.0002628109068609774 + ], + [ + -0.004436574410647154, + 0.002335795434191823, + 0.9999874234199524, + -0.0009295144118368626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999764561653137, + 0.0012084711343050003, + 0.006752658169716597, + 0.0001407540839863941 + ], + [ + -0.0011882446706295013, + 0.9999948143959045, + -0.0029985359869897366, + 0.00010053733421955258 + ], + [ + -0.00675624655559659, + 0.002990441396832466, + 0.9999727010726929, + -0.00038388947723433375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999945878982544, + 0.0015016463585197926, + 0.01029250118881464, + 0.0011110716732218862 + ], + [ + -0.0014619121793657541, + 0.9999914765357971, + -0.0038669398054480553, + -0.0007912924629636109 + ], + [ + -0.010298219509422779, + 0.003851683810353279, + 0.9999395608901978, + 0.00018060834554489702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998960494995117, + 0.00210103509016335, + 0.014265146106481552, + 0.0008824230171740055 + ], + [ + -0.0020281400065869093, + 0.9999848008155823, + -0.0051225717179477215, + -0.0007467460236512125 + ], + [ + -0.014275692403316498, + 0.005093107465654612, + 0.9998851418495178, + 0.00038094367482699454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998401999473572, + 0.002542629139497876, + 0.017695404589176178, + -0.0005005956627428532 + ], + [ + -0.0024353840854018927, + 0.9999785423278809, + -0.006079520098865032, + -6.14416494499892e-05 + ], + [ + -0.017710484564304352, + 0.006035453639924526, + 0.9998249411582947, + 0.0011427834397181869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997920989990234, + 0.0025778128765523434, + 0.020226147025823593, + -0.0007639192626811564 + ], + [ + -0.0024397564120590687, + 0.9999735951423645, + -0.006847354583442211, + 0.0012641467619687319 + ], + [ + -0.020243264734745026, + 0.006796584464609623, + 0.9997719526290894, + 0.0010051680728793144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9997379183769226, + 0.00276389392092824, + 0.02272503823041916, + -0.0004316372505854815 + ], + [ + -0.0026025869883596897, + 0.9999712109565735, + -0.007124717812985182, + 0.00034257868537679315 + ], + [ + -0.022744078189134598, + 0.007063706871122122, + 0.9997163414955139, + 0.0014949438627809286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9996803998947144, + 0.0032752358820289373, + 0.02506752498447895, + 0.00013918864715378731 + ], + [ + -0.0030769307631999254, + 0.9999637007713318, + -0.007945318706333637, + 0.0009166154777631164 + ], + [ + -0.025092637166380882, + 0.007865647785365582, + 0.9996541738510132, + 0.0013226671144366264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9996141791343689, + 0.0034395025577396154, + 0.02756204456090927, + -0.00044857917237095535 + ], + [ + -0.003216678975149989, + 0.999961793422699, + -0.008124695159494877, + 0.0014607872581109405 + ], + [ + -0.027588937431573868, + 0.008032902143895626, + 0.9995870590209961, + 0.0010555887129157782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9995492696762085, + 0.003330623498186469, + 0.02983464114367962, + -0.0007723543676547706 + ], + [ + -0.003099733265116811, + 0.9999648928642273, + -0.007781903725117445, + 0.00326000084169209 + ], + [ + -0.02985951118171215, + 0.007685916963964701, + 0.9995245337486267, + 0.0007091001607477665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9994885325431824, + 0.0031364697497338057, + 0.03182591497898102, + 0.0004142081015743315 + ], + [ + -0.0029191209468990564, + 0.9999721050262451, + -0.006873469799757004, + 0.0028796433471143246 + ], + [ + -0.031846582889556885, + 0.006777049973607063, + 0.9994698166847229, + 0.0012492071837186813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9993822574615479, + 0.003298284253105521, + 0.03498848155140877, + -0.0005587672931142151 + ], + [ + -0.0030630335677415133, + 0.9999723434448242, + -0.006775137968361378, + 0.0015575902070850134 + ], + [ + -0.03500985726714134, + 0.006663781590759754, + 0.9993647336959839, + 0.0018979200394824147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9992809295654297, + 0.003327032318338752, + 0.03776947408914566, + -0.0009457431151531637 + ], + [ + -0.0030690382700413465, + 0.9999715685844421, + -0.006886678282171488, + 0.0025497933384031057 + ], + [ + -0.037791311740875244, + 0.006765810307115316, + 0.9992627501487732, + 0.0014671309618279338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9992011189460754, + 0.003070126986131072, + 0.03984561562538147, + 0.0010941921500489116 + ], + [ + -0.0028247556183487177, + 0.9999766945838928, + -0.0062128882855176926, + 0.0033622223418205976 + ], + [ + -0.039863765239715576, + 0.006095371209084988, + 0.9991865158081055, + 0.0012923270696774125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9990800023078918, + 0.003257961478084326, + 0.04276118054986, + 0.0026145565789192915 + ], + [ + -0.00300024077296257, + 0.9999769330024719, + -0.006089771166443825, + 0.0015281855594366789 + ], + [ + -0.042780037969350815, + 0.005955874919891357, + 0.9990667700767517, + 0.002175483386963606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9988824725151062, + 0.003730759723111987, + 0.04711546376347542, + 0.002573483856394887 + ], + [ + -0.003409860422834754, + 0.9999704360961914, + -0.006889453157782555, + 0.0013648276217281818 + ], + [ + -0.04713977500796318, + 0.00672109704464674, + 0.9988656640052795, + 0.0029605296440422535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9986783266067505, + 0.003854673122987151, + 0.05125148594379425, + 0.00226258160546422 + ], + [ + -0.0034721826668828726, + 0.999965488910675, + -0.0075499508529901505, + 0.001023840275593102 + ], + [ + -0.051278822124004364, + 0.007362018339335918, + 0.9986572265625, + 0.0021265496034175158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9985344409942627, + 0.0037825782783329487, + 0.05398765578866005, + 0.000509335077367723 + ], + [ + -0.0033773258328437805, + 0.9999654293060303, + -0.0075956531800329685, + 0.002639699960127473 + ], + [ + -0.05401452258229256, + 0.007402187678962946, + 0.9985126852989197, + 0.0013762443559244275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9984361529350281, + 0.003779712598770857, + 0.055775728076696396, + 0.0018763103289529681 + ], + [ + -0.0033825221471488476, + 0.9999682307243347, + -0.007213897071778774, + 0.0035112996120005846 + ], + [ + -0.05580122396349907, + 0.007013953290879726, + 0.9984172582626343, + 0.001846911502070725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9982722401618958, + 0.00391807034611702, + 0.0586274191737175, + 0.0023265117779374123 + ], + [ + -0.003520907834172249, + 0.9999701380729675, + -0.006876117549836636, + 0.003161083208397031 + ], + [ + -0.0586526095867157, + 0.006657815538346767, + 0.998256266117096, + 0.001978787360712886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9981187582015991, + 0.0038719086442142725, + 0.06118817254900932, + 0.0017186738550662994 + ], + [ + -0.0034794399980455637, + 0.9999727010726929, + -0.0065193744376301765, + 0.00399687560275197 + ], + [ + -0.06121174618601799, + 0.006294209510087967, + 0.9981049299240112, + 0.0018684456590563059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9980104565620422, + 0.0038311886601150036, + 0.06293191015720367, + 0.0006669924478046596 + ], + [ + -0.0034471754916012287, + 0.99997478723526, + -0.006209487561136484, + 0.0027593467384576797 + ], + [ + -0.06295411288738251, + 0.005980195943266153, + 0.9979984760284424, + 0.001811479334719479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9979300498962402, + 0.0038057793863117695, + 0.06419583410024643, + 0.0015012643998488784 + ], + [ + -0.0034208139404654503, + 0.9999755024909973, + -0.006105582695454359, + 0.003795389784500003 + ], + [ + -0.06421750038862228, + 0.005873342510312796, + 0.9979186654090881, + 0.0013579316437244415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9977936744689941, + 0.0036228445824235678, + 0.0662919208407402, + 0.0034329642076045275 + ], + [ + -0.00329722766764462, + 0.9999819397926331, + -0.005020616576075554, + 0.004753082990646362 + ], + [ + -0.06630890816450119, + 0.004790959879755974, + 0.9977876543998718, + 0.0012202819343656301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9975401163101196, + 0.003794196294620633, + 0.06999556720256805, + 0.004715882707387209 + ], + [ + -0.003546767169609666, + 0.999987006187439, + -0.003658870467916131, + 0.0030884079169481993 + ], + [ + -0.0700085461139679, + 0.003401612164452672, + 0.9975405931472778, + 0.0014619623543694615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9971969127655029, + 0.0034515243023633957, + 0.07474223524332047, + 0.0061222040094435215 + ], + [ + -0.0032073897309601307, + 0.9999891519546509, + -0.0033861405681818724, + 0.004923895932734013 + ], + [ + -0.07475311309099197, + 0.003136921441182494, + 0.997197151184082, + 0.0006227271514944732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9968020915985107, + 0.0030501403380185366, + 0.07985196262598038, + 0.006266038864850998 + ], + [ + -0.0028844198677688837, + 0.9999934434890747, + -0.002190608996897936, + 0.004934152588248253 + ], + [ + -0.07985811680555344, + 0.0019532768055796623, + 0.9968042969703674, + 0.0017447597347199917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9963911771774292, + 0.0028053410351276398, + 0.08483333140611649, + 0.0065301815047860146 + ], + [ + -0.0026973234489560127, + 0.9999954104423523, + -0.0013878821628168225, + 0.004918002989143133 + ], + [ + -0.08483683317899704, + 0.001154050580225885, + 0.9963942170143127, + 0.0013157031498849392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9959913492202759, + 0.0022844290360808372, + 0.0894203633069992, + 0.00796172209084034 + ], + [ + -0.002255516592413187, + 0.9999973773956299, + -0.00042437962838448584, + 0.004808299709111452 + ], + [ + -0.0894210934638977, + 0.00022098937188275158, + 0.9959939122200012, + 0.0012936247512698174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9955021739006042, + 0.0019306896720081568, + 0.09471888095140457, + 0.009964213706552982 + ], + [ + -0.0019685972947627306, + 0.9999980330467224, + 0.0003067722136620432, + 0.004532424733042717 + ], + [ + -0.09471810609102249, + -0.0004918557242490351, + 0.9955040216445923, + 0.002765134209766984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9949322938919067, + 0.0015729072038084269, + 0.10053479671478271, + 0.010553337633609772 + ], + [ + -0.0016256084199994802, + 0.9999985694885254, + 0.00044228878687135875, + 0.004096593242138624 + ], + [ + -0.10053396224975586, + -0.000603477586992085, + 0.9949334263801575, + 0.0022784925531595945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9943575263023376, + 0.001514694420620799, + 0.10606967657804489, + 0.010433093644678593 + ], + [ + -0.0015907897613942623, + 0.9999985098838806, + 0.0006328059243969619, + 0.005070594139397144 + ], + [ + -0.10606855899095535, + -0.000797969929408282, + 0.994358479976654, + 0.002575625665485859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9937555193901062, + 0.0014638748252764344, + 0.11156976222991943, + 0.010284743271768093 + ], + [ + -0.0015975554706528783, + 0.9999980926513672, + 0.0011087917955592275, + 0.004768074955791235 + ], + [ + -0.11156792938709259, + -0.0012801069533452392, + 0.9937559962272644, + 0.003554986324161291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9931657314300537, + 0.0015873379306867719, + 0.11670161038637161, + 0.011545100249350071 + ], + [ + -0.0016857540467754006, + 0.9999983310699463, + 0.0007446169038303196, + 0.0036698728799819946 + ], + [ + -0.11670022457838058, + -0.0009362581768073142, + 0.9931667447090149, + 0.0032184026204049587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9925047159194946, + 0.0019365039188414812, + 0.12219111621379852, + 0.011067070998251438 + ], + [ + -0.0019826919306069613, + 0.9999979734420776, + 0.00025640963576734066, + 0.0035262976307421923 + ], + [ + -0.12219037115573883, + -0.0004967551212757826, + 0.9925065636634827, + 0.002694639377295971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9918844103813171, + 0.002281911438331008, + 0.1271224319934845, + 0.010907700285315514 + ], + [ + -0.002222758950665593, + 0.9999973177909851, + -0.0006071737152524292, + 0.004593245685100555 + ], + [ + -0.12712347507476807, + 0.00031968363327905536, + 0.9918868541717529, + 0.0037265862338244915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9911994338035583, + 0.002268816577270627, + 0.1323574185371399, + 0.01174462866038084 + ], + [ + -0.0022397080902010202, + 0.9999974370002747, + -0.00036879756953567266, + 0.006585557945072651 + ], + [ + -0.13235792517662048, + 6.910994125064462e-05, + 0.9912019968032837, + 0.0022739528212696314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9904364943504333, + 0.0021262026857584715, + 0.13795289397239685, + 0.012226362712681293 + ], + [ + -0.002255624858662486, + 0.9999971389770508, + 0.0007818375015631318, + 0.0057395100593566895 + ], + [ + -0.1379508376121521, + -0.0010855303844437003, + 0.9904384613037109, + 0.0032634008675813675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9896562695503235, + 0.0018732688622549176, + 0.14344659447669983, + 0.01227332092821598 + ], + [ + -0.00203059078194201, + 0.9999974966049194, + 0.00095033785328269, + 0.004298016894608736 + ], + [ + -0.14344444870948792, + -0.0012317891232669353, + 0.9896575808525085, + 0.0039346045814454556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9889368414878845, + 0.0018978200387209654, + 0.14832499623298645, + 0.010983091779053211 + ], + [ + -0.0020403952803462744, + 0.999997615814209, + 0.0008090795017778873, + 0.0047310106456279755 + ], + [ + -0.14832308888435364, + -0.0011027700966224074, + 0.9889383316040039, + 0.0036624176427721977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.988227903842926, + 0.0019484971417114139, + 0.15297669172286987, + 0.007801380939781666 + ], + [ + -0.0021031859796494246, + 0.9999974370002747, + 0.0008493764325976372, + 0.005252469331026077 + ], + [ + -0.15297463536262512, + -0.0011611159425228834, + 0.9882294535636902, + -0.004086725413799286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9877060055732727, + 0.0019700562115758657, + 0.1563105285167694, + 0.006221696734428406 + ], + [ + -0.002133377129212022, + 0.9999973177909851, + 0.0008770906133577228, + 0.005423911847174168 + ], + [ + -0.1563083827495575, + -0.0011997768888249993, + 0.9877075552940369, + -0.004109992645680904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9872766733169556, + 0.0016054314328357577, + 0.15900389850139618, + 0.005051192361861467 + ], + [ + -0.001781975501216948, + 0.9999979734420776, + 0.0009677413618192077, + 0.006030492950230837 + ], + [ + -0.15900202095508575, + -0.0012387695023790002, + 0.9872775077819824, + -0.01218845322728157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9868093729019165, + 0.0015852266224101186, + 0.16187883913516998, + 0.007949542254209518 + ], + [ + -0.0017216532723978162, + 0.9999982714653015, + 0.000702498946338892, + 0.00594182638451457 + ], + [ + -0.16187743842601776, + -0.0009719317313283682, + 0.9868103861808777, + -0.0077592614106833935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9862720966339111, + 0.0014338892651721835, + 0.16512201726436615, + 0.007269772235304117 + ], + [ + -0.001582794706337154, + 0.9999984502792358, + 0.0007702131988480687, + 0.005684330128133297 + ], + [ + -0.16512064635753632, + -0.0010209940373897552, + 0.9862728714942932, + -0.004097846336662769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9858376383781433, + 0.0010957359336316586, + 0.16769900918006897, + 0.007701926864683628 + ], + [ + -0.0013381922617554665, + 0.9999982118606567, + 0.0013327831402420998, + 0.005866481922566891 + ], + [ + -0.1676972508430481, + -0.0015383213758468628, + 0.9858373403549194, + 9.589327964931726e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9855059385299683, + 0.0003740816027857363, + 0.16964063048362732, + 0.010054364800453186 + ], + [ + -0.0007302626618184149, + 0.9999976754188538, + 0.002037233207374811, + 0.0049308291636407375 + ], + [ + -0.1696394681930542, + -0.0021315873600542545, + 0.9855039119720459, + 0.003308432176709175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9849854111671448, + 0.00011044323036912829, + 0.1726374328136444, + 0.01024481188505888 + ], + [ + -0.00047364889178425074, + 0.9999977350234985, + 0.0020626713521778584, + 0.004607179667800665 + ], + [ + -0.17263680696487427, + -0.002113470807671547, + 0.9849832653999329, + 0.003875918686389923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9845262169837952, + -0.00035619313712231815, + 0.17523685097694397, + 0.011123307049274445 + ], + [ + -6.143760401755571e-06, + 0.9999978542327881, + 0.002067151479423046, + 0.003561211284250021 + ], + [ + -0.17523720860481262, + -0.0020362413488328457, + 0.984524130821228, + 0.006918905768543482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9840028285980225, + -0.0009381738491356373, + 0.17815034091472626, + 0.009859234094619751 + ], + [ + 0.0005924217402935028, + 0.9999978542327881, + 0.0019939744379371405, + 0.0024954064283519983 + ], + [ + -0.17815183103084564, + -0.0018565363716334105, + 0.9840012788772583, + 0.007751895114779472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9834997653961182, + -0.001532344613224268, + 0.18090297281742096, + 0.011866549029946327 + ], + [ + 0.001242270926013589, + 0.9999977350234985, + 0.0017167656915262341, + 0.0030582838226109743 + ], + [ + -0.18090520799160004, + -0.0014637081185355783, + 0.9834994673728943, + 0.01159049104899168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9828539490699768, + -0.0018026281613856554, + 0.18437691032886505, + 0.013582341372966766 + ], + [ + 0.0015404028818011284, + 0.999997615814209, + 0.0015654501039534807, + 0.0030754120089113712 + ], + [ + -0.18437929451465607, + -0.001254594186320901, + 0.9828543663024902, + 0.011234164237976074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9820271134376526, + -0.0020518272649496794, + 0.18872866034507751, + 0.015412512235343456 + ], + [ + 0.0018126865616068244, + 0.9999973177909851, + 0.0014397092163562775, + 0.0037729148752987385 + ], + [ + -0.1887311041355133, + -0.0010717276018112898, + 0.9820282459259033, + 0.0073614041320979595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9809887409210205, + -0.0022059425245970488, + 0.19405211508274078, + 0.015621942467987537 + ], + [ + 0.001971897901967168, + 0.999997079372406, + 0.001399243832565844, + 0.0033149064984172583 + ], + [ + -0.19405464828014374, + -0.000989991589449346, + 0.9809902310371399, + 0.0040704538114368916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9799401760101318, + -0.0023220223374664783, + 0.19927839934825897, + 0.015656914561986923 + ], + [ + 0.0021612034179270267, + 0.9999971389770508, + 0.0010245245648548007, + 0.0034408317878842354 + ], + [ + -0.19928021728992462, + -0.000573291617911309, + 0.9799423813819885, + 0.004392768256366253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.97883141040802, + -0.00240193004719913, + 0.20465414226055145, + 0.017119726166129112 + ], + [ + 0.0022985825780779123, + 0.999997079372406, + 0.0007427085656672716, + 0.0026067744474858046 + ], + [ + -0.20465533435344696, + -0.0002565720642451197, + 0.9788340926170349, + 0.0048430925235152245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9775044322013855, + -0.0020680224988609552, + 0.2109047919511795, + 0.01791303977370262 + ], + [ + 0.002136093797162175, + 0.9999977350234985, + -9.494007099419832e-05, + 0.0019686464220285416 + ], + [ + -0.2109041064977646, + 0.0005433167098090053, + 0.9775065779685974, + 0.0055496059358119965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9761581420898438, + -0.0014379238709807396, + 0.21705569326877594, + 0.018756549805402756 + ], + [ + 0.0018982554320245981, + 0.9999963641166687, + -0.001912314910441637, + 0.0015359499957412481 + ], + [ + -0.2170521467924118, + 0.0022787488996982574, + 0.9761573672294617, + 0.005220569670200348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9749031066894531, + -0.0009596031159162521, + 0.22262749075889587, + 0.016686659306287766 + ], + [ + 0.0016974394675344229, + 0.9999936819076538, + -0.003122893627732992, + 0.001019282266497612 + ], + [ + -0.2226230800151825, + 0.0034224153496325016, + 0.9748985767364502, + 0.004681702237576246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9738900065422058, + -5.417561624199152e-05, + 0.22702032327651978, + 0.01537881139665842 + ], + [ + 0.001129309181123972, + 0.9999887347221375, + -0.004605966620147228, + 0.0008118976256810129 + ], + [ + -0.22701752185821533, + 0.00474208127707243, + 0.9738791584968567, + 0.005097470246255398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.973206639289856, + 0.0003292924084234983, + 0.22993206977844238, + 0.013510665856301785 + ], + [ + 0.0010274936212226748, + 0.9999827742576599, + -0.0057810572907328606, + 0.0016728750197216868 + ], + [ + -0.22993001341819763, + 0.005862416699528694, + 0.9731895327568054, + 0.004779744893312454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9729236960411072, + 0.00012990355025976896, + 0.23112651705741882, + 0.01453059259802103 + ], + [ + 0.0012603623326867819, + 0.9999819993972778, + -0.005867512430995703, + 0.003080402733758092 + ], + [ + -0.23112311959266663, + 0.0059999446384608746, + 0.9729059934616089, + 0.004600965417921543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9723936915397644, + -6.743293488398194e-05, + 0.23334625363349915, + 0.01748594641685486 + ], + [ + 0.0014065448194742203, + 0.9999834895133972, + -0.0055723353289067745, + 0.003271127352491021 + ], + [ + -0.2333420217037201, + 0.005746716167777777, + 0.9723777770996094, + 0.004421495832502842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9715623259544373, + -0.0001362139591947198, + 0.236783966422081, + 0.020166883245110512 + ], + [ + 0.0014234635746106505, + 0.9999850988388062, + -0.005265439860522747, + 0.0027515836991369724 + ], + [ + -0.23677973449230194, + 0.005452755838632584, + 0.9715480804443359, + 0.005199319217354059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9704557061195374, + 0.0002141659497283399, + 0.24127928912639618, + 0.02015385963022709 + ], + [ + 0.0013076262548565865, + 0.9999802708625793, + -0.006147047970443964, + 0.00295809842646122 + ], + [ + -0.2412758320569992, + 0.006280940491706133, + 0.9704362750053406, + 0.006012905389070511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9693970680236816, + 5.0815404392778873e-05, + 0.24549810588359833, + 0.019248202443122864 + ], + [ + 0.0015867353649809957, + 0.9999777674674988, + -0.006472518667578697, + 0.002937410492449999 + ], + [ + -0.24549297988414764, + 0.006663980893790722, + 0.969375491142273, + 0.006748985964804888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9685128331184387, + -4.896993050351739e-05, + 0.24896368384361267, + 0.019212374463677406 + ], + [ + 0.0017083489801734686, + 0.9999777674674988, + -0.006449089851230383, + 0.003949297592043877 + ], + [ + -0.2489578127861023, + 0.0066713434644043446, + 0.9684913754463196, + 0.004947507753968239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9676542282104492, + -7.252907380461693e-05, + 0.25228026509284973, + 0.019104665145277977 + ], + [ + 0.0017107254825532436, + 0.9999788403511047, + -0.006274225655943155, + 0.004440135322511196 + ], + [ + -0.2522744834423065, + 0.006502863485366106, + 0.967633843421936, + 0.004664942156523466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9667366743087769, + -0.00043128133984282613, + 0.2557733952999115, + 0.018392428755760193 + ], + [ + 0.0021410007029771805, + 0.999977171421051, + -0.006406109314411879, + 0.0036720046773552895 + ], + [ + -0.25576481223106384, + 0.006740632001310587, + 0.9667155146598816, + 0.005780540872365236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9660173058509827, + -0.0005452630575746298, + 0.2584768533706665, + 0.016161514446139336 + ], + [ + 0.002359210979193449, + 0.9999747276306152, + -0.006707716733217239, + 0.0029194091912359 + ], + [ + -0.2584666609764099, + 0.00708957202732563, + 0.9659941792488098, + 0.004730502143502235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9655545949935913, + -0.0013188272714614868, + 0.2601971924304962, + 0.017139500007033348 + ], + [ + 0.00313738826662302, + 0.999973475933075, + -0.006573966238647699, + 0.004475264344364405 + ], + [ + -0.26018163561820984, + 0.00716386316344142, + 0.9655331373214722, + 0.004291981924325228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9648755788803101, + -0.002204188844189048, + 0.2626979947090149, + 0.01739877462387085 + ], + [ + 0.003924804273992777, + 0.9999741315841675, + -0.006025230512022972, + 0.005763297434896231 + ], + [ + -0.2626779079437256, + 0.006844636052846909, + 0.9648593068122864, + 0.0021137865260243416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9639347791671753, + -0.004654186777770519, + 0.26609787344932556, + 0.018147122114896774 + ], + [ + 0.006006822921335697, + 0.9999728202819824, + -0.004269575700163841, + 0.005994692444801331 + ], + [ + -0.26607075333595276, + 0.005713995546102524, + 0.9639365673065186, + 0.00027347711147740483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9628074169158936, + -0.006893162149935961, + 0.27010074257850647, + 0.017765453085303307 + ], + [ + 0.008053118363022804, + 0.9999625086784363, + -0.0031865821219980717, + 0.00470854202285409 + ], + [ + -0.2700686752796173, + 0.005243218038231134, + 0.9628267884254456, + 0.005042503122240305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9616570472717285, + -0.008235214278101921, + 0.27413105964660645, + 0.018318064510822296 + ], + [ + 0.009499842301011086, + 0.9999494552612305, + -0.0032859896309673786, + 0.0019522496731951833 + ], + [ + -0.2740901708602905, + 0.005764197092503309, + 0.9616867303848267, + 0.00379141210578382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9605876803398132, + -0.009472450241446495, + 0.2778158485889435, + 0.01978011429309845 + ], + [ + 0.011089310050010681, + 0.9999294877052307, + -0.004249115940183401, + 0.00235032313503325 + ], + [ + -0.277756005525589, + 0.007162433583289385, + 0.9606249332427979, + -0.0005704836221411824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9592349529266357, + -0.010405134409666061, + 0.28241828083992004, + 0.022066719830036163 + ], + [ + 0.012277910485863686, + 0.9999127984046936, + -0.004862198140472174, + 0.0036468468606472015 + ], + [ + -0.2823430597782135, + 0.008131496608257294, + 0.9592790603637695, + 0.0014061443507671356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9574242234230042, + -0.011590632610023022, + 0.2884518802165985, + 0.025364091619849205 + ], + [ + 0.013652860186994076, + 0.9998936057090759, + -0.005138393957167864, + 0.003364687552675605 + ], + [ + -0.28836163878440857, + 0.008857815526425838, + 0.9574806094169617, + 0.002192651154473424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9552346467971802, + -0.012280655093491077, + 0.295594185590744, + 0.024599775671958923 + ], + [ + 0.014575325883924961, + 0.9998782873153687, + -0.005560649558901787, + 0.0043793851509690285 + ], + [ + -0.29548993706703186, + 0.009620106779038906, + 0.9552974104881287, + 0.000802044989541173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9533122777938843, + -0.012803035788238049, + 0.30171483755111694, + 0.023169677704572678 + ], + [ + 0.015192204155027866, + 0.9998690485954285, + -0.005573326721787453, + 0.0041918037459254265 + ], + [ + -0.3016039729118347, + 0.009896834380924702, + 0.9533818960189819, + 0.0012775338254868984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9517387747764587, + -0.012838688679039478, + 0.3066405951976776, + 0.022162919864058495 + ], + [ + 0.015407341532409191, + 0.9998635649681091, + -0.005957555025815964, + 0.0031129063572734594 + ], + [ + -0.30652227997779846, + 0.01039455272257328, + 0.9518067240715027, + -0.00041777791921049356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9504609107971191, + -0.01296822540462017, + 0.310573548078537, + 0.02097819559276104 + ], + [ + 0.01575423777103424, + 0.9998549818992615, + -0.006463661789894104, + 0.003229358699172735 + ], + [ + -0.3104446828365326, + 0.011036306619644165, + 0.9505273699760437, + -0.001926509547047317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9493857026100159, + -0.013486995361745358, + 0.31382301449775696, + 0.02212163247168064 + ], + [ + 0.016389310359954834, + 0.9998438358306885, + -0.006611649412661791, + 0.002498108893632889 + ], + [ + -0.3136848509311676, + 0.011420348659157753, + 0.9494584798812866, + -0.0010659354738891125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9482682943344116, + -0.013131770305335522, + 0.31719842553138733, + 0.023722153156995773 + ], + [ + 0.016453266143798828, + 0.9998342394828796, + -0.007794857956469059, + 0.0025926795788109303 + ], + [ + -0.3170435130596161, + 0.012610566802322865, + 0.9483271837234497, + -0.0006125190993770957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9469680190086365, + -0.012300209142267704, + 0.3210923373699188, + 0.023356329649686813 + ], + [ + 0.015884675085544586, + 0.9998372793197632, + -0.00854604970663786, + 0.0032068092841655016 + ], + [ + -0.3209349811077118, + 0.013193282298743725, + 0.9470093250274658, + -0.0005819309153594077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9455351829528809, + -0.012247132137417793, + 0.32528945803642273, + 0.023915719240903854 + ], + [ + 0.015832921490073204, + 0.9998395442962646, + -0.008378436788916588, + 0.005785426124930382 + ], + [ + -0.32513466477394104, + 0.013072388246655464, + 0.9455773830413818, + -0.00138645910192281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9442387223243713, + -0.013296172022819519, + 0.3289930820465088, + 0.024159137159585953 + ], + [ + 0.016419176012277603, + 0.999842643737793, + -0.006716074422001839, + 0.004616975784301758 + ], + [ + -0.32885199785232544, + 0.011743372306227684, + 0.9443084597587585, + -0.0009441516594961286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9431450366973877, + -0.013853246346116066, + 0.3320927023887634, + 0.022843405604362488 + ], + [ + 0.016617994755506516, + 0.999846875667572, + -0.005486584734171629, + 0.00491960346698761 + ], + [ + -0.3319658637046814, + 0.01069336012005806, + 0.9432308077812195, + -0.003286238992586732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9421814680099487, + -0.014491365291178226, + 0.33478954434394836, + 0.02189914509654045 + ], + [ + 0.016690757125616074, + 0.9998538494110107, + -0.0036932879593223333, + 0.0050218855030834675 + ], + [ + -0.33468708395957947, + 0.009067637845873833, + 0.9422857165336609, + -0.0026174269150942564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9413247108459473, + -0.015480264090001583, + 0.3371470272541046, + 0.022942015901207924 + ], + [ + 0.017139388248324394, + 0.9998512268066406, + -0.0019450539257377386, + 0.005021799821406603 + ], + [ + -0.33706673979759216, + 0.007609420455992222, + 0.9414499998092651, + -0.0018309904262423515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.940212607383728, + -0.016136888414621353, + 0.3402055501937866, + 0.02500959299504757 + ], + [ + 0.017616063356399536, + 0.9998440146446228, + -0.0012594570871442556, + 0.004775087349116802 + ], + [ + -0.3401321768760681, + 0.007177239283919334, + 0.9403502345085144, + -0.002312261611223221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9389134645462036, + -0.016409415751695633, + 0.3437618017196655, + 0.025545554235577583 + ], + [ + 0.0178130604326725, + 0.9998409152030945, + -0.0009253979660570621, + 0.005930651910603046 + ], + [ + -0.34369194507598877, + 0.0069923182018101215, + 0.939056396484375, + -0.0025463500060141087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9371888637542725, + -0.016983792185783386, + 0.34840860962867737, + 0.027055492624640465 + ], + [ + 0.018119782209396362, + 0.9998358488082886, + -1.875218003988266e-06, + 0.005970675498247147 + ], + [ + -0.348351389169693, + 0.006314845290035009, + 0.9373427629470825, + 0.00013331236550584435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9354208707809448, + -0.01758531481027603, + 0.3530985713005066, + 0.02817768231034279 + ], + [ + 0.018780536949634552, + 0.9998236298561096, + 4.108482971787453e-05, + 0.006193888373672962 + ], + [ + -0.3530369997024536, + 0.006592948455363512, + 0.935586154460907, + -0.000603080668952316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9335866570472717, + -0.017888909205794334, + 0.3579048812389374, + 0.026278046891093254 + ], + [ + 0.018795019015669823, + 0.9998229146003723, + 0.0009470698423683643, + 0.006502983625978231 + ], + [ + -0.35785844922065735, + 0.005842657294124365, + 0.9337575435638428, + -0.0006642134394496679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9315943717956543, + -0.019365478307008743, + 0.3629832863807678, + 0.027963154017925262 + ], + [ + 0.01974860578775406, + 0.9998014569282532, + 0.002655614400282502, + 0.006898895371705294 + ], + [ + -0.36296266317367554, + 0.004694458097219467, + 0.9317919015884399, + 0.00037819164572283626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9295989274978638, + -0.020688211545348167, + 0.3679915964603424, + 0.02950354851782322 + ], + [ + 0.020766092464327812, + 0.9997773170471191, + 0.0037486334331333637, + 0.00552604952827096 + ], + [ + -0.36798718571662903, + 0.004157021176069975, + 0.9298215508460999, + 0.0007083759410306811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9273993968963623, + -0.0212630033493042, + 0.37346789240837097, + 0.029674436897039413 + ], + [ + 0.02132336050271988, + 0.9997647404670715, + 0.0039701685309410095, + 0.0058048320934176445 + ], + [ + -0.373464435338974, + 0.0042816586792469025, + 0.927634596824646, + 0.0013527482515200973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9252796173095703, + -0.022284723818302155, + 0.3786304295063019, + 0.029639970511198044 + ], + [ + 0.02201766148209572, + 0.9997448921203613, + 0.005035374313592911, + 0.006975315511226654 + ], + [ + -0.37864604592323303, + 0.0036774268373847008, + 0.9255342483520508, + 0.0010986237321048975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9229763150215149, + -0.02312794327735901, + 0.3841611444950104, + 0.03386441245675087 + ], + [ + 0.022690586745738983, + 0.9997264742851257, + 0.005671425722539425, + 0.006810588296502829 + ], + [ + -0.384187251329422, + 0.003482249565422535, + 0.9232486486434937, + 0.002313600154593587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9198147654533386, + -0.024100689217448235, + 0.3916120231151581, + 0.035829611122608185 + ], + [ + 0.02358212135732174, + 0.9997031092643738, + 0.006134513299912214, + 0.005356756504625082 + ], + [ + -0.39164361357688904, + 0.0035924254916608334, + 0.9201099872589111, + 0.00411776639521122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9168439507484436, + -0.023746659979224205, + 0.3985389471054077, + 0.03449539095163345 + ], + [ + 0.02385011501610279, + 0.9997044801712036, + 0.00469918642193079, + 0.004468231461942196 + ], + [ + -0.3985327482223511, + 0.005196777172386646, + 0.9171394109725952, + 0.00435235258191824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9143273830413818, + -0.023629629984498024, + 0.4042859971523285, + 0.03202725201845169 + ], + [ + 0.024250218644738197, + 0.9996994733810425, + 0.0035862973891198635, + 0.00407166825607419 + ], + [ + -0.4042492210865021, + 0.006524972151964903, + 0.9146256446838379, + 0.003393310122191906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9124058485031128, + -0.0227210633456707, + 0.4086554944515228, + 0.029482446610927582 + ], + [ + 0.023929554969072342, + 0.9997113347053528, + 0.002155941678211093, + 0.004633819218724966 + ], + [ + -0.4085865318775177, + 0.007811849936842918, + 0.9126861691474915, + 0.0035761240869760513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9111937880516052, + -0.022722026333212852, + 0.41135096549987793, + 0.029596291482448578 + ], + [ + 0.023855948820710182, + 0.9997125864028931, + 0.002377784112468362, + 0.004631502088159323 + ], + [ + -0.41128677129745483, + 0.007646545767784119, + 0.9114739298820496, + 0.0033612349070608616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9099569916725159, + -0.0228414386510849, + 0.4140731394290924, + 0.02974482998251915 + ], + [ + 0.023805588483810425, + 0.9997125864028931, + 0.0028323812875896692, + 0.0048165409825742245 + ], + [ + -0.414018839597702, + 0.007279909215867519, + 0.9102392196655273, + 0.003399176523089409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9083971381187439, + -0.02300913818180561, + 0.41747477650642395, + 0.031117403879761696 + ], + [ + 0.02397475205361843, + 0.9997082948684692, + 0.0029315028805285692, + 0.006199859082698822 + ], + [ + -0.4174204170703888, + 0.007345885969698429, + 0.9086837768554688, + 0.00401452649384737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9064639210700989, + -0.023463167250156403, + 0.4216309189796448, + 0.03210369497537613 + ], + [ + 0.02453336864709854, + 0.99969482421875, + 0.0028873442206531763, + 0.005542658269405365 + ], + [ + -0.4215700030326843, + 0.007726753130555153, + 0.906762957572937, + 0.0046270000748336315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9046884775161743, + -0.023006008937954903, + 0.4254521131515503, + 0.03247523307800293 + ], + [ + 0.024231282994151115, + 0.9997031688690186, + 0.0025324062444269657, + 0.004921753890812397 + ], + [ + -0.4253841042518616, + 0.008018212392926216, + 0.9049773812294006, + 0.004733686801046133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9027732014656067, + -0.02260182425379753, + 0.42952269315719604, + 0.03180008754134178 + ], + [ + 0.023935329169034958, + 0.9997108578681946, + 0.0022981713991612196, + 0.005996748339384794 + ], + [ + -0.42945045232772827, + 0.008206039667129517, + 0.9030531644821167, + 0.004830965772271156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9006643295288086, + -0.023142145946621895, + 0.43389880657196045, + 0.03279592841863632 + ], + [ + 0.0245047640055418, + 0.9996967315673828, + 0.002453476656228304, + 0.00643472746014595 + ], + [ + -0.43382400274276733, + 0.00842282921075821, + 0.9009582996368408, + 0.00576487323269248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.8986606597900391, + -0.02330031245946884, + 0.43802523612976074, + 0.032321952283382416 + ], + [ + 0.02469935640692711, + 0.9996917843818665, + 0.0025039450265467167, + 0.006670675240457058 + ], + [ + -0.4379485845565796, + 0.008568743243813515, + 0.898959219455719, + 0.005501606967300177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.8970213532447815, + -0.023507358506321907, + 0.441361665725708, + 0.030766120180487633 + ], + [ + 0.025007357820868492, + 0.9996843338012695, + 0.0024193408899009228, + 0.0053351628594100475 + ], + [ + -0.44127923250198364, + 0.008867088705301285, + 0.8973260521888733, + 0.005675772204995155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.8959543704986572, + -0.023179208859801292, + 0.44354090094566345, + 0.030697166919708252 + ], + [ + 0.024834780022501945, + 0.9996894001960754, + 0.002076874254271388, + 0.005268992390483618 + ], + [ + -0.44345125555992126, + 0.009154454804956913, + 0.8962517380714417, + 0.005955041386187077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.8945988416671753, + -0.022905196994543076, + 0.4462827146053314, + 0.03248755261301994 + ], + [ + 0.02481246367096901, + 0.9996908903121948, + 0.0015705600380897522, + 0.005997898988425732 + ], + [ + -0.4461807310581207, + 0.009668351151049137, + 0.8948906660079956, + 0.006053986959159374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.8928478360176086, + -0.022701898589730263, + 0.44978591799736023, + 0.03355751931667328 + ], + [ + 0.02478487603366375, + 0.9996920228004456, + 0.0012578978203237057, + 0.006322333589196205 + ], + [ + -0.44967594742774963, + 0.010024774819612503, + 0.8931355476379395, + 0.00664001889526844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.891078531742096, + -0.02255297265946865, + 0.4532885253429413, + 0.03432353213429451 + ], + [ + 0.02465386874973774, + 0.9996952414512634, + 0.0012741694226861, + 0.00618760148063302 + ], + [ + -0.45317909121513367, + 0.010039929300546646, + 0.8913629651069641, + 0.006680821068584919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8890963196754456, + -0.022285830229520798, + 0.4571773111820221, + 0.03653939440846443 + ], + [ + 0.02483982965350151, + 0.999691367149353, + 0.0004242360591888428, + 0.005581441335380077 + ], + [ + -0.45704564452171326, + 0.010979018174111843, + 0.8893755078315735, + 0.008018539287149906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 684.2091471354166, + "fy": 684.1180013020833, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/source/eb077971-8c8d-493c-9b76-b22489c982fc/caption.txt b/dynpose_eval/source/eb077971-8c8d-493c-9b76-b22489c982fc/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..bf54a3c6c9a1e1f2222bc4c4e4401bc8a5c66e9b --- /dev/null +++ b/dynpose_eval/source/eb077971-8c8d-493c-9b76-b22489c982fc/caption.txt @@ -0,0 +1 @@ +A man is wearing a cap and talking to the camera. diff --git a/dynpose_eval/source/eb077971-8c8d-493c-9b76-b22489c982fc/extras/source_metadata.json b/dynpose_eval/source/eb077971-8c8d-493c-9b76-b22489c982fc/extras/source_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..518e1f95305e29029add2eacac06a4febd8417d3 --- /dev/null +++ b/dynpose_eval/source/eb077971-8c8d-493c-9b76-b22489c982fc/extras/source_metadata.json @@ -0,0 +1,33 @@ +{ + "sequence": "eb077971-8c8d-493c-9b76-b22489c982fc", + "tar_name": "dpsp-8331020c", + "youtube_link": "https://www.youtube.com/watch?v=AbiRYsDlBCI", + "youtube_timestamp": "0:03:11.800-0:03:20.300", + "num_frames": 256, + "original_canvas_hw": [ + 720, + 1280 + ], + "spatial_transform": { + "input_hw": [ + 720, + 1280 + ], + "crop_xywh": [ + 16, + 0, + 1248, + 720 + ], + "scale_xy": [ + 0.6666666666666666, + 0.6666666666666666 + ], + "output_hw": [ + 480, + 832 + ] + }, + "rgb_status": "complete", + "focal_sign_correction": "none" +} diff --git a/dynpose_eval/source/eb077971-8c8d-493c-9b76-b22489c982fc/transforms.json b/dynpose_eval/source/eb077971-8c8d-493c-9b76-b22489c982fc/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..65901afbce0ec1502ac6ca66c58c3924fe5e05d8 --- /dev/null +++ b/dynpose_eval/source/eb077971-8c8d-493c-9b76-b22489c982fc/transforms.json @@ -0,0 +1,8973 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 256, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999995231628418, + 0.000255316321272403, + -0.0009112227126024663, + 0.0028612883761525154 + ], + [ + -0.00025467947125434875, + 0.9999997019767761, + 0.0006989191169850528, + -0.0021562064066529274 + ], + [ + 0.0009114009444601834, + -0.0006986867520026863, + 0.9999993443489075, + -0.0005215290584601462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9998781085014343, + 0.0034999793861061335, + -0.015217647887766361, + 0.0061639281921088696 + ], + [ + -0.0035458893980830908, + 0.9999892115592957, + -0.0029909589793533087, + -0.012015433050692081 + ], + [ + 0.015207015909254551, + 0.003044554265215993, + 0.9998797178268433, + -0.04038107022643089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9990849494934082, + 0.016578415408730507, + -0.039426516741514206, + 0.0128116924315691 + ], + [ + -0.016575412824749947, + 0.999862551689148, + 0.00040302338311448693, + -0.020080767571926117 + ], + [ + 0.039427775889635086, + 0.00025085615925490856, + 0.9992223978042603, + -0.06844239681959152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.997496485710144, + 0.040207743644714355, + -0.058172594755887985, + 0.017598580569028854 + ], + [ + -0.03981497138738632, + 0.9991758465766907, + 0.007895644754171371, + -0.021484779193997383 + ], + [ + 0.058442119508981705, + -0.0055597382597625256, + 0.9982753396034241, + -0.06981590390205383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9949793219566345, + 0.06184336543083191, + -0.07868602126836777, + 0.024936949834227562 + ], + [ + -0.060451261699199677, + 0.9979716539382935, + 0.019954856485128403, + -0.019508711993694305 + ], + [ + 0.07976049929857254, + -0.015098001807928085, + 0.9966996908187866, + -0.072695791721344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9928598403930664, + 0.07333822548389435, + -0.09407898038625717, + 0.03322591632604599 + ], + [ + -0.07040153443813324, + 0.9969334006309509, + 0.03416772931814194, + -0.015177757479250431 + ], + [ + 0.0962962731719017, + -0.027300462126731873, + 0.9949782490730286, + -0.07691211998462677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9915387034416199, + 0.07826659083366394, + -0.10356345772743225, + 0.03950641676783562 + ], + [ + -0.07629048824310303, + 0.9968223571777344, + 0.02291269600391388, + -0.009756841696798801 + ], + [ + 0.10502766072750092, + -0.01481791865080595, + 0.9943588972091675, + -0.07026422768831253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9901862740516663, + 0.08115501701831818, + -0.11377590149641037, + 0.046893004328012466 + ], + [ + -0.08334621787071228, + 0.9964132905006409, + -0.014628322795033455, + -0.0017548216274008155 + ], + [ + 0.11218065768480301, + 0.023967554792761803, + 0.9933987259864807, + -0.06594908237457275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9875745177268982, + 0.08927655220031738, + -0.12933024764060974, + 0.05193828418850899 + ], + [ + -0.09336830675601959, + 0.9952942728996277, + -0.025915978476405144, + 0.007223094813525677 + ], + [ + 0.12640798091888428, + 0.03766930475831032, + 0.9912628531455994, + -0.05858147516846657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9825926423072815, + 0.09634551405906677, + -0.15883705019950867, + 0.06008196249604225 + ], + [ + -0.09765413403511047, + 0.9952203035354614, + -0.0004357844591140747, + 0.008609798736870289 + ], + [ + 0.15803587436676025, + 0.015939291566610336, + 0.9873046875, + -0.05932402238249779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9782323837280273, + 0.09544360637664795, + -0.18426048755645752, + 0.06962920725345612 + ], + [ + -0.0952090471982956, + 0.9954056739807129, + 0.010140735656023026, + 0.004764043726027012 + ], + [ + 0.18438181281089783, + 0.007623268291354179, + 0.9828251600265503, + -0.06188805028796196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9729957580566406, + 0.09736748784780502, + -0.209281787276268, + 0.07946212589740753 + ], + [ + -0.10005678981542587, + 0.9949791431427002, + -0.0022754305973649025, + 0.0051054395735263824 + ], + [ + 0.20800946652889252, + 0.02315404638648033, + 0.9778527021408081, + -0.06269747763872147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9684009552001953, + 0.09722591191530228, + -0.22966666519641876, + 0.08892311155796051 + ], + [ + -0.10351759940385818, + 0.9945071935653687, + -0.015477546490728855, + 0.007114723324775696 + ], + [ + 0.22690032422542572, + 0.03876301273703575, + 0.9731462597846985, + -0.06041373685002327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9650564789772034, + 0.09145034849643707, + -0.24556641280651093, + 0.09987963736057281 + ], + [ + -0.10012854635715485, + 0.9947071671485901, + -0.023062564432621002, + 0.005919147282838821 + ], + [ + 0.24215759336948395, + 0.04684487730264664, + 0.9691054224967957, + -0.06975750625133514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.960456132888794, + 0.09147721529006958, + -0.2629752457141876, + 0.1076456606388092 + ], + [ + -0.10122580826282501, + 0.9945803284645081, + -0.023734191432595253, + 0.005929881241172552 + ], + [ + 0.2593788802623749, + 0.049415528774261475, + 0.9645106196403503, + -0.06991419196128845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.956322968006134, + 0.08533942699432373, + -0.2795774042606354, + 0.10937467962503433 + ], + [ + -0.09694838523864746, + 0.9948973059654236, + -0.027935050427913666, + 0.012739526107907295 + ], + [ + 0.2757668197154999, + 0.053819507360458374, + 0.9597166776657104, + -0.05031357705593109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9522659778594971, + 0.08293535560369492, + -0.29378774762153625, + 0.11494587361812592 + ], + [ + -0.09662861377000809, + 0.994793713092804, + -0.032379068434238434, + 0.013692020438611507 + ], + [ + 0.2895728051662445, + 0.0592217817902565, + 0.9553221464157104, + -0.049083858728408813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9491245150566101, + 0.07655724138021469, + -0.30545318126678467, + 0.12009303271770477 + ], + [ + -0.09259053319692612, + 0.9949662089347839, + -0.03833017870783806, + 0.014030308462679386 + ], + [ + 0.30098116397857666, + 0.06466218829154968, + 0.9514353275299072, + -0.04895993694663048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.947141706943512, + 0.06235923618078232, + -0.31469663977622986, + 0.1257726401090622 + ], + [ + -0.08021346479654312, + 0.9958019852638245, + -0.044093478471040726, + 0.014161410741508007 + ], + [ + 0.3106258809566498, + 0.06700567901134491, + 0.948167622089386, + -0.049844082444906235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9460912942886353, + 0.055429957807064056, + -0.31912195682525635, + 0.12821345031261444 + ], + [ + -0.07402514666318893, + 0.9961749911308289, + -0.04642929136753082, + 0.012913241982460022 + ], + [ + 0.3153277635574341, + 0.06754939258098602, + 0.9465756416320801, + -0.04619923233985901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9455658793449402, + 0.0418480709195137, + -0.32272881269454956, + 0.1442711353302002 + ], + [ + -0.06135690212249756, + 0.9968370199203491, + -0.05051080137491226, + 0.001650539692491293 + ], + [ + 0.31959426403045654, + 0.06756293028593063, + 0.9451427459716797, + -0.07617634534835815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9473033547401428, + 0.019954081624746323, + -0.3197157680988312, + 0.14969190955162048 + ], + [ + -0.042096469551324844, + 0.9971570372581482, + -0.062495432794094086, + -8.534989319741726e-05 + ], + [ + 0.3175598084926605, + 0.07266103476285934, + 0.9454502463340759, + -0.07901010662317276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9496038556098938, + -0.005698388442397118, + -0.31340083479881287, + 0.15473461151123047 + ], + [ + -0.020210668444633484, + 0.9966411590576172, + -0.07935965061187744, + 0.0005115255480632186 + ], + [ + 0.3128003776073456, + 0.08169427514076233, + 0.9462990760803223, + -0.08292409032583237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9522573351860046, + -0.026194825768470764, + -0.3041706681251526, + 0.16425859928131104 + ], + [ + -0.0007561594247817993, + 0.9961068630218506, + -0.08815085142850876, + -0.0017113388748839498 + ], + [ + 0.30529558658599854, + 0.08417230099439621, + 0.9485302567481995, + -0.09548086673021317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.954325258731842, + -0.05245056748390198, + -0.29412969946861267, + 0.18014970421791077 + ], + [ + 0.025544919073581696, + 0.9951890707015991, + -0.0945843756198883, + -0.0030802993569523096 + ], + [ + 0.29767563939094543, + 0.08275073766708374, + 0.9510738849639893, + -0.11506261676549911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9557335376739502, + -0.07053530216217041, + -0.2856539189815521, + 0.18948107957839966 + ], + [ + 0.044293809682130814, + 0.9942677021026611, + -0.09731318056583405, + -0.0020833222661167383 + ], + [ + 0.2908804714679718, + 0.0803527683019638, + 0.9533792734146118, + -0.1273912787437439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.955745279788971, + -0.08526686578989029, + -0.2815679609775543, + 0.19951225817203522 + ], + [ + 0.05858328193426132, + 0.9930705428123474, + -0.10187704861164093, + -0.0026221396401524544 + ], + [ + 0.28830358386039734, + 0.08087332546710968, + 0.9541176557540894, + -0.14047588407993317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9545798897743225, + -0.09638968855142593, + -0.28193312883377075, + 0.21631239354610443 + ], + [ + 0.06952852755784988, + 0.992165207862854, + -0.1037975400686264, + -0.021955396980047226 + ], + [ + 0.2897292375564575, + 0.07948064804077148, + 0.9538028240203857, + -0.1697998344898224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9543070197105408, + -0.09935493767261505, + -0.28182750940322876, + 0.22665385901927948 + ], + [ + 0.07045993208885193, + 0.9913312792778015, + -0.11089497804641724, + -0.006591936107724905 + ], + [ + 0.2904024124145508, + 0.08597029745578766, + 0.9530349373817444, + -0.17952439188957214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9548280835151672, + -0.08254662156105042, + -0.28546351194381714, + 0.23606325685977936 + ], + [ + 0.05943319573998451, + 0.9942819476127625, + -0.08871932327747345, + -0.042486049234867096 + ], + [ + 0.291154682636261, + 0.06774568557739258, + 0.9542742967605591, + -0.217316672205925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9533953666687012, + -0.08828355371952057, + -0.28851911425590515, + 0.23499217629432678 + ], + [ + 0.06829173862934113, + 0.9945598244667053, + -0.07865767180919647, + -0.05224236473441124 + ], + [ + 0.2938936650753021, + 0.05528838932514191, + 0.9542377591133118, + -0.25269731879234314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9498099088668823, + -0.10071858763694763, + -0.29617035388946533, + 0.2617582380771637 + ], + [ + 0.07862792909145355, + 0.9932215809822083, + -0.0856071189045906, + -0.0541585236787796 + ], + [ + 0.3027850389480591, + 0.05802323296666145, + 0.9512909650802612, + -0.27588915824890137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.946450412273407, + -0.1070883646607399, + -0.304571270942688, + 0.28089505434036255 + ], + [ + 0.08214288204908371, + 0.9922146797180176, + -0.09360857307910919, + -0.0659218356013298 + ], + [ + 0.31222444772720337, + 0.06357751786708832, + 0.9478785991668701, + -0.3088207542896271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9425439238548279, + -0.10276401787996292, + -0.3178844749927521, + 0.3023132085800171 + ], + [ + 0.07700882107019424, + 0.9927221536636353, + -0.09258686751127243, + -0.07745752483606339 + ], + [ + 0.3250855505466461, + 0.06278728693723679, + 0.9435979723930359, + -0.3386605679988861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9383716583251953, + -0.09419482946395874, + -0.3325446844100952, + 0.3215474486351013 + ], + [ + 0.06728893518447876, + 0.9935248494148254, + -0.0915452167391777, + -0.08084167540073395 + ], + [ + 0.33901453018188477, + 0.06352686136960983, + 0.9386338591575623, + -0.36677682399749756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9339332580566406, + -0.08487101644277573, + -0.3472255766391754, + 0.33965107798576355 + ], + [ + 0.05838071182370186, + 0.9945768117904663, + -0.08607389777898788, + -0.08828350156545639 + ], + [ + 0.35264769196510315, + 0.0601160004734993, + 0.9338231682777405, + -0.3910020589828491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9295501708984375, + -0.07510261237621307, + -0.3609655201435089, + 0.35916534066200256 + ], + [ + 0.04985965043306351, + 0.9956461787223816, + -0.07875708490610123, + -0.09334884583950043 + ], + [ + 0.3653087913990021, + 0.05521104857325554, + 0.9292476773262024, + -0.411434143781662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9258372187614441, + -0.06584123522043228, + -0.3721430003643036, + 0.3759446442127228 + ], + [ + 0.04186324030160904, + 0.9965142607688904, + -0.07215825468301773, + -0.10202507674694061 + ], + [ + 0.3755967915058136, + 0.051227688789367676, + 0.9253662824630737, + -0.4416661262512207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9213302731513977, + -0.06468413770198822, + -0.3833620548248291, + 0.39459505677223206 + ], + [ + 0.043735817074775696, + 0.9970471262931824, + -0.06312049925327301, + -0.09751449525356293 + ], + [ + 0.38631296157836914, + 0.04138818010687828, + 0.9214387536048889, + -0.47098538279533386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9163016080856323, + -0.06187521666288376, + -0.39568015933036804, + 0.4141881763935089 + ], + [ + 0.046518050134181976, + 0.9977490305900574, + -0.04830005764961243, + -0.10782406479120255 + ], + [ + 0.39777806401252747, + 0.025851154699921608, + 0.9171174168586731, + -0.4963665008544922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9114892482757568, + -0.07010850310325623, + -0.40530502796173096, + 0.43347328901290894 + ], + [ + 0.05684481933712959, + 0.9973824620246887, + -0.044686220586299896, + -0.11318393051624298 + ], + [ + 0.4073770046234131, + 0.017691519111394882, + 0.9130886793136597, + -0.5261532664299011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9065625667572021, + -0.07688654959201813, + -0.41500937938690186, + 0.45661237835884094 + ], + [ + 0.06521590054035187, + 0.9969765543937683, + -0.04224435240030289, + -0.12575988471508026 + ], + [ + 0.41700267791748047, + 0.01123194582760334, + 0.9088358879089355, + -0.5541889071464539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9013961553573608, + -0.08439148962497711, + -0.42469167709350586, + 0.48175740242004395 + ], + [ + 0.07158243656158447, + 0.9963706731796265, + -0.04605945944786072, + -0.12483850121498108 + ], + [ + 0.4270373582839966, + 0.011117355898022652, + 0.9041656255722046, + -0.5804563164710999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8959055542945862, + -0.0732913389801979, + -0.4381570816040039, + 0.5070211887359619 + ], + [ + 0.0603770986199379, + 0.9972336292266846, + -0.04335525259375572, + -0.15040481090545654 + ], + [ + 0.4401225447654724, + 0.012387565337121487, + 0.8978523015975952, + -0.608705997467041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.889617383480072, + -0.08251313865184784, + -0.4491909146308899, + 0.5254711508750916 + ], + [ + 0.06408986449241638, + 0.9963662624359131, + -0.056096069514751434, + -0.1290278136730194 + ], + [ + 0.45218735933303833, + 0.02111545205116272, + 0.8916730284690857, + -0.6535532474517822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.876194179058075, + -0.076814204454422, + -0.475797563791275, + 0.5530369877815247 + ], + [ + 0.05545933172106743, + 0.9967289566993713, + -0.058785077184438705, + -0.14025567471981049 + ], + [ + 0.47875675559043884, + 0.025119725614786148, + 0.877588152885437, + -0.6808919906616211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8633118867874146, + -0.0661320611834526, + -0.5003190636634827, + 0.5718752145767212 + ], + [ + 0.0441848561167717, + 0.997474730014801, + -0.05560401827096939, + -0.1512177735567093 + ], + [ + 0.5027328133583069, + 0.025897085666656494, + 0.8640538454055786, + -0.7087439894676208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8479562997817993, + -0.05575918033719063, + -0.5271252393722534, + 0.593418538570404 + ], + [ + 0.03787439689040184, + 0.9982835054397583, + -0.04467180743813515, + -0.15957492589950562 + ], + [ + 0.5287113189697266, + 0.017915192991495132, + 0.8486126661300659, + -0.7425692081451416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.836591899394989, + -0.05138244479894638, + -0.5454116463661194, + 0.6002724766731262 + ], + [ + 0.03777465969324112, + 0.9986326098442078, + -0.036138229072093964, + -0.17524170875549316 + ], + [ + 0.5465226769447327, + 0.00963020883500576, + 0.8373889327049255, + -0.7631887197494507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8274375200271606, + -0.06394550949335098, + -0.5579051375389099, + 0.6156657338142395 + ], + [ + 0.052695438265800476, + 0.9979532361030579, + -0.03622918576002121, + -0.18942570686340332 + ], + [ + 0.5590799450874329, + 0.0005783382803201675, + 0.8291136026382446, + -0.791186511516571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8220959305763245, + -0.06293503940105438, + -0.5658599734306335, + 0.630156934261322 + ], + [ + 0.04869198799133301, + 0.9980022311210632, + -0.04025699943304062, + -0.18035385012626648 + ], + [ + 0.5672630667686462, + 0.005542272701859474, + 0.8235179781913757, + -0.8180351257324219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8248836398124695, + -0.07883209735155106, + -0.5597789883613586, + 0.6278619766235352 + ], + [ + 0.05642867833375931, + 0.996765673160553, + -0.05721908062696457, + -0.2059648334980011 + ], + [ + 0.5624791979789734, + 0.015611499547958374, + 0.8266640901565552, + -0.8472471237182617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8182291388511658, + -0.07630117237567902, + -0.5698063373565674, + 0.6485967636108398 + ], + [ + 0.04880079999566078, + 0.9967942833900452, + -0.06340107321739197, + -0.20663787424564362 + ], + [ + 0.5728172063827515, + 0.02406959980726242, + 0.8193296194076538, + -0.8944912552833557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8070443868637085, + -0.07950373739004135, + -0.5851141214370728, + 0.6631457805633545 + ], + [ + 0.052345387637615204, + 0.9966259598731995, + -0.06321918219327927, + -0.21827462315559387 + ], + [ + 0.5881661176681519, + 0.020392661914229393, + 0.8084830045700073, + -0.9237865209579468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7927713990211487, + -0.09936688840389252, + -0.6013649106025696, + 0.6639479398727417 + ], + [ + 0.0753689706325531, + 0.9950312376022339, + -0.06505667418241501, + -0.22637531161308289 + ], + [ + 0.6048412919044495, + 0.00625082291662693, + 0.7963215112686157, + -0.954316258430481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7811196446418762, + -0.11808230727910995, + -0.6131139397621155, + 0.6693956851959229 + ], + [ + 0.09158489853143692, + 0.9930015802383423, + -0.07456552237272263, + -0.22598645091056824 + ], + [ + 0.6176280379295349, + 0.0020926296710968018, + 0.7864676117897034, + -0.9842302203178406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.7774337530136108, + -0.12147420644760132, + -0.617123007774353, + 0.6779274940490723 + ], + [ + 0.08302441239356995, + 0.9924066066741943, + -0.09075308591127396, + -0.21944406628608704 + ], + [ + 0.623461127281189, + 0.019318237900733948, + 0.781615674495697, + -1.0110914707183838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7815072536468506, + -0.1289459615945816, + -0.6104255318641663, + 0.681048572063446 + ], + [ + 0.08021815121173859, + 0.9910554885864258, + -0.10664942115545273, + -0.2239733636379242 + ], + [ + 0.618717610836029, + 0.03438008576631546, + 0.7848608493804932, + -1.0366467237472534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7883559465408325, + -0.12790802121162415, + -0.601776123046875, + 0.6847337484359741 + ], + [ + 0.07548306882381439, + 0.9908683896064758, + -0.11172343790531158, + -0.23017838597297668 + ], + [ + 0.6105712652206421, + 0.04265393316745758, + 0.7908118963241577, + -1.0590896606445312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.7898255586624146, + -0.13503852486610413, + -0.5982810854911804, + 0.6924384832382202 + ], + [ + 0.07850544899702072, + 0.9896958470344543, + -0.11974550038576126, + -0.23572561144828796 + ], + [ + 0.6082865595817566, + 0.04760973900556564, + 0.7922883033752441, + -1.0830187797546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7948805093765259, + -0.12508240342140198, + -0.5937334299087524, + 0.6934906840324402 + ], + [ + 0.06672036647796631, + 0.9906057119369507, + -0.11936777830123901, + -0.24025504291057587 + ], + [ + 0.6030865907669067, + 0.0552690215408802, + 0.7957587242126465, + -1.1093803644180298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.8059139251708984, + -0.11861862987279892, + -0.5800278782844543, + 0.6951203942298889 + ], + [ + 0.06027308851480484, + 0.9910711646080017, + -0.11893321573734283, + -0.2463972568511963 + ], + [ + 0.5889566540718079, + 0.06088985875248909, + 0.8058675527572632, + -1.1314619779586792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.8171467781066895, + -0.11331499367952347, + -0.5651822090148926, + 0.7018905878067017 + ], + [ + 0.05477737635374069, + 0.9913154244422913, + -0.11955393850803375, + -0.24937772750854492 + ], + [ + 0.5738210678100586, + 0.06673392653465271, + 0.8162572979927063, + -1.1573697328567505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8268460035324097, + -0.10929631441831589, + -0.5517064929008484, + 0.7069644927978516 + ], + [ + 0.05225609987974167, + 0.991622269153595, + -0.1181296780705452, + -0.25667470693588257 + ], + [ + 0.5599955916404724, + 0.06884502619504929, + 0.8256303071975708, + -1.1820976734161377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8378501534461975, + -0.10374146699905396, + -0.5359522700309753, + 0.7107175588607788 + ], + [ + 0.04946352168917656, + 0.9921653866767883, + -0.11472229659557343, + -0.26336225867271423 + ], + [ + 0.54365473985672, + 0.06960999965667725, + 0.8364173173904419, + -1.2073938846588135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8491184711456299, + -0.09509515017271042, + -0.5195716619491577, + 0.7154962420463562 + ], + [ + 0.04404211789369583, + 0.9929813742637634, + -0.10976491868495941, + -0.2703346908092499 + ], + [ + 0.5263631343841553, + 0.07032039761543274, + 0.8473470211029053, + -1.231663465499878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8582540154457092, + -0.08723684400320053, + -0.505756676197052, + 0.719294011592865 + ], + [ + 0.03960374742746353, + 0.9937668442726135, + -0.10420627892017365, + -0.2763477563858032 + ], + [ + 0.5116948485374451, + 0.06940560042858124, + 0.8563593029975891, + -1.2580761909484863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8653442859649658, + -0.08047784864902496, + -0.4946742057800293, + 0.7242705821990967 + ], + [ + 0.03733643889427185, + 0.9946323037147522, + -0.09650188684463501, + -0.2817555069923401 + ], + [ + 0.4997851848602295, + 0.06503798067569733, + 0.8637041449546814, + -1.2839336395263672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8720201253890991, + -0.07900718599557877, + -0.48305147886276245, + 0.7288332581520081 + ], + [ + 0.03923358768224716, + 0.9949937462806702, + -0.09191396087408066, + -0.28745323419570923 + ], + [ + 0.48789507150650024, + 0.06119898706674576, + 0.8707543015480042, + -1.3093137741088867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8778104782104492, + -0.08028151094913483, + -0.4722325801849365, + 0.7339619994163513 + ], + [ + 0.043961480259895325, + 0.9951967000961304, + -0.08746971189975739, + -0.2965998947620392 + ], + [ + 0.47698652744293213, + 0.0560217909514904, + 0.8771233558654785, + -1.3321079015731812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.8833592534065247, + -0.08443057537078857, + -0.46102917194366455, + 0.7395169734954834 + ], + [ + 0.050475433468818665, + 0.9950574040412903, + -0.08551591634750366, + -0.3085419237613678 + ], + [ + 0.46597063541412354, + 0.05227063596248627, + 0.883254885673523, + -1.3532434701919556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.8883097171783447, + -0.08360742032527924, + -0.45157021284103394, + 0.7469372153282166 + ], + [ + 0.050464630126953125, + 0.9951047301292419, + -0.08496999740600586, + -0.31877195835113525 + ], + [ + 0.4564637541770935, + 0.05269135534763336, + 0.8881804347038269, + -1.37385892868042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8915584087371826, + -0.07437156140804291, + -0.44675782322883606, + 0.7573455572128296 + ], + [ + 0.04912437126040459, + 0.9964853525161743, + -0.06785092502832413, + -0.32940128445625305 + ], + [ + 0.4502337872982025, + 0.0385463647544384, + 0.8920782804489136, + -1.391234278678894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.8940664529800415, + -0.06269438564777374, + -0.44352519512176514, + 0.7698959112167358 + ], + [ + 0.05181900039315224, + 0.9979851245880127, + -0.03661219775676727, + -0.3434610366821289 + ], + [ + 0.444926917552948, + 0.00975070707499981, + 0.8955137729644775, + -1.4059674739837646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.8983245491981506, + -0.06787960231304169, + -0.4340568780899048, + 0.7766070365905762 + ], + [ + 0.06465010344982147, + 0.9976606369018555, + -0.022218359634280205, + -0.35279759764671326 + ], + [ + 0.43454962968826294, + -0.008102521300315857, + 0.9006114602088928, + -1.4197808504104614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9028434753417969, + -0.07420743256807327, + -0.42351728677749634, + 0.7872593998908997 + ], + [ + 0.07117220014333725, + 0.997198760509491, + -0.023003093898296356, + -0.3601802885532379 + ], + [ + 0.4240379333496094, + -0.009374462999403477, + 0.9055958986282349, + -1.430295705795288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9098695516586304, + -0.07315484434366226, + -0.4083941876888275, + 0.8109071254730225 + ], + [ + 0.06875064224004745, + 0.9973085522651672, + -0.025474974885582924, + -0.3692236542701721 + ], + [ + 0.4091586172580719, + -0.004898456856608391, + 0.9124501347541809, + -1.4411580562591553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9175081849098206, + -0.06730794906616211, + -0.39198005199432373, + 0.8198033571243286 + ], + [ + 0.06602470576763153, + 0.9976770877838135, + -0.016769694164395332, + -0.37800511717796326 + ], + [ + 0.39219826459884644, + -0.010494035668671131, + 0.9198208451271057, + -1.4487533569335938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9242000579833984, + -0.0635429322719574, + -0.3765854239463806, + 0.8209133744239807 + ], + [ + 0.06303560733795166, + 0.9979174733161926, + -0.01368371769785881, + -0.3767377734184265 + ], + [ + 0.3766706585884094, + -0.011091794818639755, + 0.9262808561325073, + -1.4618289470672607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9280565977096558, + -0.06600910425186157, + -0.3665429949760437, + 0.8322219252586365 + ], + [ + 0.06584817171096802, + 0.9977455139160156, + -0.012957433238625526, + -0.3784860670566559 + ], + [ + 0.36657196283340454, + -0.012110954150557518, + 0.9303109049797058, + -1.4733303785324097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9322652816772461, + -0.07366733253002167, + -0.3541957437992096, + 0.8354274034500122 + ], + [ + 0.0727398693561554, + 0.9972233772277832, + -0.01595146209001541, + -0.3773629367351532 + ], + [ + 0.3543873727321625, + -0.010893155820667744, + 0.935035228729248, + -1.4840694665908813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9309356212615967, + -0.08335217833518982, + -0.35554367303848267, + 0.8502362966537476 + ], + [ + 0.07962238788604736, + 0.9965080618858337, + -0.025138400495052338, + -0.37378689646720886 + ], + [ + 0.35639750957489014, + -0.004907001741230488, + 0.9343215227127075, + -1.4945223331451416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.927444577217102, + -0.09344828128814697, + -0.3620966672897339, + 0.8616093993186951 + ], + [ + 0.08712291717529297, + 0.9956241250038147, + -0.03379674255847931, + -0.3746439814567566 + ], + [ + 0.3636704087257385, + -0.0002023056149482727, + 0.9315276741981506, + -1.5057878494262695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9228379130363464, + -0.09725780040025711, + -0.3727077543735504, + 0.8695690035820007 + ], + [ + 0.08797919005155563, + 0.9952420592308044, + -0.04186798632144928, + -0.37214767932891846 + ], + [ + 0.37500640749931335, + 0.005846843123435974, + 0.927003800868988, + -1.5221288204193115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9185529947280884, + -0.1024809405207634, + -0.3817827105522156, + 0.8811470866203308 + ], + [ + 0.09068594127893448, + 0.9946824908256531, + -0.048813529312610626, + -0.3695771098136902 + ], + [ + 0.38475501537323, + 0.01021549291908741, + 0.9229621887207031, + -1.536082148551941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9143854379653931, + -0.10994257777929306, + -0.38963043689727783, + 0.8904977440834045 + ], + [ + 0.09470538049936295, + 0.9938044548034668, + -0.05816847085952759, + -0.3673105835914612 + ], + [ + 0.3936116695404053, + 0.016288304701447487, + 0.9191324710845947, + -1.5521657466888428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9075711965560913, + -0.11810161173343658, + -0.4029472768306732, + 0.9014305472373962 + ], + [ + 0.09929732978343964, + 0.9927774667739868, + -0.06732696294784546, + -0.36834976077079773 + ], + [ + 0.40798839926719666, + 0.021092424169182777, + 0.9127434492111206, + -1.5665738582611084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.899254322052002, + -0.12985490262508392, + -0.417707234621048, + 0.9113026857376099 + ], + [ + 0.10689303278923035, + 0.9912048578262329, + -0.07801826298236847, + -0.36788704991340637 + ], + [ + 0.4241645038127899, + 0.025508271530270576, + 0.9052258729934692, + -1.5832728147506714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.8905689120292664, + -0.13943904638290405, + -0.4329478144645691, + 0.9186049103736877 + ], + [ + 0.11196056008338928, + 0.9897664785385132, + -0.08847139775753021, + -0.36990147829055786 + ], + [ + 0.4408535957336426, + 0.030316798016428947, + 0.8970668911933899, + -1.5969538688659668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.881672203540802, + -0.14613519608974457, + -0.44866320490837097, + 0.9262098073959351 + ], + [ + 0.11442817002534866, + 0.9886690378189087, + -0.09715799987316132, + -0.3751169443130493 + ], + [ + 0.45777764916419983, + 0.034321803599596024, + 0.8884040117263794, + -1.6085530519485474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.8734065294265747, + -0.15263481438159943, + -0.4624538719654083, + 0.9338331818580627 + ], + [ + 0.1166759505867958, + 0.9875417947769165, + -0.10558398067951202, + -0.3790592849254608 + ], + [ + 0.4728083312511444, + 0.03826049342751503, + 0.8803342580795288, + -1.621700644493103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.8651284575462341, + -0.1563940793275833, + -0.4765434265136719, + 0.9415006637573242 + ], + [ + 0.11938252300024033, + 0.9870437979698181, + -0.10720236599445343, + -0.38511377573013306 + ], + [ + 0.48713505268096924, + 0.035852864384651184, + 0.8725904226303101, + -1.6326948404312134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.8551734685897827, + -0.16142447292804718, + -0.49256521463394165, + 0.9487707614898682 + ], + [ + 0.1243089810013771, + 0.9864088296890259, + -0.10744726657867432, + -0.38971397280693054 + ], + [ + 0.5032153129577637, + 0.03065578266978264, + 0.8636171817779541, + -1.6452295780181885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.8436774611473083, + -0.1646360456943512, + -0.5109827518463135, + 0.9505025744438171 + ], + [ + 0.1284942924976349, + 0.9860768914222717, + -0.10555362701416016, + -0.39536136388778687 + ], + [ + 0.5212461948394775, + 0.023394856601953506, + 0.8530856370925903, + -1.6545088291168213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.8321241140365601, + -0.16897457838058472, + -0.5282206535339355, + 0.9549084901809692 + ], + [ + 0.131260484457016, + 0.9853987097740173, + -0.10844393819570541, + -0.39767614006996155 + ], + [ + 0.5388321876525879, + 0.02090432494878769, + 0.8421536684036255, + -1.6644747257232666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.8168280720710754, + -0.17453144490718842, + -0.5498460531234741, + 0.9599069356918335 + ], + [ + 0.1352463811635971, + 0.9845085740089417, + -0.11158518493175507, + -0.4119201600551605 + ], + [ + 0.5608032941818237, + 0.01678122952580452, + 0.8277789950370789, + -1.6111096143722534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.8043783903121948, + -0.18342970311641693, + -0.5650920867919922, + 0.9647488594055176 + ], + [ + 0.1407240778207779, + 0.9829028248786926, + -0.11873848736286163, + -0.41621488332748413 + ], + [ + 0.5772107839584351, + 0.015988629311323166, + 0.8164386749267578, + -1.6238539218902588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.7918522357940674, + -0.19010719656944275, + -0.5803699493408203, + 0.9690713286399841 + ], + [ + 0.14655378460884094, + 0.9816989898681641, + -0.12161053717136383, + -0.4234272837638855 + ], + [ + 0.5928676128387451, + 0.01124216616153717, + 0.805221438407898, + -1.6357851028442383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.7751126289367676, + -0.2027006596326828, + -0.5984253883361816, + 0.9722614288330078 + ], + [ + 0.1593640297651291, + 0.9792392253875732, + -0.12527437508106232, + -0.4329372048377991 + ], + [ + 0.6113947629928589, + 0.0017342716455459595, + 0.7913238406181335, + -1.6187748908996582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.756439208984375, + -0.20541724562644958, + -0.6209697723388672, + 0.9793097972869873 + ], + [ + 0.16342303156852722, + 0.9786481261253357, + -0.12466244399547577, + -0.44205254316329956 + ], + [ + 0.6333187818527222, + -0.007181201130151749, + 0.7738577127456665, + -1.6199668645858765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.7412660121917725, + -0.2141256034374237, + -0.6361407041549683, + 0.9751123189926147 + ], + [ + 0.17041552066802979, + 0.9767336249351501, + -0.13019201159477234, + -0.44345995783805847 + ], + [ + 0.6492174863815308, + -0.011901333928108215, + 0.760509729385376, + -1.623521089553833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.7246137857437134, + -0.2244420349597931, + -0.651583194732666, + 0.9848897457122803 + ], + [ + 0.17929303646087646, + 0.9743190407752991, + -0.1362219750881195, + -0.4456254243850708 + ], + [ + 0.6654238700866699, + -0.018115997314453125, + 0.7462458610534668, + -1.6230251789093018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.7080025672912598, + -0.2363416999578476, + -0.665488600730896, + 0.9953683614730835 + ], + [ + 0.18827079236507416, + 0.9714012145996094, + -0.1446853131055832, + -0.44349193572998047 + ], + [ + 0.6806515455245972, + -0.022854477167129517, + 0.7322507500648499, + -1.6171883344650269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.6885492205619812, + -0.2478943169116974, + -0.681504487991333, + 1.0125830173492432 + ], + [ + 0.19640713930130005, + 0.9683838486671448, + -0.15380805730819702, + -0.4354797303676605 + ], + [ + 0.698086142539978, + -0.027947939932346344, + 0.715468168258667, + -1.6109814643859863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.657394289970398, + -0.25142180919647217, + -0.7103659510612488, + 1.0515128374099731 + ], + [ + 0.20036526024341583, + 0.9670828580856323, + -0.15685820579528809, + -0.4235714077949524 + ], + [ + 0.7264203429222107, + -0.03921496123075485, + 0.686130940914154, + -1.5969310998916626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.6222995519638062, + -0.25069326162338257, + -0.7415497899055481, + 1.0781404972076416 + ], + [ + 0.20073096454143524, + 0.9667592644691467, + -0.15837806463241577, + -0.4159497618675232 + ], + [ + 0.7566044926643372, + -0.05029340460896492, + 0.6519358158111572, + -1.5769953727722168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.5764095783233643, + -0.25249290466308594, + -0.7771739959716797, + 1.1179383993148804 + ], + [ + 0.19946660101413727, + 0.9657715559005737, + -0.1658264696598053, + -0.4058055281639099 + ], + [ + 0.7924425601959229, + -0.05943625047802925, + 0.6070438623428345, + -1.5412347316741943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.5338010787963867, + -0.2589157223701477, + -0.8049963712692261, + 1.141136646270752 + ], + [ + 0.19900836050510406, + 0.9636977314949036, + -0.17799535393714905, + -0.3976961374282837 + ], + [ + 0.8218590021133423, + -0.06518687307834625, + 0.5659492611885071, + -1.508862018585205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.49421226978302, + -0.269665390253067, + -0.8264591693878174, + 1.1641275882720947 + ], + [ + 0.20030570030212402, + 0.9604160785675049, + -0.19359388947486877, + -0.38394224643707275 + ], + [ + 0.8459502458572388, + -0.06986800581216812, + 0.5286649465560913, + -1.4842312335968018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.4534950256347656, + -0.27576687932014465, + -0.8475227952003479, + 1.1859036684036255 + ], + [ + 0.20162275433540344, + 0.9580185413360596, + -0.20383507013320923, + -0.37553533911705017 + ], + [ + 0.8681535124778748, + -0.07844167202711105, + 0.49005746841430664, + -1.4564480781555176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.415588915348053, + -0.283069908618927, + -0.8643826842308044, + 1.20032799243927 + ], + [ + 0.20556457340717316, + 0.9549805521965027, + -0.21390515565872192, + -0.36819788813591003 + ], + [ + 0.886018693447113, + -0.08878981322050095, + 0.4550684690475464, + -1.4263674020767212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.3839939832687378, + -0.29076486825942993, + -0.876358687877655, + 1.2140531539916992 + ], + [ + 0.21097862720489502, + 0.9516436457633972, + -0.22329899668693542, + -0.36133503913879395 + ], + [ + 0.8989086747169495, + -0.09914744645357132, + 0.42677056789398193, + -1.3994929790496826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.3497970700263977, + -0.2994292378425598, + -0.8876848220825195, + 1.226780652999878 + ], + [ + 0.21704338490962982, + 0.947667121887207, + -0.23413504660129547, + -0.3497828245162964 + ], + [ + 0.9113365411758423, + -0.11076630651950836, + 0.3964803218841553, + -1.3641668558120728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.32071077823638916, + -0.303286612033844, + -0.8973081707954407, + 1.2374377250671387 + ], + [ + 0.22405825555324554, + 0.9447546005249023, + -0.23924170434474945, + -0.341169148683548 + ], + [ + 0.9202948212623596, + -0.12432186305522919, + 0.37094688415527344, + -1.33625066280365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.29510581493377686, + -0.3044247031211853, + -0.9056700468063354, + 1.245324969291687 + ], + [ + 0.23027630150318146, + 0.9426043033599854, + -0.24180565774440765, + -0.3338482975959778 + ], + [ + 0.9273000955581665, + -0.13719607889652252, + 0.34826982021331787, + -1.3093488216400146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.2725229859352112, + -0.30351126194000244, + -0.9130237102508545, + 1.2509996891021729 + ], + [ + 0.23826169967651367, + 0.9406741261482239, + -0.2415856122970581, + -0.3307128846645355 + ], + [ + 0.932181715965271, + -0.15170088410377502, + 0.3286704421043396, + -1.28163480758667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.2523605227470398, + -0.30470162630081177, + -0.9184069037437439, + 1.2552621364593506 + ], + [ + 0.24672497808933258, + 0.9380176067352295, + -0.24341264367103577, + -0.323386013507843 + ], + [ + 0.9356500506401062, + -0.16516613960266113, + 0.31189608573913574, + -1.255490779876709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.23912400007247925, + -0.30276572704315186, + -0.9225794076919556, + 1.2602391242980957 + ], + [ + 0.25622302293777466, + 0.9361422061920166, + -0.24080605804920197, + -0.32389113306999207 + ], + [ + 0.9365733861923218, + -0.17880354821681976, + 0.3014295697212219, + -1.2368535995483398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.22253793478012085, + -0.3039904534816742, + -0.9263190031051636, + 1.2640140056610107 + ], + [ + 0.2643095552921295, + 0.9333727955818176, + -0.24280786514282227, + -0.31667864322662354 + ], + [ + 0.9384121894836426, + -0.1908009648323059, + 0.28805840015411377, + -1.2157732248306274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.2034614086151123, + -0.3003571927547455, + -0.9318739771842957, + 1.2684593200683594 + ], + [ + 0.27135995030403137, + 0.9317951798439026, + -0.24108417332172394, + -0.3187311589717865 + ], + [ + 0.9407270550727844, + -0.20382191240787506, + 0.27108925580978394, + -1.1879159212112427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.19214600324630737, + -0.29823240637779236, + -0.9349532127380371, + 1.2737972736358643 + ], + [ + 0.2804960310459137, + 0.9296510219573975, + -0.2388952672481537, + -0.32043370604515076 + ], + [ + 0.9404265880584717, + -0.2163478434085846, + 0.26228171586990356, + -1.1774019002914429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.17493844032287598, + -0.2986707091331482, + -0.9381856918334961, + 1.2761378288269043 + ], + [ + 0.28615856170654297, + 0.9271696209907532, + -0.2418053150177002, + -0.3125048577785492 + ], + [ + 0.9420773983001709, + -0.22616881132125854, + 0.24766474962234497, + -1.1555554866790771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.16378742456436157, + -0.2965059280395508, + -0.9408815503120422, + 1.275599479675293 + ], + [ + 0.29172730445861816, + 0.9256618022918701, + -0.2409261167049408, + -0.312518835067749 + ], + [ + 0.9423741698265076, + -0.23502010107040405, + 0.23811060190200806, + -1.136967658996582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.15882617235183716, + -0.29122623801231384, + -0.9433777928352356, + 1.27431058883667 + ], + [ + 0.29807308316230774, + 0.9250644445419312, + -0.23538951575756073, + -0.318684458732605 + ], + [ + 0.9412367939949036, + -0.2438095062971115, + 0.23373109102249146, + -1.1160552501678467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.15411823987960815, + -0.28528860211372375, + -0.9459693431854248, + 1.2774524688720703 + ], + [ + 0.3042948544025421, + 0.9245777130126953, + -0.22926123440265656, + -0.32223889231681824 + ], + [ + 0.9400278329849243, + -0.25252026319503784, + 0.229306161403656, + -1.0947842597961426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.1514860987663269, + -0.28180667757987976, + -0.947437047958374, + 1.2785483598709106 + ], + [ + 0.31076642870903015, + 0.9234736561775208, + -0.22499041259288788, + -0.32263419032096863 + ], + [ + 0.938336968421936, + -0.26034870743751526, + 0.22746944427490234, + -1.0824611186981201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.14918547868728638, + -0.27711448073387146, + -0.9491845369338989, + 1.2815147638320923 + ], + [ + 0.3169827163219452, + 0.9226692914962769, + -0.21955248713493347, + -0.3249433636665344 + ], + [ + 0.9366246461868286, + -0.26812103390693665, + 0.22548937797546387, + -1.0712518692016602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.14927417039871216, + -0.27429112792015076, + -0.9499903917312622, + 1.2803504467010498 + ], + [ + 0.32197222113609314, + 0.9218776226043701, + -0.21558186411857605, + -0.3271459639072418 + ], + [ + 0.934907078742981, + -0.2736896574497223, + 0.22592663764953613, + -1.0608762502670288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.16425871849060059, + -0.2845996022224426, + -0.9444692730903625, + 1.2863118648529053 + ], + [ + 0.32871925830841064, + 0.9185382127761841, + -0.21961605548858643, + -0.30910003185272217 + ], + [ + 0.9300337433815002, + -0.2743913531303406, + 0.2444312572479248, + -1.0860029458999634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.1633184552192688, + -0.2841354310512543, + -0.9447720050811768, + 1.2912583351135254 + ], + [ + 0.33188214898109436, + 0.9176415801048279, + -0.21860511600971222, + -0.3068968653678894 + ], + [ + 0.9290754795074463, + -0.2778507173061371, + 0.2441672682762146, + -1.0800065994262695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.16107958555221558, + -0.27880826592445374, + -0.9467415809631348, + 1.2918810844421387 + ], + [ + 0.33289214968681335, + 0.9184019565582275, + -0.21382386982440948, + -0.3126065135002136 + ], + [ + 0.9291051626205444, + -0.2807200849056244, + 0.24074888229370117, + -1.06858491897583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.16684752702713013, + -0.2723926305770874, + -0.9476096630096436, + 1.2933460474014282 + ], + [ + 0.3356055021286011, + 0.9193838834762573, + -0.2051883339881897, + -0.32283297181129456 + ], + [ + 0.927108883857727, + -0.2837878465652466, + 0.24481338262557983, + -1.066422939300537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.1753629446029663, + -0.2663714587688446, + -0.9477837681770325, + 1.29563307762146 + ], + [ + 0.3364659249782562, + 0.9209499359130859, + -0.19657553732395172, + -0.3282620906829834 + ], + [ + 0.9252235293388367, + -0.28442490100860596, + 0.25112539529800415, + -1.0626832246780396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.18724685907363892, + -0.2567267119884491, + -0.9481719732284546, + 1.2952451705932617 + ], + [ + 0.3398089110851288, + 0.9225800037384033, + -0.1826912760734558, + -0.3384820818901062 + ], + [ + 0.9216662645339966, + -0.2879888713359833, + 0.2599881887435913, + -1.0597953796386719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.19527262449264526, + -0.24853897094726562, + -0.9487344622612, + 1.2967462539672852 + ], + [ + 0.34213727712631226, + 0.9238483309745789, + -0.1715994030237198, + -0.3438163697719574 + ], + [ + 0.9191358685493469, + -0.2910887598991394, + 0.26543670892715454, + -1.0593163967132568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.20230579376220703, + -0.24262632429599762, + -0.9487912654876709, + 1.2962327003479004 + ], + [ + 0.34753552079200745, + 0.9235543012619019, + -0.16206951439380646, + -0.3456171751022339 + ], + [ + 0.915582537651062, + -0.2969510555267334, + 0.27116167545318604, + -1.0572595596313477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.21003711223602295, + -0.23445431888103485, + -0.9491657614707947, + 1.291705846786499 + ], + [ + 0.35208356380462646, + 0.923824667930603, + -0.1502836048603058, + -0.3559304177761078 + ], + [ + 0.9120973944664001, + -0.3026205003261566, + 0.2765849828720093, + -1.0488439798355103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.22236543893814087, + -0.2327512949705124, + -0.9467736482620239, + 1.2924920320510864 + ], + [ + 0.35601475834846497, + 0.9234132766723633, + -0.14339253306388855, + -0.3541182279586792 + ], + [ + 0.9076381921768188, + -0.3051798641681671, + 0.2881980538368225, + -1.0554922819137573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.23033982515335083, + -0.22805024683475494, + -0.946010947227478, + 1.2934287786483765 + ], + [ + 0.3589216470718384, + 0.9235185384750366, + -0.13523593544960022, + -0.3537273108959198 + ], + [ + 0.9044992923736572, + -0.30839353799819946, + 0.2945752739906311, + -1.05387544631958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.23800885677337646, + -0.22449877858161926, + -0.9449614882469177, + 1.2938594818115234 + ], + [ + 0.36003103852272034, + 0.9240013957023621, + -0.12883764505386353, + -0.35180604457855225 + ], + [ + 0.902069628238678, + -0.3095509111881256, + 0.3007470369338989, + -1.0576564073562622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.24204802513122559, + -0.21668130159378052, + -0.9457600712776184, + 1.295912742614746 + ], + [ + 0.35802555084228516, + 0.9259032607078552, + -0.12050257623195648, + -0.35574787855148315 + ], + [ + 0.9017929434776306, + -0.3094388246536255, + 0.3016905188560486, + -1.0550142526626587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.24583840370178223, + -0.21008510887622833, + -0.9462704658508301, + 1.298394799232483 + ], + [ + 0.356462299823761, + 0.9274156093597412, + -0.11329115927219391, + -0.357257604598999 + ], + [ + 0.9013868570327759, + -0.3094583749771118, + 0.3028818368911743, + -1.05381178855896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.251057505607605, + -0.20829370617866516, + -0.9452956914901733, + 1.3004577159881592 + ], + [ + 0.35680893063545227, + 0.9277191162109375, + -0.10965720564126968, + -0.35319527983665466 + ], + [ + 0.899809718132019, + -0.30975964665412903, + 0.3072319030761719, + -1.0604599714279175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.25334036350250244, + -0.2073213756084442, + -0.9449003338813782, + 1.3024897575378418 + ], + [ + 0.3560895025730133, + 0.9281690716743469, + -0.10817799717187881, + -0.3510497212409973 + ], + [ + 0.8994548916816711, + -0.30906322598457336, + 0.308967649936676, + -1.0649051666259766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.2515299320220947, + -0.20654582977294922, + -0.9455535411834717, + 1.3077585697174072 + ], + [ + 0.35520869493484497, + 0.9284889698028564, + -0.10832798480987549, + -0.3499356210231781 + ], + [ + 0.900310754776001, + -0.3086211085319519, + 0.3069096803665161, + -1.067231297492981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.2498517632484436, + -0.20515164732933044, + -0.9463018178939819, + 1.3124088048934937 + ], + [ + 0.35367628931999207, + 0.9291070103645325, + -0.1080428808927536, + -0.34962594509124756 + ], + [ + 0.9013807773590088, + -0.30768972635269165, + 0.30469632148742676, + -1.0699266195297241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.2464696168899536, + -0.20354272425174713, + -0.9475353360176086, + 1.3179855346679688 + ], + [ + 0.3527263402938843, + 0.9294829368591309, + -0.10791487991809845, + -0.3491988778114319 + ], + [ + 0.9026831984519958, + -0.30762290954589844, + 0.3008841872215271, + -1.069315791130066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.24003976583480835, + -0.19998471438884735, + -0.9499406218528748, + 1.3259133100509644 + ], + [ + 0.3513906002044678, + 0.9300928711891174, + -0.10701365023851395, + -0.3498899042606354 + ], + [ + 0.9049341082572937, + -0.30811265110969543, + 0.29353201389312744, + -1.0704071521759033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.2324291467666626, + -0.19251006841659546, + -0.9533712267875671, + 1.3319876194000244 + ], + [ + 0.3486053943634033, + 0.9315795302391052, + -0.10312075167894363, + -0.3532620370388031 + ], + [ + 0.9079928994178772, + -0.3083820641040802, + 0.28363633155822754, + -1.0727183818817139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.22531038522720337, + -0.18953798711299896, + -0.9556728005409241, + 1.3388614654541016 + ], + [ + 0.3470916152000427, + 0.9321532249450684, + -0.10304269194602966, + -0.34983474016189575 + ], + [ + 0.9103639721870422, + -0.30848947167396545, + 0.2758108377456665, + -1.0739214420318604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.218586266040802, + -0.1919446736574173, + -0.9567534923553467, + 1.348156452178955 + ], + [ + 0.34635108709335327, + 0.9318875670433044, + -0.10782637447118759, + -0.3437744975090027 + ], + [ + 0.9122834205627441, + -0.3078032433986664, + 0.27017807960510254, + -1.0823626518249512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.19827955961227417, + -0.18889597058296204, + -0.9617710709571838, + 1.3650672435760498 + ], + [ + 0.34547117352485657, + 0.9317486882209778, + -0.11177679896354675, + -0.34371569752693176 + ], + [ + 0.9172430634498596, + -0.31010112166404724, + 0.25000476837158203, + -1.0821809768676758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.17963647842407227, + -0.18996572494506836, + -0.9652169942855835, + 1.3765028715133667 + ], + [ + 0.3399745225906372, + 0.9327091574668884, + -0.12029515206813812, + -0.3331027030944824 + ], + [ + 0.9231187105178833, + -0.30653977394104004, + 0.23213207721710205, + -1.0888304710388184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.1633273959159851, + -0.18332737684249878, + -0.9693890810012817, + 1.3853098154067993 + ], + [ + 0.33571577072143555, + 0.9342726469039917, + -0.1201232373714447, + -0.33841612935066223 + ], + [ + 0.9276955127716064, + -0.3058197796344757, + 0.2141382098197937, + -1.0931954383850098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.1461511254310608, + -0.17955465614795685, + -0.9728310108184814, + 1.3925001621246338 + ], + [ + 0.3309459090232849, + 0.9356037974357605, + -0.12296473234891891, + -0.34001484513282776 + ], + [ + 0.9322632551193237, + -0.3039829432964325, + 0.1961624026298523, + -1.1021862030029297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.12369650602340698, + -0.1650198996067047, + -0.9785027503967285, + 1.4050506353378296 + ], + [ + 0.3298271894454956, + 0.9368501305580139, + -0.11630059778690338, + -0.3616487979888916 + ], + [ + 0.9359023571014404, + -0.3083508014678955, + 0.17031311988830566, + -1.0837523937225342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.11216086149215698, + -0.16442739963531494, + -0.979991614818573, + 1.4240679740905762 + ], + [ + 0.3313435912132263, + 0.9359607696533203, + -0.1191171333193779, + -0.36027488112449646 + ], + [ + 0.936819851398468, + -0.3113536536693573, + 0.1594601273536682, + -1.0892459154129028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.0966867208480835, + -0.16879770159721375, + -0.9808971285820007, + 1.430307149887085 + ], + [ + 0.3306420147418976, + 0.9349936842918396, + -0.12830713391304016, + -0.35750308632850647 + ], + [ + 0.938790500164032, + -0.311920166015625, + 0.1462131142616272, + -1.0855447053909302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.07546126842498779, + -0.16815632581710815, + -0.9828678369522095, + 1.4410228729248047 + ], + [ + 0.32763156294822693, + 0.935134768486023, + -0.134835347533226, + -0.3566889464855194 + ], + [ + 0.9417872428894043, + -0.3118436336517334, + 0.1256597638130188, + -1.0807952880859375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.050222694873809814, + -0.16679063439369202, + -0.984712541103363, + 1.4461047649383545 + ], + [ + 0.31926068663597107, + 0.936905562877655, + -0.142410010099411, + -0.3529393970966339 + ], + [ + 0.9463352560997009, + -0.3072277307510376, + 0.10030359029769897, + -1.0772813558578491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.02481675148010254, + -0.16333527863025665, + -0.9862585663795471, + 1.4504488706588745 + ], + [ + 0.3096681833267212, + 0.939292848110199, + -0.14776518940925598, + -0.35157057642936707 + ], + [ + 0.950520932674408, + -0.30174577236175537, + 0.07388991117477417, + -1.0710391998291016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.0028017163276672363, + -0.16163262724876404, + -0.9868471026420593, + 1.451180338859558 + ], + [ + 0.2996513843536377, + 0.941639244556427, + -0.1533774435520172, + -0.34729355573654175 + ], + [ + 0.954044759273529, + -0.2952803373336792, + 0.05107170343399048, + -1.0641857385635376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + -0.013457894325256348, + -0.16013512015342712, + -0.98700350522995, + 1.455194354057312 + ], + [ + 0.294546902179718, + 0.9426593780517578, + -0.1569567322731018, + -0.34450408816337585 + ], + [ + 0.9555423855781555, + -0.29283109307289124, + 0.034481048583984375, + -1.0582616329193115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + -0.019882798194885254, + -0.1592584252357483, + -0.9870367050170898, + 1.4575093984603882 + ], + [ + 0.29424551129341125, + 0.9425771832466125, + -0.15801212191581726, + -0.34256017208099365 + ], + [ + 0.9555230140686035, + -0.2935728430747986, + 0.028120040893554688, + -1.0554039478302002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + -0.03013777732849121, + -0.15598657727241516, + -0.9872993230819702, + 1.4619170427322388 + ], + [ + 0.29273346066474915, + 0.943061113357544, + -0.1579330712556839, + -0.34037166833877563 + ], + [ + 0.955718994140625, + -0.2937752604484558, + 0.017240703105926514, + -1.0510956048965454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + -0.048423051834106445, + -0.1552356332540512, + -0.9866899847984314, + 1.4658186435699463 + ], + [ + 0.2858714461326599, + 0.9443709254264832, + -0.1626070737838745, + -0.33529165387153625 + ], + [ + 0.9570437073707581, + -0.28994038701057434, + -0.0013518333435058594, + -1.044735312461853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + -0.06020998954772949, + -0.15384237468242645, + -0.9862592220306396, + 1.4674865007400513 + ], + [ + 0.27991968393325806, + 0.9458038806915283, + -0.16462071239948273, + -0.33220428228378296 + ], + [ + 0.9581334590911865, + -0.28598517179489136, + -0.013883352279663086, + -1.040614366531372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + -0.07106292247772217, + -0.15411923825740814, + -0.985493540763855, + 1.4724247455596924 + ], + [ + 0.2725759744644165, + 0.9473861455917358, + -0.16781488060951233, + -0.32862526178359985 + ], + [ + 0.9595063924789429, + -0.28054726123809814, + -0.025314927101135254, + -1.0394128561019897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + -0.08280634880065918, + -0.15470635890960693, + -0.9844842553138733, + 1.4745831489562988 + ], + [ + 0.26457369327545166, + 0.9490140080451965, + -0.17138604819774628, + -0.32626837491989136 + ], + [ + 0.9608038067817688, + -0.2746604382991791, + -0.037653207778930664, + -1.036255121231079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + -0.096122145652771, + -0.15975818037986755, + -0.9824652075767517, + 1.4732064008712769 + ], + [ + 0.2608185112476349, + 0.9485052824020386, + -0.1797538846731186, + -0.32144245505332947 + ], + [ + 0.9605905413627625, + -0.2735234498977661, + -0.04950451850891113, + -1.032023310661316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + -0.10521376132965088, + -0.1597536951303482, + -0.9815340638160706, + 1.476466417312622 + ], + [ + 0.2502957582473755, + 0.9509834051132202, + -0.18161126971244812, + -0.3186976909637451 + ], + [ + 0.9624356627464294, + -0.26478177309036255, + -0.06007087230682373, + -1.0310920476913452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + -0.11643373966217041, + -0.16139547526836395, + -0.9799973368644714, + 1.4790488481521606 + ], + [ + 0.2402980774641037, + 0.9528158903121948, + -0.185468852519989, + -0.3156541585922241 + ], + [ + 0.9636909365653992, + -0.25708627700805664, + -0.07215690612792969, + -1.0289766788482666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + -0.12344634532928467, + -0.1651104837656021, + -0.978519082069397, + 1.478576898574829 + ], + [ + 0.23393718898296356, + 0.9534281492233276, + -0.19038940966129303, + -0.3127750754356384 + ], + [ + 0.9643828868865967, + -0.25241485238075256, + -0.0790717601776123, + -1.02716064453125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + -0.12908673286437988, + -0.16893933713436127, + -0.9771367907524109, + 1.4785178899765015 + ], + [ + 0.22915776073932648, + 0.9536267518997192, + -0.19514800608158112, + -0.30983537435531616 + ], + [ + 0.9647919535636902, + -0.24910946190357208, + -0.08438670635223389, + -1.0258710384368896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + -0.13001489639282227, + -0.16883276402950287, + -0.9770322442054749, + 1.477799892425537 + ], + [ + 0.23043794929981232, + 0.9532684683799744, + -0.1953909695148468, + -0.30983081459999084 + ], + [ + 0.9643624424934387, + -0.25054895877838135, + -0.08503353595733643, + -1.024824857711792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + -0.13033854961395264, + -0.16928160190582275, + -0.9769113659858704, + 1.4762521982192993 + ], + [ + 0.2297191619873047, + 0.9533482789993286, + -0.19584743678569794, + -0.30909228324890137 + ], + [ + 0.9644901156425476, + -0.24994169175624847, + -0.08537077903747559, + -1.023992896080017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + -0.1317044496536255, + -0.1692967414855957, + -0.9767255187034607, + 1.474841594696045 + ], + [ + 0.23261338472366333, + 0.9525185823440552, + -0.19646716117858887, + -0.3085615336894989 + ], + [ + 0.9636104702949524, + -0.2530750036239624, + -0.08607017993927002, + -1.0229285955429077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + -0.13289153575897217, + -0.1661120057106018, + -0.9771113991737366, + 1.473599910736084 + ], + [ + 0.2343200147151947, + 0.9526424407958984, + -0.1938207745552063, + -0.30906227231025696 + ], + [ + 0.9630337357521057, + -0.25471389293670654, + -0.08767473697662354, + -1.021824836730957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + -0.13280987739562988, + -0.1685798168182373, + -0.9766997694969177, + 1.4732483625411987 + ], + [ + 0.23280760645866394, + 0.9525532126426697, + -0.19606883823871613, + -0.3076138496398926 + ], + [ + 0.9634117484092712, + -0.2534230053424835, + -0.08726191520690918, + -1.021859884262085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + -0.13413381576538086, + -0.16798913478851318, + -0.9766207337379456, + 1.4729065895080566 + ], + [ + 0.23282241821289062, + 0.9525979161262512, + -0.19583392143249512, + -0.3075658977031708 + ], + [ + 0.9632248282432556, + -0.253647118806839, + -0.08866393566131592, + -1.0211167335510254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + -0.13385462760925293, + -0.1685786247253418, + -0.9765574932098389, + 1.4727495908737183 + ], + [ + 0.2348977029323578, + 0.9519455432891846, + -0.196526899933815, + -0.30741244554519653 + ], + [ + 0.9627597332000732, + -0.255697101354599, + -0.08782362937927246, + -1.021550178527832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + -0.12624382972717285, + -0.17834284901618958, + -0.9758363366127014, + 1.475303292274475 + ], + [ + 0.2147708237171173, + 0.9554612040519714, + -0.2024039775133133, + -0.30206093192100525 + ], + [ + 0.968471109867096, + -0.2351333647966385, + -0.08231818675994873, + -1.0275218486785889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + -0.11997115612030029, + -0.18801599740982056, + -0.974811315536499, + 1.4700584411621094 + ], + [ + 0.1981685757637024, + 0.9576074481010437, + -0.20908667147159576, + -0.2960779070854187 + ], + [ + 0.972798228263855, + -0.21826131641864777, + -0.07762646675109863, + -1.0314743518829346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + -0.1144249439239502, + -0.19231069087982178, + -0.9746403098106384, + 1.4671651124954224 + ], + [ + 0.19214355945587158, + 0.958274245262146, + -0.21163950860500336, + -0.2970399558544159 + ], + [ + 0.974673330783844, + -0.21148763597011566, + -0.07269918918609619, + -1.0342496633529663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + -0.10484278202056885, + -0.19951196014881134, + -0.9742705225944519, + 1.4790034294128418 + ], + [ + 0.1893157809972763, + 0.9577507972717285, + -0.2165016233921051, + -0.294365257024765 + ], + [ + 0.9763030409812927, + -0.2071433961391449, + -0.06264257431030273, + -1.042213797569275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + -0.10132253170013428, + -0.20313458144664764, + -0.9738943576812744, + 1.4803738594055176 + ], + [ + 0.1869562715291977, + 0.957603394985199, + -0.21918727457523346, + -0.2931179106235504 + ], + [ + 0.9771291017532349, + -0.20428423583507538, + -0.05904948711395264, + -1.047561526298523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + -0.10016536712646484, + -0.2099124938249588, + -0.972575843334198, + 1.4727362394332886 + ], + [ + 0.18034856021404266, + 0.9574694037437439, + -0.22522607445716858, + -0.28962376713752747 + ], + [ + 0.978489339351654, + -0.1979624629020691, + -0.05804789066314697, + -1.0475879907608032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + -0.09215712547302246, + -0.21812006831169128, + -0.9715610146522522, + 1.4766613245010376 + ], + [ + 0.19394278526306152, + 0.9530949592590332, + -0.23237073421478271, + -0.29188013076782227 + ], + [ + 0.9766746163368225, + -0.20984184741973877, + -0.0455317497253418, + -1.0539002418518066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + -0.07799601554870605, + -0.22553588449954987, + -0.9711077809333801, + 1.4756540060043335 + ], + [ + 0.19091980159282684, + 0.9526678919792175, + -0.2365873157978058, + -0.29172202944755554 + ], + [ + 0.978502094745636, + -0.20385655760765076, + -0.031245112419128418, + -1.0600261688232422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + -0.06457459926605225, + -0.22975656390190125, + -0.9711036682128906, + 1.4755470752716064 + ], + [ + 0.19161587953567505, + 0.9521713852882385, + -0.23801900446414948, + -0.29221293330192566 + ], + [ + 0.9793435335159302, + -0.20144878327846527, + -0.017461061477661133, + -1.0654520988464355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + -0.05339169502258301, + -0.23198097944259644, + -0.9712540507316589, + 1.4703176021575928 + ], + [ + 0.19461706280708313, + 0.951572597026825, + -0.23797859251499176, + -0.2909145951271057 + ], + [ + 0.9794252514839172, + -0.20172862708568573, + -0.005658626556396484, + -1.066559076309204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + -0.03660917282104492, + -0.23814111948013306, + -0.9705403447151184, + 1.4677493572235107 + ], + [ + 0.18861526250839233, + 0.9520893096923828, + -0.24072842299938202, + -0.2873944640159607 + ], + [ + 0.9813684821128845, + -0.19187156856060028, + 0.010061860084533691, + -1.073508381843567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + -0.04457724094390869, + -0.23934528231620789, + -0.9699108004570007, + 1.4675487279891968 + ], + [ + 0.1864052712917328, + 0.9518322348594666, + -0.24345123767852783, + -0.2855219542980194 + ], + [ + 0.981461226940155, + -0.19164881110191345, + 0.0021851658821105957, + -1.0696179866790771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + -0.03793299198150635, + -0.2401876449584961, + -0.9699851274490356, + 1.4653000831604004 + ], + [ + 0.18068701028823853, + 0.9530349969863892, + -0.2430565506219864, + -0.2844369411468506 + ], + [ + 0.9828089475631714, + -0.18448354303836823, + 0.007247328758239746, + -1.0712265968322754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + -0.026180505752563477, + -0.24080096185207367, + -0.9702214598655701, + 1.4650506973266602 + ], + [ + 0.17939327657222748, + 0.9536665678024292, + -0.24153295159339905, + -0.28574031591415405 + ], + [ + 0.9834291338920593, + -0.1803746223449707, + 0.018230557441711426, + -1.0762557983398438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + -0.016866683959960938, + -0.2394302487373352, + -0.9707671403884888, + 1.4649674892425537 + ], + [ + 0.1832011640071869, + 0.9537282586097717, + -0.2384108603000641, + -0.28864794969558716 + ], + [ + 0.9829307794570923, + -0.181866854429245, + 0.02777761220932007, + -1.0815949440002441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + -0.007497310638427734, + -0.24555140733718872, + -0.9693546891212463, + 1.464153528213501 + ], + [ + 0.1697508990764618, + 0.9549998641014099, + -0.2432280331850052, + -0.2853115200996399 + ], + [ + 0.9854585528373718, + -0.16637234389781952, + 0.03452259302139282, + -1.0869829654693604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.00405651330947876, + -0.24760718643665314, + -0.9688521027565002, + 1.465118169784546 + ], + [ + 0.16906847059726715, + 0.9550821781158447, + -0.24338017404079437, + -0.28582191467285156 + ], + [ + 0.9855960011482239, + -0.16281504929065704, + 0.045736849308013916, + -1.0929522514343262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.012490510940551758, + -0.24946649372577667, + -0.9683029055595398, + 1.463407039642334 + ], + [ + 0.16430552303791046, + 0.9557276368141174, + -0.24410727620124817, + -0.2858044505119324 + ], + [ + 0.9863304495811462, + -0.1560484766960144, + 0.05292618274688721, + -1.0970814228057861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.01582390069961548, + -0.2531125247478485, + -0.9673075079917908, + 1.4617949724197388 + ], + [ + 0.16211387515068054, + 0.955277681350708, + -0.2473127543926239, + -0.28545495867729187 + ], + [ + 0.9866452813148499, + -0.15290048718452454, + 0.05614924430847168, + -1.0988160371780396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.028707504272460938, + -0.2543424367904663, + -0.9666880965232849, + 1.4626133441925049 + ], + [ + 0.16169877350330353, + 0.9555310010910034, + -0.24660499393939972, + -0.2869707942008972 + ], + [ + 0.986422598361969, + -0.14923284947872162, + 0.06855779886245728, + -1.1048755645751953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.05552816390991211, + -0.2534942328929901, + -0.9657419323921204, + 1.4678815603256226 + ], + [ + 0.16763532161712646, + 0.9558712244033813, + -0.24126464128494263, + -0.2959846556186676 + ], + [ + 0.9842841029167175, + -0.14849543571472168, + 0.09557241201400757, + -1.1528958082199097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.06240665912628174, + -0.25238263607025146, + -0.965613067150116, + 1.484788417816162 + ], + [ + 0.17212383449077606, + 0.9557239413261414, + -0.23867371678352356, + -0.30003294348716736 + ], + [ + 0.9830966591835022, + -0.15131014585494995, + 0.10308462381362915, + -1.1499996185302734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.079154372215271, + -0.2525857090950012, + -0.9643313884735107, + 1.4975556135177612 + ], + [ + 0.17749527096748352, + 0.9554799199104309, + -0.23569805920124054, + -0.30361443758010864 + ], + [ + 0.9809331893920898, + -0.1525077372789383, + 0.12046319246292114, + -1.1750059127807617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.0815896987915039, + -0.25252068042755127, + -0.9641454815864563, + 1.5165600776672363 + ], + [ + 0.18004952371120453, + 0.955189049243927, + -0.23493841290473938, + -0.3037983477115631 + ], + [ + 0.9802680611610413, + -0.15442535281181335, + 0.12339979410171509, + -1.1628073453903198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.09087443351745605, + -0.2528708279132843, + -0.963222861289978, + 1.5269821882247925 + ], + [ + 0.1832503080368042, + 0.9549546241760254, + -0.23341161012649536, + -0.30414077639579773 + ], + [ + 0.978857159614563, + -0.15529972314834595, + 0.1331195831298828, + -1.1703580617904663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.10117155313491821, + -0.2532641887664795, + -0.9620922803878784, + 1.5383434295654297 + ], + [ + 0.18670852482318878, + 0.954704999923706, + -0.23168565332889557, + -0.30460798740386963 + ], + [ + 0.9771920442581177, + -0.15619082748889923, + 0.14387553930282593, + -1.178829312324524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.1108662486076355, + -0.2528928220272064, + -0.9611213207244873, + 1.5489099025726318 + ], + [ + 0.18952766060829163, + 0.9547147154808044, + -0.2293449193239212, + -0.3081445097923279 + ], + [ + 0.9755963087081909, + -0.15673242509365082, + 0.15377581119537354, + -1.1868150234222412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.12007999420166016, + -0.25307464599609375, + -0.959965705871582, + 1.558761477470398 + ], + [ + 0.1930067241191864, + 0.954463541507721, + -0.22748133540153503, + -0.30934056639671326 + ], + [ + 0.9738219976425171, + -0.1579638421535492, + 0.16345709562301636, + -1.1941009759902954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.14410752058029175, + -0.24487106502056122, + -0.9587863683700562, + 1.5668703317642212 + ], + [ + 0.202357217669487, + 0.9557173252105713, + -0.21367254853248596, + -0.33919358253479004 + ], + [ + 0.9686509370803833, + -0.16322550177574158, + 0.18727749586105347, + -1.2348374128341675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.15490084886550903, + -0.24538837373256683, + -0.9569693803787231, + 1.5787303447723389 + ], + [ + 0.20833595097064972, + 0.9549912214279175, + -0.2111586034297943, + -0.3441760540008545 + ], + [ + 0.9657131433486938, + -0.16666245460510254, + 0.19905215501785278, + -1.245108723640442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.1648266315460205, + -0.24577495455741882, + -0.9552104473114014, + 1.5850107669830322 + ], + [ + 0.21327388286590576, + 0.9544258713722229, + -0.20877152681350708, + -0.35159698128700256 + ], + [ + 0.9629883766174316, + -0.1693103015422821, + 0.20973217487335205, + -1.251805067062378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.17512226104736328, + -0.25102946162223816, + -0.9520066380500793, + 1.5894452333450317 + ], + [ + 0.21613594889640808, + 0.9531635642051697, + -0.2115761786699295, + -0.3469045162200928 + ], + [ + 0.9605298638343811, + -0.1687111109495163, + 0.2211766242980957, + -1.2635045051574707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.18004775047302246, + -0.25635552406311035, + -0.9496655464172363, + 1.597782850265503 + ], + [ + 0.21651893854141235, + 0.952092707157135, + -0.21596074104309082, + -0.33638709783554077 + ], + [ + 0.9595323801040649, + -0.16673731803894043, + 0.2269279956817627, + -1.2600369453430176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.1863112449645996, + -0.260922372341156, + -0.9472106099128723, + 1.6043002605438232 + ], + [ + 0.21844714879989624, + 0.9509601593017578, + -0.2189878672361374, + -0.33009979128837585 + ], + [ + 0.9578983187675476, + -0.16611547768115997, + 0.2341722846031189, + -1.2612589597702026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.1898491382598877, + -0.2630563974380493, + -0.9459168314933777, + 1.6094028949737549 + ], + [ + 0.21962778270244598, + 0.9504026174545288, + -0.22022372484207153, + -0.3258853852748871 + ], + [ + 0.9569330811500549, + -0.1659403145313263, + 0.2382076382637024, + -1.2537806034088135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.2033851146697998, + -0.26375147700309753, + -0.9429048895835876, + 1.6082916259765625 + ], + [ + 0.2245289534330368, + 0.9499333500862122, + -0.21728646755218506, + -0.3311293125152588 + ], + [ + 0.9530064463615417, + -0.16751661896705627, + 0.25242215394973755, + -1.2701741456985474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.23254752159118652, + -0.26552850008010864, + -0.9356368184089661, + 1.5958497524261475 + ], + [ + 0.2321821004152298, + 0.9493519067764282, + -0.21171313524246216, + -0.33906495571136475 + ], + [ + 0.9444645047187805, + -0.16800475120544434, + 0.28242039680480957, + -1.3243063688278198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.24207162857055664, + -0.2677958905696869, + -0.9325700402259827, + 1.6000392436981201 + ], + [ + 0.2375013381242752, + 0.9482707977294922, + -0.21065516769886017, + -0.3397206664085388 + ], + [ + 0.9407414793968201, + -0.1704929620027542, + 0.2931513786315918, + -1.32412588596344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.25041085481643677, + -0.27024975419044495, + -0.9296556115150452, + 1.6051018238067627 + ], + [ + 0.242210254073143, + 0.9472004175186157, + -0.21010854840278625, + -0.3364946246147156 + ], + [ + 0.9373520016670227, + -0.17255863547325134, + 0.3026465177536011, + -1.3265790939331055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.25815415382385254, + -0.2687644958496094, + -0.9279667735099792, + 1.6108115911483765 + ], + [ + 0.24664485454559326, + 0.9470300078392029, + -0.2056707739830017, + -0.3394086956977844 + ], + [ + 0.9340893626213074, + -0.17578339576721191, + 0.31076914072036743, + -1.329012155532837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.26388442516326904, + -0.26824337244033813, + -0.9265045523643494, + 1.6148340702056885 + ], + [ + 0.24984008073806763, + 0.9467784762382507, + -0.20295436680316925, + -0.34080368280410767 + ], + [ + 0.9316356778144836, + -0.17792142927646637, + 0.3168579936027527, + -1.3286899328231812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.2693049907684326, + -0.269172728061676, + -0.9246734976768494, + 1.6189262866973877 + ], + [ + 0.252601683139801, + 0.9462727308273315, + -0.2018917351961136, + -0.339857816696167 + ], + [ + 0.9293370842933655, + -0.1792035549879074, + 0.3228294849395752, + -1.3297104835510254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.2751525640487671, + -0.26864326000213623, + -0.9231045246124268, + 1.6231119632720947 + ], + [ + 0.25469326972961426, + 0.9462287425994873, + -0.19945569336414337, + -0.3415380120277405 + ], + [ + 0.9270504713058472, + -0.18022774159908295, + 0.32877886295318604, + -1.3320392370224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.2784411907196045, + -0.27167782187461853, + -0.9212284088134766, + 1.623935341835022 + ], + [ + 0.2568792402744293, + 0.9452829360961914, + -0.2011299580335617, + -0.333983838558197 + ], + [ + 0.9254640340805054, + -0.1806415468454361, + 0.33299410343170166, + -1.3308123350143433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.28275465965270996, + -0.27077221870422363, + -0.9201804995536804, + 1.6291232109069824 + ], + [ + 0.25950485467910767, + 0.9451473355293274, + -0.1983778476715088, + -0.33670464158058167 + ], + [ + 0.923421323299408, + -0.182699054479599, + 0.33751147985458374, + -1.3304511308670044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.28709572553634644, + -0.27266183495521545, + -0.9182764291763306, + 1.6326770782470703 + ], + [ + 0.26217225193977356, + 0.9443957209587097, + -0.19845019280910492, + -0.3340120017528534 + ], + [ + 0.9213261604309082, + -0.18377237021923065, + 0.34261631965637207, + -1.3302096128463745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.2905062437057495, + -0.2746635675430298, + -0.9166057109832764, + 1.6388781070709229 + ], + [ + 0.2671763300895691, + 0.9431025385856628, + -0.1979253590106964, + -0.33378294110298157 + ], + [ + 0.918816089630127, + -0.1873967945575714, + 0.3473607897758484, + -1.3337194919586182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.29177308082580566, + -0.27654707431793213, + -0.9156365990638733, + 1.6400421857833862 + ], + [ + 0.270951509475708, + 0.9419751763343811, + -0.19816172122955322, + -0.3334444463253021 + ], + [ + 0.9173080325126648, + -0.19027480483055115, + 0.3497738242149353, + -1.3287397623062134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.29323214292526245, + -0.27668899297714233, + -0.9151274561882019, + 1.6484315395355225 + ], + [ + 0.27801650762557983, + 0.9405168890953064, + -0.19528134167194366, + -0.33894845843315125 + ], + [ + 0.9147250056266785, + -0.19715772569179535, + 0.3527138829231262, + -1.329055666923523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.2916363477706909, + -0.2785589396953583, + -0.915070116519928, + 1.652475357055664 + ], + [ + 0.28373774886131287, + 0.9387920498847961, + -0.19535186886787415, + -0.33960863947868347 + ], + [ + 0.9134775996208191, + -0.2026681900024414, + 0.35282355546951294, + -1.3280812501907349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.2906383275985718, + -0.2785421311855316, + -0.9153925776481628, + 1.6581213474273682 + ], + [ + 0.2879766523838043, + 0.9377963542938232, + -0.1939263641834259, + -0.3433840572834015 + ], + [ + 0.9124684929847717, + -0.207249253988266, + 0.35277318954467773, + -1.3275647163391113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.28805047273635864, + -0.2783915102481842, + -0.9162560105323792, + 1.664032220840454 + ], + [ + 0.2909030020236969, + 0.9370323419570923, + -0.19325068593025208, + -0.3443008363246918 + ], + [ + 0.9123608469963074, + -0.21087568998336792, + 0.35089749097824097, + -1.3256289958953857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.28689712285995483, + -0.27827906608581543, + -0.9166520237922668, + 1.6672978401184082 + ], + [ + 0.2915073037147522, + 0.9368597865104675, + -0.1931767463684082, + -0.3430936336517334 + ], + [ + 0.9125314354896545, + -0.2117888629436493, + 0.3499027490615845, + -1.326241135597229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.28389012813568115, + -0.2770879864692688, + -0.9179481267929077, + 1.6727344989776611 + ], + [ + 0.2914010286331177, + 0.9369879961013794, + -0.1927148550748825, + -0.3438701629638672 + ], + [ + 0.9135053157806396, + -0.2127811461687088, + 0.3467453122138977, + -1.3231135606765747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.28103476762771606, + -0.27574193477630615, + -0.919231116771698, + 1.6774466037750244 + ], + [ + 0.2905896306037903, + 0.9373196959495544, + -0.19232656061649323, + -0.3437243402004242 + ], + [ + 0.9146458506584167, + -0.21306855976581573, + 0.34354716539382935, + -1.3217391967773438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.2779979109764099, + -0.27524998784065247, + -0.9203013181686401, + 1.6801400184631348 + ], + [ + 0.2897040545940399, + 0.9374808073043823, + -0.19287645816802979, + -0.3426445722579956 + ], + [ + 0.9158540964126587, + -0.2129957675933838, + 0.3403586745262146, + -1.317973256111145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.2765967845916748, + -0.27466219663619995, + -0.920898973941803, + 1.681416392326355 + ], + [ + 0.28932785987854004, + 0.937623143196106, + -0.19274912774562836, + -0.3422720730304718 + ], + [ + 0.9163971543312073, + -0.21312789618968964, + 0.3388109803199768, + -1.3146806955337524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.2758371829986572, + -0.27264726161956787, + -0.9217252135276794, + 1.6846671104431152 + ], + [ + 0.2887405753135681, + 0.938142716884613, + -0.1910945326089859, + -0.34551122784614563 + ], + [ + 0.9168111681938171, + -0.21342848241329193, + 0.3374989628791809, + -1.3109772205352783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.275268018245697, + -0.27207717299461365, + -0.9220637679100037, + 1.6863267421722412 + ], + [ + 0.28967323899269104, + 0.938015341758728, + -0.19030655920505524, + -0.34644815325737 + ], + [ + 0.9166880249977112, + -0.21471185982227325, + 0.337019145488739, + -1.3110005855560303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 240, + "c2w": [ + [ + 0.2750099301338196, + -0.2712770998477936, + -0.9223765134811401, + 1.6863934993743896 + ], + [ + 0.2890165150165558, + 0.9383214712142944, + -0.18979528546333313, + -0.3465275168418884 + ], + [ + 0.9169727563858032, + -0.21438643336296082, + 0.3364512324333191, + -1.3089451789855957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 241, + "c2w": [ + [ + 0.2739148736000061, + -0.2716418504714966, + -0.9225950241088867, + 1.6868597269058228 + ], + [ + 0.2886740565299988, + 0.938273549079895, + -0.19055193662643433, + -0.3437776267528534 + ], + [ + 0.9174083471298218, + -0.21413415670394897, + 0.3354230523109436, + -1.3040144443511963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 242, + "c2w": [ + [ + 0.274392306804657, + -0.27121177315711975, + -0.9225795865058899, + 1.687824010848999 + ], + [ + 0.288626104593277, + 0.9383964538574219, + -0.19001871347427368, + -0.34369969367980957 + ], + [ + 0.9172807335853577, + -0.2141408622264862, + 0.33576756715774536, + -1.3054672479629517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 243, + "c2w": [ + [ + 0.27471208572387695, + -0.268957257270813, + -0.9231442213058472, + 1.687988519668579 + ], + [ + 0.2873598337173462, + 0.9391687512397766, + -0.18811258673667908, + -0.34463849663734436 + ], + [ + 0.9175825119018555, + -0.21359777450561523, + 0.33528852462768555, + -1.3054933547973633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 244, + "c2w": [ + [ + 0.27491092681884766, + -0.26706618070602417, + -0.9236339330673218, + 1.6888878345489502 + ], + [ + 0.2851082682609558, + 0.9400840997695923, + -0.18696291744709015, + -0.34448546171188354 + ], + [ + 0.9182250499725342, + -0.2119375318288803, + 0.3345821499824524, + -1.3024940490722656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 245, + "c2w": [ + [ + 0.2751656174659729, + -0.265725314617157, + -0.923944890499115, + 1.690252661705017 + ], + [ + 0.2835400104522705, + 0.9407275915145874, + -0.1861092448234558, + -0.34596794843673706 + ], + [ + 0.9186343550682068, + -0.21076443791389465, + 0.3341996669769287, + -1.2969955205917358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 246, + "c2w": [ + [ + 0.274158775806427, + -0.2656521499156952, + -0.9242651462554932, + 1.6937999725341797 + ], + [ + 0.28169646859169006, + 0.9411170482635498, + -0.18693794310092926, + -0.34758278727531433 + ], + [ + 0.9195021390914917, + -0.20911149680614471, + 0.33284878730773926, + -1.2937500476837158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 247, + "c2w": [ + [ + 0.27473628520965576, + -0.2659434378147125, + -0.9240098595619202, + 1.6960221529006958 + ], + [ + 0.2788994610309601, + 0.9417155385017395, + -0.18811409175395966, + -0.3476767838001251 + ], + [ + 0.9201821684837341, + -0.20602403581142426, + 0.3328949213027954, + -1.2932167053222656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 248, + "c2w": [ + [ + 0.2774653434753418, + -0.2642197012901306, + -0.9236888885498047, + 1.6995511054992676 + ], + [ + 0.27605879306793213, + 0.9428200125694275, + -0.1867673099040985, + -0.3519274592399597 + ], + [ + 0.920219898223877, + -0.20317092537879944, + 0.3345400094985962, + -1.2923731803894043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 249, + "c2w": [ + [ + 0.2779505252838135, + -0.2636092007160187, + -0.9237173199653625, + 1.7011082172393799 + ], + [ + 0.27379336953163147, + 0.9434623122215271, + -0.1868583858013153, + -0.3524922728538513 + ], + [ + 0.920750081539154, + -0.20097029209136963, + 0.33441025018692017, + -1.2865597009658813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 250, + "c2w": [ + [ + 0.2770236134529114, + -0.26491421461105347, + -0.9236224889755249, + 1.7036933898925781 + ], + [ + 0.27229923009872437, + 0.9434804320335388, + -0.18893872201442719, + -0.3502551019191742 + ], + [ + 0.9214723110198975, + -0.19916115701198578, + 0.33350229263305664, + -1.2844882011413574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 251, + "c2w": [ + [ + 0.27608418464660645, + -0.26326698064804077, + -0.924374520778656, + 1.7051331996917725 + ], + [ + 0.26829057931900024, + 0.9446346163749695, + -0.1889064610004425, + -0.35288918018341064 + ], + [ + 0.9229289889335632, + -0.195846825838089, + 0.33143073320388794, + -1.284155249595642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 252, + "c2w": [ + [ + 0.27535855770111084, + -0.26005977392196655, + -0.9254981279373169, + 1.706263780593872 + ], + [ + 0.2639920115470886, + 0.946160078048706, + -0.1873215138912201, + -0.3578668534755707 + ], + [ + 0.9243841171264648, + -0.19274351000785828, + 0.32918697595596313, + -1.2742964029312134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 253, + "c2w": [ + [ + 0.27559757232666016, + -0.25814539194107056, + -0.9259627461433411, + 1.7102830410003662 + ], + [ + 0.2611405849456787, + 0.9471471905708313, + -0.18632711470127106, + -0.3621792197227478 + ], + [ + 0.9251225590705872, + -0.1904551237821579, + 0.328443706035614, + -1.2700284719467163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 254, + "c2w": [ + [ + 0.27520114183425903, + -0.2585270404815674, + -0.9259741306304932, + 1.7161675691604614 + ], + [ + 0.26124024391174316, + 0.9470333456993103, + -0.18676558136940002, + -0.36243513226509094 + ], + [ + 0.9252123832702637, + -0.19050359725952148, + 0.3281623125076294, + -1.2757360935211182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 255, + "c2w": [ + [ + 0.2710128426551819, + -0.255979061126709, + -0.9279153347015381, + 1.7212629318237305 + ], + [ + 0.25896722078323364, + 0.9478394389152527, + -0.18583978712558746, + -0.36632320284843445 + ], + [ + 0.9270858764648438, + -0.1899346560239792, + 0.3231668472290039, + -1.2775838375091553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 691.0263671875, + "fy": 690.807861328125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/source/scene_013/rgb_video/00000.png b/spatialvid_eval/source/scene_013/rgb_video/00000.png new file mode 100644 index 0000000000000000000000000000000000000000..ac6d1906bb02559422ed974560c190005cf5842b --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c17e28a9cd445cb4d3189bc97be104c3cc08c6f5233c73c797ecf080fff0f41 +size 685403 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00002.png b/spatialvid_eval/source/scene_013/rgb_video/00002.png new file mode 100644 index 0000000000000000000000000000000000000000..b12ada68d6abc20f2bdc615585b5599c038c07b7 --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00002.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0cb578b96eb8f04b8b20d70a7cb9840b8fabb2ae5331541766ff1fcc1988ed9a +size 690029 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00004.png b/spatialvid_eval/source/scene_013/rgb_video/00004.png new file mode 100644 index 0000000000000000000000000000000000000000..30d27bf7f49103a9ea80fe4790ecd67f52ec843d --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00004.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3adf6692594d49eb6009adb856c108a7d0f442f29088dd8c6ba7794606da57e6 +size 689343 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00005.png b/spatialvid_eval/source/scene_013/rgb_video/00005.png new file mode 100644 index 0000000000000000000000000000000000000000..b7857658dd7c2c517555fa5ee46241bd4c5b4bcc --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00005.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8cbec7834b41d8704b6dcce323cfe617fd42b1d9073767e67db22da71f664258 +size 681404 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00008.png b/spatialvid_eval/source/scene_013/rgb_video/00008.png new file mode 100644 index 0000000000000000000000000000000000000000..615eab53f60b11c88367de54712864efd07313cc --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00008.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1051c4b5c7707de91063f015279dae0565d81dda880a13a276607e1e5a588e31 +size 689202 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00009.png b/spatialvid_eval/source/scene_013/rgb_video/00009.png new file mode 100644 index 0000000000000000000000000000000000000000..69a2ad02b4444eef90b565b4dee04fe583d9ba2b --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00009.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2bcd81a06ed4dc30c36a483d2cddeccad7fc06c0bb8c4718fcb5eccc90032a3d +size 685229 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00011.png b/spatialvid_eval/source/scene_013/rgb_video/00011.png new file mode 100644 index 0000000000000000000000000000000000000000..f1657e05a6689b9a37724623bb15af955ffdd240 --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00011.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba8b3fea04602ab19d697869432b8de6f731fa4afa860eb25a4b6f00fda6a7a7 +size 678607 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00019.png b/spatialvid_eval/source/scene_013/rgb_video/00019.png new file mode 100644 index 0000000000000000000000000000000000000000..46e4509ae8be63a0cd59cf2e93b7d0cba4feeb28 --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00019.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:246cb6882c1ab294b061a13af200719439f5591f8309881e0f0f072d6075f25a +size 668801 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00020.png b/spatialvid_eval/source/scene_013/rgb_video/00020.png new file mode 100644 index 0000000000000000000000000000000000000000..020474fbdefb7117d700521c778864f9187d73bd --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00020.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed157b7de1d310a554e0feda4e0329ac43fef03f0f84cf0c8a1d6b291b6dec9c +size 676635 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00022.png b/spatialvid_eval/source/scene_013/rgb_video/00022.png new file mode 100644 index 0000000000000000000000000000000000000000..9d8cb40ca4375ebdab4fee6884f32abfc561c35a --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00022.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f69e12620d2093c50dc841f8751ca57db1b9b462d429c6a5b791d695ef4872a +size 676094 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00023.png b/spatialvid_eval/source/scene_013/rgb_video/00023.png new file mode 100644 index 0000000000000000000000000000000000000000..dc582474fb14ea555b07ba9250c440ca1289a4d3 --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00023.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53d88593817a6f4daa9e4e319b634b679fcc24a8defbbdb9cda379bc69ad4bac +size 630475 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00025.png b/spatialvid_eval/source/scene_013/rgb_video/00025.png new file mode 100644 index 0000000000000000000000000000000000000000..06aacfd17b8371aad48d7c95de67a73af2cc4aab --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00025.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f394bd69b6c8cc8f9e55bebaf0d0b48594d0f661542b6999dc6ddd6b1f047ba4 +size 641834 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00026.png b/spatialvid_eval/source/scene_013/rgb_video/00026.png new file mode 100644 index 0000000000000000000000000000000000000000..10e7eb17c45e6c9a738091a9024ae845115e186a --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00026.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90651a6c02a8da59eb1e2efce7d09e805893c7a86c53e3aac9ace8283315f81a +size 651024 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00029.png b/spatialvid_eval/source/scene_013/rgb_video/00029.png new file mode 100644 index 0000000000000000000000000000000000000000..4554771c605625e4fc28d871118f26de54003a7c --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00029.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ffee136d2bc15c4300e5cbeea863e278201545bca6ccbdff0465aa6b7df263d +size 661922 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00035.png b/spatialvid_eval/source/scene_013/rgb_video/00035.png new file mode 100644 index 0000000000000000000000000000000000000000..7338ae8d588a08dab0ffe6aee8f556de0e0e610b --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00035.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8578916d811b090e6eeaea95b5124c0f962695bf5683588988b5c9a58f50e0ac +size 683951 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00038.png b/spatialvid_eval/source/scene_013/rgb_video/00038.png new file mode 100644 index 0000000000000000000000000000000000000000..a4a03c56a49aeed562138e9e05b6ea01f300b28d --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00038.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72151c39115efd39877f11cf539444d63813996b99bcb644af6b1ca6b73f8c78 +size 692418 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00042.png b/spatialvid_eval/source/scene_013/rgb_video/00042.png new file mode 100644 index 0000000000000000000000000000000000000000..60b92d23c8e87111fbef0bf10d0d8da3275dd376 --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00042.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7281d1d4ce53452eaed2f80ac92188410c2bdb9483b0ee0717ba9e969e27face +size 698550 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00043.png b/spatialvid_eval/source/scene_013/rgb_video/00043.png new file mode 100644 index 0000000000000000000000000000000000000000..d71dfb8636cbcb4b127b54f4bae9ca3a6a91d7c7 --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00043.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f1020f3f53d1845993fb0132fc8f556f2f00ef6312ffa92f8d6e188e4a4ea86 +size 699255 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00045.png b/spatialvid_eval/source/scene_013/rgb_video/00045.png new file mode 100644 index 0000000000000000000000000000000000000000..b6b8ffd1db962dd23b8df3af943a6730f77a7f5f --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00045.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61bfd2c9c1f93db15f2f4ac7e52d725ed770cbaf9000397f97f721fa72776a21 +size 652350 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00047.png b/spatialvid_eval/source/scene_013/rgb_video/00047.png new file mode 100644 index 0000000000000000000000000000000000000000..44e6f5e8497feea38a52278ae00f2fcb48fdb414 --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00047.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b97b619af1d1559f254a44e72d1eda5ba17e76dff631c8c35c28e50941d1193a +size 683174 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00048.png b/spatialvid_eval/source/scene_013/rgb_video/00048.png new file mode 100644 index 0000000000000000000000000000000000000000..5871c89d465ff6db1f038a49a669a720fd3b73ef --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00048.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5cb52cfabb3e50729f0726c248c7daa2636510c766b9b52acb67c3e675e898e +size 695674 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00049.png b/spatialvid_eval/source/scene_013/rgb_video/00049.png new file mode 100644 index 0000000000000000000000000000000000000000..52c5ccf80d0332cd93982e05d6d6ca01a28f70df --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00049.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba17c4ae606c85b98a82fc0a86d7630535a98ae3f9ca10abf63029051afb3ef1 +size 704705 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00050.png b/spatialvid_eval/source/scene_013/rgb_video/00050.png new file mode 100644 index 0000000000000000000000000000000000000000..859e72405ea6ed8c2fef7e41589cdd5ca627921a --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00050.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c5168bafc59b0722b65148f42467fb468debc35d0d933c8a72ad3618efd2576 +size 709562 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00052.png b/spatialvid_eval/source/scene_013/rgb_video/00052.png new file mode 100644 index 0000000000000000000000000000000000000000..16081fb2e874d287c172000bde92f2bd9cecf813 --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00052.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b0f92e60faed417058106f9976928d937557a765a0a3f5e19f12ed39e1dcf03 +size 709660 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00057.png b/spatialvid_eval/source/scene_013/rgb_video/00057.png new file mode 100644 index 0000000000000000000000000000000000000000..26d808490cd19711bd2a4804e963e522eaa12d5c --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00057.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08143878fc1ab113d95ec9b7c91675d2bfc42731c1f54ce96febb7df6f525b8f +size 713680 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00058.png b/spatialvid_eval/source/scene_013/rgb_video/00058.png new file mode 100644 index 0000000000000000000000000000000000000000..1595beba18f9e5ffe71949d44292c55d6c735a8a --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00058.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1cef69f4ae4d3a205d0a3cb6ea104eb2d26f52c9ced346aadbf0457c595020a7 +size 722423 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00068.png b/spatialvid_eval/source/scene_013/rgb_video/00068.png new file mode 100644 index 0000000000000000000000000000000000000000..ec1025a882c3cbca6e8457ebba8d2d454d28ddda --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00068.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed021bd67a943361015fa63c0a27ef1e14cbee92991c1571321e4d5af8912d3d +size 724645 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00069.png b/spatialvid_eval/source/scene_013/rgb_video/00069.png new file mode 100644 index 0000000000000000000000000000000000000000..1a85fdfb3c9c0a9a7fb0e316d3d4b06fe75ca65a --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00069.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f54531cf29720ac487307030114bf124be57df81372342c5f92b9d0c74b78dc +size 735538 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00070.png b/spatialvid_eval/source/scene_013/rgb_video/00070.png new file mode 100644 index 0000000000000000000000000000000000000000..7820ba20e19df54a24601e43948e897b456b1719 --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00070.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06daaf7226a48f30d24ecfe5b2645ded042f1060c809933d3d40775bbda04e49 +size 744523 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00071.png b/spatialvid_eval/source/scene_013/rgb_video/00071.png new file mode 100644 index 0000000000000000000000000000000000000000..9b3bb30f164914b56e434ae9c253ff85ca949858 --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00071.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:715c6690f74eca69bb010d3b87d5093101527f2937f91b9e3a0ed0724517437c +size 756324 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00075.png b/spatialvid_eval/source/scene_013/rgb_video/00075.png new file mode 100644 index 0000000000000000000000000000000000000000..4ff402dc1231e4608dd19ea4c569d5d80d71821a --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00075.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da5ce8f2035e04bc3ddb7222aa93ee0b08a441861bebc19280042066a42dda2d +size 771943 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00076.png b/spatialvid_eval/source/scene_013/rgb_video/00076.png new file mode 100644 index 0000000000000000000000000000000000000000..41bc0ec032c8f5fc00177a98e44ed13f0209ee4b --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00076.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cce0307d8089669dfed6ad2dda135a82515da23d26d1e7f40049cf6a7ff22369 +size 776456 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00078.png b/spatialvid_eval/source/scene_013/rgb_video/00078.png new file mode 100644 index 0000000000000000000000000000000000000000..a5491b5d97b0330589eef4e845289264ea3b58a8 --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00078.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d89c5f5faae60be71d5a23f8e488eb0f0c1ee3acde3d0b470ecf51e9b369f82 +size 757009 diff --git a/spatialvid_eval/source/scene_013/rgb_video/00080.png b/spatialvid_eval/source/scene_013/rgb_video/00080.png new file mode 100644 index 0000000000000000000000000000000000000000..65d00ac1c7598a3c9866721caa0daf40af8ff6fb --- /dev/null +++ b/spatialvid_eval/source/scene_013/rgb_video/00080.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea9139489aa28c0ef2c218974072140c365aecc07d85d98b153bc61843b1d3a6 +size 762980 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00002.png b/spatialvid_eval/source/scene_060/rgb_video/00002.png new file mode 100644 index 0000000000000000000000000000000000000000..6c0c36f886294526e4ee6f757abc9224722b6859 --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00002.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:968cbba333f6c01819458b1f0faed6243f861f1cc3ad29cc6cf687b3099bd2b9 +size 755352 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00003.png b/spatialvid_eval/source/scene_060/rgb_video/00003.png new file mode 100644 index 0000000000000000000000000000000000000000..1c6cc04355032ea04d3dd1515426e19eea61809d --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00003.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84a8ec86bca56bbdaf5a8c2183d6c0a04dfb8920722e7575798dec6502f0defd +size 756631 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00004.png b/spatialvid_eval/source/scene_060/rgb_video/00004.png new file mode 100644 index 0000000000000000000000000000000000000000..5034c93e60e324c7b9a26caa455d6a62a444a686 --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00004.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56ffb7859c5ad1e66eec35a944b5ac34f155e4e0e77f6cf59456d8da5767344b +size 760866 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00008.png b/spatialvid_eval/source/scene_060/rgb_video/00008.png new file mode 100644 index 0000000000000000000000000000000000000000..21c34bb9d2e0b7407cc0ba9ac7ae52d3a86d2de7 --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00008.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a4e4774bcab8b1b533146495ae22123c21c81112e72b1446629981f7bb7c866 +size 783343 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00009.png b/spatialvid_eval/source/scene_060/rgb_video/00009.png new file mode 100644 index 0000000000000000000000000000000000000000..abcc9eb1475b7083cf7923440adedb49b08d6792 --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00009.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1cd050313d319dfafbfadce7b9f9836ebecd69427755d7440d98f7b6be3a0171 +size 787154 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00011.png b/spatialvid_eval/source/scene_060/rgb_video/00011.png new file mode 100644 index 0000000000000000000000000000000000000000..f477bfe8448b793e8b793c4598b580e6f3a91576 --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00011.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4812122a691deb392bae7307d67e21eae40151ccbc02ae87779a37da0a2bb5b0 +size 786579 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00014.png b/spatialvid_eval/source/scene_060/rgb_video/00014.png new file mode 100644 index 0000000000000000000000000000000000000000..183890ed926da218c1befe3028d8980dc36a801b --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00014.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1527dbf45bf62df3d54b33553c4e40e114151ad5190463cd03a4c4682946dc22 +size 796192 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00016.png b/spatialvid_eval/source/scene_060/rgb_video/00016.png new file mode 100644 index 0000000000000000000000000000000000000000..e9ae1fa45048ac2bbb705674e3312463d3512a62 --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00016.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4885f47ca54aa14dd42309579edccbc700e0fb6337854259572dac0fc177b32a +size 806002 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00018.png b/spatialvid_eval/source/scene_060/rgb_video/00018.png new file mode 100644 index 0000000000000000000000000000000000000000..c2d08751bdbff264a5c7e86c612adfcf6150214a --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00018.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f7d06c380a2ea964162309d2d665c6111bded077d80f612a216a69c76068236 +size 816999 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00019.png b/spatialvid_eval/source/scene_060/rgb_video/00019.png new file mode 100644 index 0000000000000000000000000000000000000000..72876cf5b7763da9fb7e9178556ea7144c585091 --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00019.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ff8ff5acc0a4146865b03be906b393777d208bc1065eb8c1256be2e5116989d +size 818685 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00021.png b/spatialvid_eval/source/scene_060/rgb_video/00021.png new file mode 100644 index 0000000000000000000000000000000000000000..73df0951b22b345a070c7d1e69bc1793b0150f2a --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00021.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:868b081a89183624646ca0f9bee653c1710b6544a49267502fb8b99f356e8454 +size 817606 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00022.png b/spatialvid_eval/source/scene_060/rgb_video/00022.png new file mode 100644 index 0000000000000000000000000000000000000000..7d93f1dbb90d4ddb71dad41455f8720bf85f1771 --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00022.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ecfe7d5f98eabeb68898ddd1c274cc4a8f892ce25bddf77e0dd0b746ce93f407 +size 821141 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00023.png b/spatialvid_eval/source/scene_060/rgb_video/00023.png new file mode 100644 index 0000000000000000000000000000000000000000..0dd99d3047f1407a12f6af18d38d3d786bbca69d --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00023.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a13d2afd3112132b54eb4d4165244ef9c2db80f8c6a80a5999725be959e7d544 +size 826216 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00025.png b/spatialvid_eval/source/scene_060/rgb_video/00025.png new file mode 100644 index 0000000000000000000000000000000000000000..e3d6b2f177f25fbd86f7a505245ecfbdc97ba411 --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00025.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6987373513e7645b709aceec5e438d9835b4f7f5af744b692a37239e50a9da56 +size 827266 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00028.png b/spatialvid_eval/source/scene_060/rgb_video/00028.png new file mode 100644 index 0000000000000000000000000000000000000000..4b7baea162cf71f9ddbeaafb1841fe5a8584d22f --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00028.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc7426b11fe1fc66cb28abff131978c6f24f9f56c073ae6694352dfc9327013a +size 782344 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00031.png b/spatialvid_eval/source/scene_060/rgb_video/00031.png new file mode 100644 index 0000000000000000000000000000000000000000..5b0a99facf246b05f5e286c86b114afd8552b6f3 --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00031.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bbd76b5478baddb7b8af9f2d38740adbf32a3fa855ab11f692a7f1650071a76f +size 801151 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00032.png b/spatialvid_eval/source/scene_060/rgb_video/00032.png new file mode 100644 index 0000000000000000000000000000000000000000..c44040e77c92f429a6a7364bbfd66c69bfb23059 --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00032.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc1190fb31dd9103c24095b7ea4f4c04e2efdeed2023635d19e4c5504869bdfd +size 799237 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00033.png b/spatialvid_eval/source/scene_060/rgb_video/00033.png new file mode 100644 index 0000000000000000000000000000000000000000..b83f361b33b85e0280bfeab14b72ec1551fb9ae7 --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00033.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d959a42196b23d9472d94dd867246059bb3bc2f9b0c22d5bdb34e06da3f1f18 +size 800396 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00034.png b/spatialvid_eval/source/scene_060/rgb_video/00034.png new file mode 100644 index 0000000000000000000000000000000000000000..abfc0e38c5a540b3e060203d5361a0954d77417f --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00034.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0294dc5efc4f8a7204b31a41282e71e658f5207454980927846111f68be67d7 +size 806112 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00035.png b/spatialvid_eval/source/scene_060/rgb_video/00035.png new file mode 100644 index 0000000000000000000000000000000000000000..052718210c9a1df298b8c2f25f2ca2184799a97a --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00035.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:580850aed54b2d9ca9d656dd3c2d0a35088c0aaabd4bf2396ebf4772dad9c598 +size 800425 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00038.png b/spatialvid_eval/source/scene_060/rgb_video/00038.png new file mode 100644 index 0000000000000000000000000000000000000000..7ca40e4e794725904f04338f210b600a610623db --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00038.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:951e813f1470f06ddf283153c4e04b9d7640fdce3ac4971b317564996758b34a +size 801623 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00040.png b/spatialvid_eval/source/scene_060/rgb_video/00040.png new file mode 100644 index 0000000000000000000000000000000000000000..ec9214e806804c05fb4d5f16744c70f44ae560f1 --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00040.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e0dd3811f0e3e466525d5f10f02578c5b64da7e4d38f0a4165533254b5c505b7 +size 803127 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00041.png b/spatialvid_eval/source/scene_060/rgb_video/00041.png new file mode 100644 index 0000000000000000000000000000000000000000..d63e6e5acb98f086c9cf1135e6b44950ddd87da1 --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00041.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6d89a68dd3feaadc4a637fbf026067791b4f7427208bd65826292baa1541dea +size 802401 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00045.png b/spatialvid_eval/source/scene_060/rgb_video/00045.png new file mode 100644 index 0000000000000000000000000000000000000000..78cc9fdf9816b271cb6cf09de4b63419ec48f1bf --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00045.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93257a03f2c2c914ae5f26ee7e88103f5c99b83df6e10d5dd0f45c2f6807c4be +size 794121 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00048.png b/spatialvid_eval/source/scene_060/rgb_video/00048.png new file mode 100644 index 0000000000000000000000000000000000000000..28284593331ff3814621946d286c92bac00bff59 --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00048.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f06872cd17cae7cc841deebe44f3fa04a4e7dae5a8eb47dcc949302af5101c5b +size 800154 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00050.png b/spatialvid_eval/source/scene_060/rgb_video/00050.png new file mode 100644 index 0000000000000000000000000000000000000000..d5a8d8598d81f02d00b01be4f0a1e873ecdfa977 --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00050.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54b2713ab4a544c43bc6479996d894983fd8a8d7dc1dab2f03300ed2b12c20d3 +size 847883 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00052.png b/spatialvid_eval/source/scene_060/rgb_video/00052.png new file mode 100644 index 0000000000000000000000000000000000000000..e3f5cc19fcc939725ae83fa3e6fc48f5536db9d8 --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00052.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64ca4283c80bc9c6b3f4a1f956ee5b538cf7b77578bb83acd833e5d0028c9795 +size 868428 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00055.png b/spatialvid_eval/source/scene_060/rgb_video/00055.png new file mode 100644 index 0000000000000000000000000000000000000000..ce33ae618fd4c3c29b16ec56d69de43e757c5805 --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00055.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:754b00fd233c8a021d3d6759e352ed37f45c57598f58c70245e01f2929cd5b92 +size 820051 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00059.png b/spatialvid_eval/source/scene_060/rgb_video/00059.png new file mode 100644 index 0000000000000000000000000000000000000000..9659e0bb2c89ee1f12dbf2b039f4d787c8abc53e --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00059.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ceb8eca10dd3796fc245ce8bc1a30109dc5b3fdb778f83809de7467e44a7a8d2 +size 843154 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00060.png b/spatialvid_eval/source/scene_060/rgb_video/00060.png new file mode 100644 index 0000000000000000000000000000000000000000..4e61239fa76bb723dd390db62575ed7c29d6c737 --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00060.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fde5aa01d935d3e46e58938f1a8f924f7f37353bfa8f0a3a117f1841f11667ab +size 845687 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00064.png b/spatialvid_eval/source/scene_060/rgb_video/00064.png new file mode 100644 index 0000000000000000000000000000000000000000..c27935f3397af68840157ddc8049dc58881a7f5e --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00064.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31b19ee289b2dc66185076199c93a338e0ba691aae900bf2321228f3449f04c0 +size 807704 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00065.png b/spatialvid_eval/source/scene_060/rgb_video/00065.png new file mode 100644 index 0000000000000000000000000000000000000000..69e72947335986e116b36f0eda15b28da641967c --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00065.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7cc15dbabd859c528e991aa71026d0d853493e45690bcb2071d90afb6b4f199 +size 822989 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00066.png b/spatialvid_eval/source/scene_060/rgb_video/00066.png new file mode 100644 index 0000000000000000000000000000000000000000..117d2b996649c3e76293fa74cc95398082e32ec3 --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00066.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70df3f988ead9359d000547b7f18d1825327a4ff53720b2eb8c1d44175bd1ad6 +size 817211 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00069.png b/spatialvid_eval/source/scene_060/rgb_video/00069.png new file mode 100644 index 0000000000000000000000000000000000000000..ebb6df2fed3ed436d6bd246526b8786ab3395d8f --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00069.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9555ae38b3d91b793fe2fbd32884d2765fc538bdfe64a33671e2f8f1c51cd7ca +size 799232 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00071.png b/spatialvid_eval/source/scene_060/rgb_video/00071.png new file mode 100644 index 0000000000000000000000000000000000000000..3ac4628df853acd8331e652dfe4d7a959b088259 --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00071.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11fda701adaa13aee2816c2c7901196428bd36d04e2e6012dc001be0b5a85460 +size 797631 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00075.png b/spatialvid_eval/source/scene_060/rgb_video/00075.png new file mode 100644 index 0000000000000000000000000000000000000000..9dfca7c3cda1dce1876f6637000fda501f445ed8 --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00075.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:356b801ad34e4c2e4277d98176b78c3528db3350678987137cdfa824598c19dd +size 812792 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00076.png b/spatialvid_eval/source/scene_060/rgb_video/00076.png new file mode 100644 index 0000000000000000000000000000000000000000..77b5cc878ce072b8ed5ab8900ed5762635bdc461 --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00076.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:35d40d4157c98010684e41120853dfb9298ea72196b0c5bd84d684b88bff1460 +size 814037 diff --git a/spatialvid_eval/source/scene_060/rgb_video/00080.png b/spatialvid_eval/source/scene_060/rgb_video/00080.png new file mode 100644 index 0000000000000000000000000000000000000000..c6b787f1c194909dd19b3b2e7f0ccfbeecf8a92e --- /dev/null +++ b/spatialvid_eval/source/scene_060/rgb_video/00080.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b60cfb54d3f33ffad525f34ad26c88e5307119b0c81259b90d020e5104516d11 +size 821757 diff --git a/spatialvid_eval/source/scene_072/rgb_video/00002.png b/spatialvid_eval/source/scene_072/rgb_video/00002.png new file mode 100644 index 0000000000000000000000000000000000000000..720af1466e72c0322ec56e8d009427ebf8d530be --- /dev/null +++ b/spatialvid_eval/source/scene_072/rgb_video/00002.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1f3469d83fada1f1cde8316dfb6866c682e39cbf233b099d746efe2db749482 +size 868418 diff --git a/spatialvid_eval/source/scene_072/rgb_video/00011.png b/spatialvid_eval/source/scene_072/rgb_video/00011.png new file mode 100644 index 0000000000000000000000000000000000000000..02700e979cb85a539a3d4e6c9882f888203511c0 --- /dev/null +++ b/spatialvid_eval/source/scene_072/rgb_video/00011.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a965e223dd7903c9aa99d62eff10d7ccccd064e5445599ea586f27e1506c544 +size 870587 diff --git a/spatialvid_eval/source/scene_072/rgb_video/00015.png b/spatialvid_eval/source/scene_072/rgb_video/00015.png new file mode 100644 index 0000000000000000000000000000000000000000..5402a9c5797ff575b2d36745de0e37e26fde9bac --- /dev/null +++ b/spatialvid_eval/source/scene_072/rgb_video/00015.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb73cd65b4d0fb61473552ea527c5f0dec5df63a8a14f38694426b49dd5f5688 +size 880457 diff --git a/spatialvid_eval/source/scene_072/rgb_video/00023.png b/spatialvid_eval/source/scene_072/rgb_video/00023.png new file mode 100644 index 0000000000000000000000000000000000000000..54c17968086ec34aa290203969f3884ff6f92aef --- /dev/null +++ b/spatialvid_eval/source/scene_072/rgb_video/00023.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf71e2ed5469e3cce2115f8521ee1b03b9fc40f8c757d548ec033a53d1328324 +size 840088 diff --git a/spatialvid_eval/source/scene_072/rgb_video/00026.png b/spatialvid_eval/source/scene_072/rgb_video/00026.png new file mode 100644 index 0000000000000000000000000000000000000000..162faf91e6a16bf10bb0c9efac0da7193ea21680 --- /dev/null +++ b/spatialvid_eval/source/scene_072/rgb_video/00026.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de2bedd339c4b50791fa551e192bd71439a49943dec58148377af0fcb0220764 +size 857746 diff --git a/spatialvid_eval/source/scene_072/rgb_video/00031.png b/spatialvid_eval/source/scene_072/rgb_video/00031.png new file mode 100644 index 0000000000000000000000000000000000000000..5a56c22a8a53346895dae29063419f9a99b852bd --- /dev/null +++ b/spatialvid_eval/source/scene_072/rgb_video/00031.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:51c2bab9759b2aec0d302cad29be165002077b282e104910c0aab7753c260b39 +size 871066 diff --git a/spatialvid_eval/source/scene_072/rgb_video/00033.png b/spatialvid_eval/source/scene_072/rgb_video/00033.png new file mode 100644 index 0000000000000000000000000000000000000000..f3f84b6a2d7256523bff89ce9a3bd3bf1cf0e185 --- /dev/null +++ b/spatialvid_eval/source/scene_072/rgb_video/00033.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a602444807b4c49dd4dee351969efd325d7334d8ed16b1048b3e72364015d485 +size 867651 diff --git a/spatialvid_eval/source/scene_072/rgb_video/00038.png b/spatialvid_eval/source/scene_072/rgb_video/00038.png new file mode 100644 index 0000000000000000000000000000000000000000..4f28868593dc192ee27a2320a31a7265cbab858d --- /dev/null +++ b/spatialvid_eval/source/scene_072/rgb_video/00038.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af58dbf4e315ca799acf09b720e26845f40eadbe9ed130a6c137e4d7b8a5d014 +size 870911 diff --git a/spatialvid_eval/source/scene_072/rgb_video/00040.png b/spatialvid_eval/source/scene_072/rgb_video/00040.png new file mode 100644 index 0000000000000000000000000000000000000000..c7d5cd54c68c04ab44ff600a164434ab72797550 --- /dev/null +++ b/spatialvid_eval/source/scene_072/rgb_video/00040.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:346ab28dcd084c2439211ec957ab14509a3e621c4f32bb2e1a74d6fe0efc28c4 +size 891264 diff --git a/spatialvid_eval/source/scene_072/rgb_video/00044.png b/spatialvid_eval/source/scene_072/rgb_video/00044.png new file mode 100644 index 0000000000000000000000000000000000000000..9cd26b3840771f5f6027a58fdbc5776c8afa4364 --- /dev/null +++ b/spatialvid_eval/source/scene_072/rgb_video/00044.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d19644cae974a484d79e88064059ec14dbcee5f75a9f83b626d92427839fb40f +size 910479 diff --git a/spatialvid_eval/source/scene_072/rgb_video/00045.png b/spatialvid_eval/source/scene_072/rgb_video/00045.png new file mode 100644 index 0000000000000000000000000000000000000000..80f9d14ee97c7ff765c5c6a3e44ee09bf3d719a0 --- /dev/null +++ b/spatialvid_eval/source/scene_072/rgb_video/00045.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6114d93c0126f0ebb7d344474c6cd0afb80926dfc21693530c0f9e1953998173 +size 872212 diff --git a/spatialvid_eval/source/scene_072/rgb_video/00052.png b/spatialvid_eval/source/scene_072/rgb_video/00052.png new file mode 100644 index 0000000000000000000000000000000000000000..50961e12888d4d10c502c4ca41d9140c0ae7d34b --- /dev/null +++ b/spatialvid_eval/source/scene_072/rgb_video/00052.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:888807556b0a72fb431276a3e89bc50023625c73288a85d42cf55444097f6f5d +size 900314 diff --git a/spatialvid_eval/source/scene_072/rgb_video/00053.png b/spatialvid_eval/source/scene_072/rgb_video/00053.png new file mode 100644 index 0000000000000000000000000000000000000000..7e89a7a5b64dfcbd5448084f9a39a65f2cc6beb2 --- /dev/null +++ b/spatialvid_eval/source/scene_072/rgb_video/00053.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:481587f56c3ae2341eef176bb14b5de84fe953940e60cd8f138d0e6dd131d0bf +size 893962 diff --git a/spatialvid_eval/source/scene_072/rgb_video/00057.png b/spatialvid_eval/source/scene_072/rgb_video/00057.png new file mode 100644 index 0000000000000000000000000000000000000000..f0c615480eaf323dce166be4ea3dd48f6a31e203 --- /dev/null +++ b/spatialvid_eval/source/scene_072/rgb_video/00057.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:036051db8ca844cb592edd18fa192a6ace9b4349fdfa0874c7b077951f25fd28 +size 933470 diff --git a/spatialvid_eval/source/scene_072/rgb_video/00067.png b/spatialvid_eval/source/scene_072/rgb_video/00067.png new file mode 100644 index 0000000000000000000000000000000000000000..b40b6be22eeb21feaeba808de00ddfa5893074ac --- /dev/null +++ b/spatialvid_eval/source/scene_072/rgb_video/00067.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:432d2c4516287ebc1ed95b2dd04e3cb61a99e49134c904bace868ee5dc6b2c27 +size 903435 diff --git a/spatialvid_eval/source/scene_072/rgb_video/00068.png b/spatialvid_eval/source/scene_072/rgb_video/00068.png new file mode 100644 index 0000000000000000000000000000000000000000..b75db2663ffcba6e8441b66345f624fb9d1eb348 --- /dev/null +++ b/spatialvid_eval/source/scene_072/rgb_video/00068.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1730a1d4e0f1ba6067f1ae83b45ba915f2c125307b71a33b969f66fbc87e3ca +size 867703 diff --git a/spatialvid_eval/source/scene_072/rgb_video/00070.png b/spatialvid_eval/source/scene_072/rgb_video/00070.png new file mode 100644 index 0000000000000000000000000000000000000000..fdcebbb5846fe166ad5f7e464b8f087db5ba188e --- /dev/null +++ b/spatialvid_eval/source/scene_072/rgb_video/00070.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5cb4f5d7073335c04aca9be0f2861ba0ae5a61adf9d0d27563f739b242aee2b3 +size 871405 diff --git a/spatialvid_eval/source/scene_074/rgb_video/00005.png b/spatialvid_eval/source/scene_074/rgb_video/00005.png new file mode 100644 index 0000000000000000000000000000000000000000..c5e057cdf2ab19ec02e54ea57b544f06db020aa6 --- /dev/null +++ b/spatialvid_eval/source/scene_074/rgb_video/00005.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d949784248831425da7398d81b6d3855e77f80f14a7613aa6fc140f446baa3d7 +size 562629 diff --git a/spatialvid_eval/source/scene_074/rgb_video/00010.png b/spatialvid_eval/source/scene_074/rgb_video/00010.png new file mode 100644 index 0000000000000000000000000000000000000000..1e8f849a195122cd3a61652a02e4b4222e65ee70 --- /dev/null +++ b/spatialvid_eval/source/scene_074/rgb_video/00010.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c42f47eaad4ed9df24d12fec6b9f5d7bf65929d5e71a39702efc469b34b79ca +size 605672 diff --git a/spatialvid_eval/source/scene_074/rgb_video/00025.png b/spatialvid_eval/source/scene_074/rgb_video/00025.png new file mode 100644 index 0000000000000000000000000000000000000000..b4230f5419143bb524fcbad18bb499db646c9873 --- /dev/null +++ b/spatialvid_eval/source/scene_074/rgb_video/00025.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2505b144bfa38d3bc1afc578677f67da0dee1aaa89ad3eafbcab332237fcb726 +size 563767 diff --git a/spatialvid_eval/source/scene_074/rgb_video/00026.png b/spatialvid_eval/source/scene_074/rgb_video/00026.png new file mode 100644 index 0000000000000000000000000000000000000000..c013abb896599de190f70bee29a7187900dfab4e --- /dev/null +++ b/spatialvid_eval/source/scene_074/rgb_video/00026.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0bb476128512ba5c59132bcbfe1ca6a846c3732d9b03c107cd6dcf7dc0403fb2 +size 557772 diff --git a/spatialvid_eval/source/scene_074/rgb_video/00029.png b/spatialvid_eval/source/scene_074/rgb_video/00029.png new file mode 100644 index 0000000000000000000000000000000000000000..4d243aa47b76d5a4ae1a828c39dc28b42ceb5050 --- /dev/null +++ b/spatialvid_eval/source/scene_074/rgb_video/00029.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c6dde65e52619dcce1a43c4167383632d7bc8a4b35779197b01e557f175dd67 +size 580455 diff --git a/spatialvid_eval/source/scene_074/rgb_video/00058.png b/spatialvid_eval/source/scene_074/rgb_video/00058.png new file mode 100644 index 0000000000000000000000000000000000000000..87438889c30f50fed618e4b40315113e48278d2e --- /dev/null +++ b/spatialvid_eval/source/scene_074/rgb_video/00058.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bec14bc71588dc8331c687e31ed181ace8459100805185c9e4f0e56b0f66c7a7 +size 598091 diff --git a/spatialvid_eval/source/scene_074/rgb_video/00074.png b/spatialvid_eval/source/scene_074/rgb_video/00074.png new file mode 100644 index 0000000000000000000000000000000000000000..3d2155aa195fdb9f82906e31a94799a3cb79487c --- /dev/null +++ b/spatialvid_eval/source/scene_074/rgb_video/00074.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d86515848ef5b7bc5a11ae1e178b58098120b9a64d82c5c1488acb1a793be6a +size 627600 diff --git a/spatialvid_eval/source/scene_074/rgb_video/00079.png b/spatialvid_eval/source/scene_074/rgb_video/00079.png new file mode 100644 index 0000000000000000000000000000000000000000..38613c2d92e3f53c3f9c3f5dddd564f86f8fe214 --- /dev/null +++ b/spatialvid_eval/source/scene_074/rgb_video/00079.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24cb27e8de2aeb0066d52be0ca8f82e7cf98f6ae2c92583bfea8eeca5916cf2b +size 640941 diff --git a/spatialvid_eval/source/scene_134/rgb_video/00005.png b/spatialvid_eval/source/scene_134/rgb_video/00005.png new file mode 100644 index 0000000000000000000000000000000000000000..94221a2dc57d67b69f3b1887cbb81aefd71dbe34 --- /dev/null +++ b/spatialvid_eval/source/scene_134/rgb_video/00005.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa9f558b2d0b6ce1f5b3fb22084916f7908ebc33915706f2bf03b0b90082c8eb +size 952382 diff --git a/spatialvid_eval/source/scene_134/rgb_video/00029.png b/spatialvid_eval/source/scene_134/rgb_video/00029.png new file mode 100644 index 0000000000000000000000000000000000000000..e318f919e76b054c59fd5d7c4fa867cf7e14a91b --- /dev/null +++ b/spatialvid_eval/source/scene_134/rgb_video/00029.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6e23c990988f81998a292b87417a40afd91c8f16e74bb0c23bacb81d8a9c198 +size 956731 diff --git a/spatialvid_eval/source/scene_134/rgb_video/00047.png b/spatialvid_eval/source/scene_134/rgb_video/00047.png new file mode 100644 index 0000000000000000000000000000000000000000..90d4e47691f240f5af666b7097bc3b5d105c4ef7 --- /dev/null +++ b/spatialvid_eval/source/scene_134/rgb_video/00047.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d29560a762ac81d9c4eec5fe07895882666d96ff40453457f5e19016e060b38 +size 904379 diff --git a/spatialvid_eval/source/scene_134/rgb_video/00058.png b/spatialvid_eval/source/scene_134/rgb_video/00058.png new file mode 100644 index 0000000000000000000000000000000000000000..8cc94c3f066e88f6a015e0084ef75d786d163731 --- /dev/null +++ b/spatialvid_eval/source/scene_134/rgb_video/00058.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d50b217b98ce5ffaea29c458ed05d122b74f96347f6b6722eb44a0e81eae0fbf +size 956262 diff --git a/spatialvid_eval/source/scene_134/rgb_video/00074.png b/spatialvid_eval/source/scene_134/rgb_video/00074.png new file mode 100644 index 0000000000000000000000000000000000000000..cddb0b5ca4ea6cee203b06fb6554736af62a1137 --- /dev/null +++ b/spatialvid_eval/source/scene_134/rgb_video/00074.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc5e8fde92fd6a61318c353a6d03fb2fb19d78ef1b445585da78187049b218cf +size 957750 diff --git a/spatialvid_eval/source/scene_134/rgb_video/00079.png b/spatialvid_eval/source/scene_134/rgb_video/00079.png new file mode 100644 index 0000000000000000000000000000000000000000..17548cdb5d88cbe7d6ad0daf1e3e86a5a771a7d6 --- /dev/null +++ b/spatialvid_eval/source/scene_134/rgb_video/00079.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62e13fe05efa0cb5f2c6369548110c4dba00235b3c41878e8cf29e6c60b8b66c +size 970975 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00002.png b/spatialvid_eval/source/scene_135/rgb_video/00002.png new file mode 100644 index 0000000000000000000000000000000000000000..373af11cd79dd574d92167dcb7c125910a5ee2e8 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00002.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79a28f1b7d502a96683469bf04589a7cf13f37f8b5f0963fa4907a7d1f5bbd88 +size 842146 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00007.png b/spatialvid_eval/source/scene_135/rgb_video/00007.png new file mode 100644 index 0000000000000000000000000000000000000000..1c762dbbb5d44be73679ef36696f37327787ae15 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00007.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59df0f83e2ffe876603a7c8cb36f63fc7d479993527d371934320b0f05f6241d +size 860611 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00008.png b/spatialvid_eval/source/scene_135/rgb_video/00008.png new file mode 100644 index 0000000000000000000000000000000000000000..87ca5d077271a162836f9a92bd82c46b62dc6d01 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00008.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5cb7e2f8dd6283623c3298c07509930a18b2fd39073e3e8a3445b0efae1d63d6 +size 861426 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00009.png b/spatialvid_eval/source/scene_135/rgb_video/00009.png new file mode 100644 index 0000000000000000000000000000000000000000..58873e6df6b020ecdf08ed47c9711ef7b739f8f7 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00009.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be475581406107e08f378744b2d8ff967613ac2e87cf04c8a48b9253ae85e0c0 +size 865616 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00011.png b/spatialvid_eval/source/scene_135/rgb_video/00011.png new file mode 100644 index 0000000000000000000000000000000000000000..717275ae0d6a9a36c73dccfa8466051dde9e72d8 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00011.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f34e8a39e6920484d6359298a6abe4b06c21bd086c92e2abf3b6277aa2100ac +size 866122 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00012.png b/spatialvid_eval/source/scene_135/rgb_video/00012.png new file mode 100644 index 0000000000000000000000000000000000000000..20b8288c9f4eb58ddfccc909ec6d74754d4ebfc7 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00012.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb01707f5ded2b946aa2827e2557d98e636001e1ae5795f0a02316e41c41a581 +size 869219 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00013.png b/spatialvid_eval/source/scene_135/rgb_video/00013.png new file mode 100644 index 0000000000000000000000000000000000000000..c6795de1ae8ca055f3516ec1fb5e7431b1cd3ac4 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00013.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46152439030351bb85f3a2902682d68a4936dcec3539ef9111a77ea0e69e21b3 +size 868070 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00017.png b/spatialvid_eval/source/scene_135/rgb_video/00017.png new file mode 100644 index 0000000000000000000000000000000000000000..ea1e74d5cbe0d7862a04a1ccf16ed0cf2a471573 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00017.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76e83cef5b30ff99b20e8d76722f21cda654605c4bf94dd0f5e036e0fca34960 +size 878826 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00019.png b/spatialvid_eval/source/scene_135/rgb_video/00019.png new file mode 100644 index 0000000000000000000000000000000000000000..ea8cf8a7cb760962bd9d4a06c876d1408185db62 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00019.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab78cb84d784b5464c9d213418ff87e4032bb9a5588382c3708446abcafa6f07 +size 879622 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00022.png b/spatialvid_eval/source/scene_135/rgb_video/00022.png new file mode 100644 index 0000000000000000000000000000000000000000..68c4b3e1c71ac560304ea5224b28f418647f1d36 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00022.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f0b4d82e8be6d9ceab87ffac2e66606af702c7af487634b3365cb3095e481129 +size 877938 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00023.png b/spatialvid_eval/source/scene_135/rgb_video/00023.png new file mode 100644 index 0000000000000000000000000000000000000000..762d9ded98f11ffde4bc1b5cbb4211836a61a365 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00023.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d7dd4189dcb60b442e896928cd43a19062e156dc45aa770e2a0390be8b544a5 +size 880372 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00025.png b/spatialvid_eval/source/scene_135/rgb_video/00025.png new file mode 100644 index 0000000000000000000000000000000000000000..b2ca981308b750d8dd6385055ab51bd2f09b2bb0 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00025.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:69e9a7a91a402c98e77d112688e5608e12e536b8453500692d11ef9625280054 +size 878344 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00027.png b/spatialvid_eval/source/scene_135/rgb_video/00027.png new file mode 100644 index 0000000000000000000000000000000000000000..9adbb5d493d3c09b7399cfbcb95799e13ca728ea --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00027.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a2b2cdce5b70676dd3442ebc6694eb369f8ada1d6d0a5cc02398af3eb7237a7 +size 869983 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00031.png b/spatialvid_eval/source/scene_135/rgb_video/00031.png new file mode 100644 index 0000000000000000000000000000000000000000..850db99a244cb58c899df02cb2de0caea0b8f63c --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00031.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e6fe1dfd80909628e88610d181942e926f50f121367daed92616cb23cc70b24 +size 864730 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00033.png b/spatialvid_eval/source/scene_135/rgb_video/00033.png new file mode 100644 index 0000000000000000000000000000000000000000..67e6090e4651d4bb64884209c50b568d9c8e7c24 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00033.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f390011ddc02f06045bf0a39ff6838c31302c5e3a645bde2d73a9381e970c10 +size 860206 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00035.png b/spatialvid_eval/source/scene_135/rgb_video/00035.png new file mode 100644 index 0000000000000000000000000000000000000000..46f7f387776ae5bf10958199833d290c1d085d35 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00035.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8857b2e78990bc3f62f4c32c9eba60561d523d1c82506add68303e818a0b5bcf +size 860174 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00038.png b/spatialvid_eval/source/scene_135/rgb_video/00038.png new file mode 100644 index 0000000000000000000000000000000000000000..6193a19c72d2da6af083a58b422cec3f205888de --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00038.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b36a12bde0c1f2a2420ba73b22f1e83659e6a7730a70b5816c6d9ac0657a405f +size 864758 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00040.png b/spatialvid_eval/source/scene_135/rgb_video/00040.png new file mode 100644 index 0000000000000000000000000000000000000000..14a464483ac680e9d3bc84646bc2dbd1f7a1a623 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00040.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9347b34274dd7c93f1fa75331f0f3b0b2ec7d251ca1d758df85cbff95bb2afc +size 880797 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00041.png b/spatialvid_eval/source/scene_135/rgb_video/00041.png new file mode 100644 index 0000000000000000000000000000000000000000..1c3f9c77403160f31e761e9508a21277b59fbc48 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00041.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae9386fb18ba8d84ff4172dcf9d4d3fa3b71fddd9a28422ba342d5cff4a8fd08 +size 890689 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00043.png b/spatialvid_eval/source/scene_135/rgb_video/00043.png new file mode 100644 index 0000000000000000000000000000000000000000..22ef076696b9420ba702f554889b2a1f863aef33 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00043.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5adc8845ac04fa484b4ca08a4ca37c677539f62aae8bd4427a7736f870ac0699 +size 903667 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00045.png b/spatialvid_eval/source/scene_135/rgb_video/00045.png new file mode 100644 index 0000000000000000000000000000000000000000..23d998730959e7da0a433d9abd9abce1a26e2fac --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00045.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2abb61ccef26be3b2e7e36f190fda2f8db1149fa517fce3ed08f177e3dfdf9b4 +size 920554 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00048.png b/spatialvid_eval/source/scene_135/rgb_video/00048.png new file mode 100644 index 0000000000000000000000000000000000000000..80e272e0a0f522d6e37e1632e21f1c5279f9da05 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00048.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5ddab96f310ebecbef3c926e14540dbcfff3f0628c5975ec6d6b7f71a48c7b9 +size 928860 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00049.png b/spatialvid_eval/source/scene_135/rgb_video/00049.png new file mode 100644 index 0000000000000000000000000000000000000000..7531a5b656e5c449693bad7f30a3fabfb11c97e6 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00049.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47ee569b61c9f4c48b1aec18a316920351978f37beac3ea4aa19958d5ce51999 +size 933871 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00052.png b/spatialvid_eval/source/scene_135/rgb_video/00052.png new file mode 100644 index 0000000000000000000000000000000000000000..75f4b34204c3401b9e4f81307a55209ae4dd4498 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00052.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05c28e8d660c3a73eed3c1e18f4169c58311cd06845b4ad321ab5833aaefe5c0 +size 926287 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00053.png b/spatialvid_eval/source/scene_135/rgb_video/00053.png new file mode 100644 index 0000000000000000000000000000000000000000..044937a61eaab22969133424cbfbf473522563cf --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00053.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5dcbf8367328fdfb60ad469f8c8e9e40488986ec2cee9e0df805036c4f697e4 +size 926860 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00055.png b/spatialvid_eval/source/scene_135/rgb_video/00055.png new file mode 100644 index 0000000000000000000000000000000000000000..af1ba1e765d20068bc967f214b9649e965063c11 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00055.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54fba3d810ca75f2143ae2b44ccc4f7295017d5431a303b9f50495e1dd4b1f1e +size 923552 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00060.png b/spatialvid_eval/source/scene_135/rgb_video/00060.png new file mode 100644 index 0000000000000000000000000000000000000000..35f01601369fa063c551388c1c48c3595db5aef4 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00060.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d1260c333cc08b740042db7c4f0fe35d07796c3a94e281c5a3defeb7ff8dab0 +size 929651 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00063.png b/spatialvid_eval/source/scene_135/rgb_video/00063.png new file mode 100644 index 0000000000000000000000000000000000000000..ff4e0ce86d695aacf0dd7ea66594058c14f54039 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00063.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7ce3147ce7d8385bb8f8e56782f12a598c352ee319c76ec85048885e21f4557 +size 934511 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00065.png b/spatialvid_eval/source/scene_135/rgb_video/00065.png new file mode 100644 index 0000000000000000000000000000000000000000..751ebd6897d83c9406e8005383d08490c86706c9 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00065.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7dfc73a5c78ae5f6b606a13711c4d89883c6a7f2951fd77b7d83e71debb16b9b +size 933845 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00066.png b/spatialvid_eval/source/scene_135/rgb_video/00066.png new file mode 100644 index 0000000000000000000000000000000000000000..6a1c10c90ee9b462db07035401a5b78833d33be5 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00066.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e14b2da65ba633b70f6f722def45deff06c7c7f5aecc6dc6961964bad92d809 +size 935002 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00069.png b/spatialvid_eval/source/scene_135/rgb_video/00069.png new file mode 100644 index 0000000000000000000000000000000000000000..144ffc3924fff83f47ce3a5503b70459aea40cd2 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00069.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4f0b50d28d375a88193ecd5bdc61840c10f8f304597db976bae3c00b4e72db0 +size 941862 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00071.png b/spatialvid_eval/source/scene_135/rgb_video/00071.png new file mode 100644 index 0000000000000000000000000000000000000000..c6dec3f9becb43a3f6968c043576a63b6b7a9a35 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00071.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9555da699af4691d573f2a491ea734aa82ffd48e25bc35599f2238ba793f6bdf +size 940949 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00072.png b/spatialvid_eval/source/scene_135/rgb_video/00072.png new file mode 100644 index 0000000000000000000000000000000000000000..1c2f2c657d7b9d430ab383a91ecd3b249be9de69 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00072.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84726e0d5a5a722f61c65dbba8b3f24ac98ded619a93715c04b5ea5c7d3a3129 +size 944676 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00077.png b/spatialvid_eval/source/scene_135/rgb_video/00077.png new file mode 100644 index 0000000000000000000000000000000000000000..17706d81f963648f4679a35a8be0c782ae8f2921 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00077.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72c37416302a5bdb430e7e11a1ed7390019738b36471ceb36d389c99cfd8df6e +size 933223 diff --git a/spatialvid_eval/source/scene_135/rgb_video/00078.png b/spatialvid_eval/source/scene_135/rgb_video/00078.png new file mode 100644 index 0000000000000000000000000000000000000000..acaa8a7e9c1ecc66565df54e09b6cf9d2e2ea744 --- /dev/null +++ b/spatialvid_eval/source/scene_135/rgb_video/00078.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f2b6bbbc5de197ca30d61552fe55cb3bb5f7d40b8a3b9269bfc4d862fd5f6b6 +size 930657 diff --git a/spatialvid_eval/source/scene_143/rgb_video/00002.png b/spatialvid_eval/source/scene_143/rgb_video/00002.png new file mode 100644 index 0000000000000000000000000000000000000000..69dc7df74c1eed6806faf2505cab9531eeee7699 --- /dev/null +++ b/spatialvid_eval/source/scene_143/rgb_video/00002.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2376e51acae263e1de45f0fef0bb9774aa7740b3b399dcad8adde00a4812419 +size 975801 diff --git a/spatialvid_eval/source/scene_143/rgb_video/00023.png b/spatialvid_eval/source/scene_143/rgb_video/00023.png new file mode 100644 index 0000000000000000000000000000000000000000..1f8821be3805a982a212d95fc723ae4bfec27c1b --- /dev/null +++ b/spatialvid_eval/source/scene_143/rgb_video/00023.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca13e26ca377b9a75b1b7ef36917252371e5612cae08c92b5001c44cd6a928d5 +size 996271 diff --git a/spatialvid_eval/source/scene_143/rgb_video/00031.png b/spatialvid_eval/source/scene_143/rgb_video/00031.png new file mode 100644 index 0000000000000000000000000000000000000000..24c079b78597050e077459ffc86c01e46be6a1f2 --- /dev/null +++ b/spatialvid_eval/source/scene_143/rgb_video/00031.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:070a4e1537204acd3da0120d09854ec36896eefb2822579fb227df1ffc0946dd +size 932810 diff --git a/spatialvid_eval/source/scene_143/rgb_video/00065.png b/spatialvid_eval/source/scene_143/rgb_video/00065.png new file mode 100644 index 0000000000000000000000000000000000000000..fd23137c7bbc7c3ee94e26712a8593ad6ac19d86 --- /dev/null +++ b/spatialvid_eval/source/scene_143/rgb_video/00065.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc7d216ad98bd7b461f602a9300b3537ed4136817cfaa42bac5cac3dfa2448f7 +size 1004755 diff --git a/spatialvid_eval/source/scene_143/rgb_video/00066.png b/spatialvid_eval/source/scene_143/rgb_video/00066.png new file mode 100644 index 0000000000000000000000000000000000000000..ca08a3dbcf9a97dddc142962b913ba82885ba4b5 --- /dev/null +++ b/spatialvid_eval/source/scene_143/rgb_video/00066.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46049589243dea1b57fa6f728156152f553c5873cc381c28754540eb333349c7 +size 1008653 diff --git a/spatialvid_eval/source/scene_197/rgb_video/00048.png b/spatialvid_eval/source/scene_197/rgb_video/00048.png new file mode 100644 index 0000000000000000000000000000000000000000..71b201c74b2e05557423b2d38508d02fab90aff8 --- /dev/null +++ b/spatialvid_eval/source/scene_197/rgb_video/00048.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8eb7f1334188564ae3171d19b032ad8ade04c24a58a8fe66926fd38c82a42549 +size 820699