HugMinjun commited on
Commit
9cb4e5c
·
verified ·
1 Parent(s): e5d890c

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. blenderobj_eval/target/scene_000006__traj000__bullettime_mid/extras/blender_meta.json +377 -0
  2. blenderobj_eval/target/scene_000007__traj000__bullettime_late/caption.txt +1 -0
  3. blenderobj_eval/target/scene_000007__traj000__bullettime_late/extras/blender_meta.json +377 -0
  4. blenderobj_eval/target/scene_000007__traj000__bullettime_late/extras/temporal_mapping.json +350 -0
  5. blenderobj_eval/target/scene_000007__traj000__bullettime_late/extras/traj_caption.txt +1 -0
  6. blenderobj_eval/target/scene_000007__traj000__bullettime_late/transforms.json +2849 -0
  7. blenderobj_eval/target/scene_000009__traj000__slowmo/transforms.json +2849 -0
  8. blenderobj_eval/target/scene_000019__traj000__slowmo/extras/temporal_mapping.json +350 -0
  9. blenderobj_eval/target/scene_000025__traj001__forward/extras/blender_meta.json +376 -0
  10. blenderobj_eval/target/scene_000025__traj001__forward/extras/temporal_mapping.json +350 -0
  11. blenderobj_eval/target/scene_000025__traj001__forward/extras/traj_caption.txt +1 -0
  12. blenderobj_eval/target/scene_000028__traj001__bullettime_early/transforms.json +2849 -0
  13. blenderobj_eval/target/scene_000031__traj001__backward/caption.txt +1 -0
  14. blenderobj_eval/target/scene_000031__traj001__backward/extras/blender_meta.json +376 -0
  15. blenderobj_eval/target/scene_000031__traj001__backward/extras/temporal_mapping.json +350 -0
  16. blenderobj_eval/target/scene_000031__traj001__backward/extras/traj_caption.txt +1 -0
  17. blenderobj_eval/target/scene_000031__traj001__backward/transforms.json +2849 -0
  18. blenderobj_eval/target/scene_000041__traj002__zigzag/caption.txt +1 -0
  19. dycheck_eval/source/paper-windmill__camera_2/rgb_video/00036.png +3 -0
  20. dycheck_eval/source/paper-windmill__camera_2/rgb_video/00039.png +3 -0
  21. dycheck_eval/source/paper-windmill__camera_2/rgb_video/00094.png +3 -0
  22. dycheck_eval/source/paper-windmill__camera_2/rgb_video/00144.png +3 -0
  23. dynpose_eval/camera_controls/72917cb2-0ad8-4d69-ba98-f212978f8734/boom_down/transforms.json +0 -0
  24. dynpose_eval/camera_controls/72917cb2-0ad8-4d69-ba98-f212978f8734/tilt_up/transforms.json +0 -0
  25. dynpose_eval/camera_controls/b3ff61f8-94d4-434c-b090-16f5f38c1ef5/boom_up/transforms.json +0 -0
  26. dynpose_eval/camera_controls/b3ff61f8-94d4-434c-b090-16f5f38c1ef5/move_left/transforms.json +0 -0
  27. dynpose_eval/camera_controls/b3ff61f8-94d4-434c-b090-16f5f38c1ef5/move_right/transforms.json +0 -0
  28. dynpose_eval/camera_controls/b3ff61f8-94d4-434c-b090-16f5f38c1ef5/orbit_left/transforms.json +0 -0
  29. dynpose_eval/camera_controls/b3ff61f8-94d4-434c-b090-16f5f38c1ef5/orbit_right/transforms.json +0 -0
  30. dynpose_eval/camera_controls/b3ff61f8-94d4-434c-b090-16f5f38c1ef5/pan_right/transforms.json +0 -0
  31. dynpose_eval/camera_controls/b3ff61f8-94d4-434c-b090-16f5f38c1ef5/pull_out/transforms.json +0 -0
  32. dynpose_eval/camera_controls/b3ff61f8-94d4-434c-b090-16f5f38c1ef5/push_in/transforms.json +0 -0
  33. dynpose_eval/camera_controls/b3ff61f8-94d4-434c-b090-16f5f38c1ef5/tilt_down/transforms.json +0 -0
  34. dynpose_eval/camera_controls/b3ff61f8-94d4-434c-b090-16f5f38c1ef5/tilt_up/transforms.json +0 -0
  35. dynpose_eval/camera_controls/cff9518c-3ce5-4309-ab36-83ebfd174bba/boom_down/transforms.json +0 -0
  36. dynpose_eval/camera_controls/cff9518c-3ce5-4309-ab36-83ebfd174bba/move_right/transforms.json +0 -0
  37. dynpose_eval/camera_controls/cff9518c-3ce5-4309-ab36-83ebfd174bba/tilt_up/transforms.json +0 -0
  38. dynpose_eval/camera_controls/d8532271-1f3b-40fe-815b-8c043680f8b0/boom_down/transforms.json +0 -0
  39. dynpose_eval/camera_controls/d8532271-1f3b-40fe-815b-8c043680f8b0/boom_up/transforms.json +0 -0
  40. dynpose_eval/camera_controls/d8532271-1f3b-40fe-815b-8c043680f8b0/pan_left/transforms.json +0 -0
  41. dynpose_eval/camera_controls/d8532271-1f3b-40fe-815b-8c043680f8b0/pan_right/transforms.json +0 -0
  42. dynpose_eval/camera_controls/d8532271-1f3b-40fe-815b-8c043680f8b0/pull_out/transforms.json +0 -0
  43. dynpose_eval/camera_controls/d8532271-1f3b-40fe-815b-8c043680f8b0/tilt_down/transforms.json +0 -0
  44. dynpose_eval/camera_controls/d8532271-1f3b-40fe-815b-8c043680f8b0/tilt_up/transforms.json +0 -0
  45. dynpose_eval/source/285c9ac3-d4be-44d8-9201-e34fe50c3377/caption.txt +1 -0
  46. dynpose_eval/source/285c9ac3-d4be-44d8-9201-e34fe50c3377/extras/source_metadata.json +33 -0
  47. dynpose_eval/source/285c9ac3-d4be-44d8-9201-e34fe50c3377/transforms.json +0 -0
  48. dynpose_eval/source/5019f170-69b0-47aa-bf67-47aa2756d344/caption.txt +1 -0
  49. dynpose_eval/source/5019f170-69b0-47aa-bf67-47aa2756d344/extras/source_metadata.json +33 -0
  50. dynpose_eval/source/5019f170-69b0-47aa-bf67-47aa2756d344/transforms.json +4283 -0
blenderobj_eval/target/scene_000006__traj000__bullettime_mid/extras/blender_meta.json ADDED
@@ -0,0 +1,377 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "format_version": "blender6d-eval-video-v1",
3
+ "scene_name": "scene_000006",
4
+ "trajectory_index": 0,
5
+ "trajectory_id": "T0",
6
+ "trajectory_name": "low_elevation_arc",
7
+ "pattern": "bullettime_40",
8
+ "pattern_params": {
9
+ "kind": "bullettime",
10
+ "bullet_frame": 40,
11
+ "stride": 0,
12
+ "cam_start": 0,
13
+ "src_frame_range": [
14
+ 40,
15
+ 40
16
+ ]
17
+ },
18
+ "frame_count": 81,
19
+ "resolution": [
20
+ 832,
21
+ 480
22
+ ],
23
+ "resolution_order": "width_height",
24
+ "files": {
25
+ "preview": {
26
+ "file": "rgb.mp4",
27
+ "encoding": "libx264 crf17 yuv420p (lossy, \uc5b4\ub514\uc11c\ub098 \uc7ac\uc0dd)"
28
+ },
29
+ "lossless": {
30
+ "file": "rgb_lossless.mkv",
31
+ "encoding": "ffv1 level3 gbrp (bit-exact, \uc9c0\ud45c \uce21\uc815\uc6a9)"
32
+ }
33
+ },
34
+ "metric_reference": "rgb_lossless.mkv",
35
+ "source_fps": 30,
36
+ "playback_fps": 30,
37
+ "time_stride": 0,
38
+ "timestamps": [
39
+ 1.333333333,
40
+ 1.333333333,
41
+ 1.333333333,
42
+ 1.333333333,
43
+ 1.333333333,
44
+ 1.333333333,
45
+ 1.333333333,
46
+ 1.333333333,
47
+ 1.333333333,
48
+ 1.333333333,
49
+ 1.333333333,
50
+ 1.333333333,
51
+ 1.333333333,
52
+ 1.333333333,
53
+ 1.333333333,
54
+ 1.333333333,
55
+ 1.333333333,
56
+ 1.333333333,
57
+ 1.333333333,
58
+ 1.333333333,
59
+ 1.333333333,
60
+ 1.333333333,
61
+ 1.333333333,
62
+ 1.333333333,
63
+ 1.333333333,
64
+ 1.333333333,
65
+ 1.333333333,
66
+ 1.333333333,
67
+ 1.333333333,
68
+ 1.333333333,
69
+ 1.333333333,
70
+ 1.333333333,
71
+ 1.333333333,
72
+ 1.333333333,
73
+ 1.333333333,
74
+ 1.333333333,
75
+ 1.333333333,
76
+ 1.333333333,
77
+ 1.333333333,
78
+ 1.333333333,
79
+ 1.333333333,
80
+ 1.333333333,
81
+ 1.333333333,
82
+ 1.333333333,
83
+ 1.333333333,
84
+ 1.333333333,
85
+ 1.333333333,
86
+ 1.333333333,
87
+ 1.333333333,
88
+ 1.333333333,
89
+ 1.333333333,
90
+ 1.333333333,
91
+ 1.333333333,
92
+ 1.333333333,
93
+ 1.333333333,
94
+ 1.333333333,
95
+ 1.333333333,
96
+ 1.333333333,
97
+ 1.333333333,
98
+ 1.333333333,
99
+ 1.333333333,
100
+ 1.333333333,
101
+ 1.333333333,
102
+ 1.333333333,
103
+ 1.333333333,
104
+ 1.333333333,
105
+ 1.333333333,
106
+ 1.333333333,
107
+ 1.333333333,
108
+ 1.333333333,
109
+ 1.333333333,
110
+ 1.333333333,
111
+ 1.333333333,
112
+ 1.333333333,
113
+ 1.333333333,
114
+ 1.333333333,
115
+ 1.333333333,
116
+ 1.333333333,
117
+ 1.333333333,
118
+ 1.333333333,
119
+ 1.333333333
120
+ ],
121
+ "timestamp_range": [
122
+ 1.333333333,
123
+ 1.333333333
124
+ ],
125
+ "scene_time_span_seconds": 0.0,
126
+ "playback_timestamps": [
127
+ 0.0,
128
+ 0.033333333,
129
+ 0.066666667,
130
+ 0.1,
131
+ 0.133333333,
132
+ 0.166666667,
133
+ 0.2,
134
+ 0.233333333,
135
+ 0.266666667,
136
+ 0.3,
137
+ 0.333333333,
138
+ 0.366666667,
139
+ 0.4,
140
+ 0.433333333,
141
+ 0.466666667,
142
+ 0.5,
143
+ 0.533333333,
144
+ 0.566666667,
145
+ 0.6,
146
+ 0.633333333,
147
+ 0.666666667,
148
+ 0.7,
149
+ 0.733333333,
150
+ 0.766666667,
151
+ 0.8,
152
+ 0.833333333,
153
+ 0.866666667,
154
+ 0.9,
155
+ 0.933333333,
156
+ 0.966666667,
157
+ 1.0,
158
+ 1.033333333,
159
+ 1.066666667,
160
+ 1.1,
161
+ 1.133333333,
162
+ 1.166666667,
163
+ 1.2,
164
+ 1.233333333,
165
+ 1.266666667,
166
+ 1.3,
167
+ 1.333333333,
168
+ 1.366666667,
169
+ 1.4,
170
+ 1.433333333,
171
+ 1.466666667,
172
+ 1.5,
173
+ 1.533333333,
174
+ 1.566666667,
175
+ 1.6,
176
+ 1.633333333,
177
+ 1.666666667,
178
+ 1.7,
179
+ 1.733333333,
180
+ 1.766666667,
181
+ 1.8,
182
+ 1.833333333,
183
+ 1.866666667,
184
+ 1.9,
185
+ 1.933333333,
186
+ 1.966666667,
187
+ 2.0,
188
+ 2.033333333,
189
+ 2.066666667,
190
+ 2.1,
191
+ 2.133333333,
192
+ 2.166666667,
193
+ 2.2,
194
+ 2.233333333,
195
+ 2.266666667,
196
+ 2.3,
197
+ 2.333333333,
198
+ 2.366666667,
199
+ 2.4,
200
+ 2.433333333,
201
+ 2.466666667,
202
+ 2.5,
203
+ 2.533333333,
204
+ 2.566666667,
205
+ 2.6,
206
+ 2.633333333,
207
+ 2.666666667
208
+ ],
209
+ "playback_duration_seconds": 2.7,
210
+ "source_cam_index": [
211
+ 0,
212
+ 1,
213
+ 2,
214
+ 3,
215
+ 4,
216
+ 5,
217
+ 6,
218
+ 7,
219
+ 8,
220
+ 9,
221
+ 10,
222
+ 11,
223
+ 12,
224
+ 13,
225
+ 14,
226
+ 15,
227
+ 16,
228
+ 17,
229
+ 18,
230
+ 19,
231
+ 20,
232
+ 21,
233
+ 22,
234
+ 23,
235
+ 24,
236
+ 25,
237
+ 26,
238
+ 27,
239
+ 28,
240
+ 29,
241
+ 30,
242
+ 31,
243
+ 32,
244
+ 33,
245
+ 34,
246
+ 35,
247
+ 36,
248
+ 37,
249
+ 38,
250
+ 39,
251
+ 40,
252
+ 41,
253
+ 42,
254
+ 43,
255
+ 44,
256
+ 45,
257
+ 46,
258
+ 47,
259
+ 48,
260
+ 49,
261
+ 50,
262
+ 51,
263
+ 52,
264
+ 53,
265
+ 54,
266
+ 55,
267
+ 56,
268
+ 57,
269
+ 58,
270
+ 59,
271
+ 60,
272
+ 61,
273
+ 62,
274
+ 63,
275
+ 64,
276
+ 65,
277
+ 66,
278
+ 67,
279
+ 68,
280
+ 69,
281
+ 70,
282
+ 71,
283
+ 72,
284
+ 73,
285
+ 74,
286
+ 75,
287
+ 76,
288
+ 77,
289
+ 78,
290
+ 79,
291
+ 80
292
+ ],
293
+ "source_frame_index": [
294
+ 40,
295
+ 40,
296
+ 40,
297
+ 40,
298
+ 40,
299
+ 40,
300
+ 40,
301
+ 40,
302
+ 40,
303
+ 40,
304
+ 40,
305
+ 40,
306
+ 40,
307
+ 40,
308
+ 40,
309
+ 40,
310
+ 40,
311
+ 40,
312
+ 40,
313
+ 40,
314
+ 40,
315
+ 40,
316
+ 40,
317
+ 40,
318
+ 40,
319
+ 40,
320
+ 40,
321
+ 40,
322
+ 40,
323
+ 40,
324
+ 40,
325
+ 40,
326
+ 40,
327
+ 40,
328
+ 40,
329
+ 40,
330
+ 40,
331
+ 40,
332
+ 40,
333
+ 40,
334
+ 40,
335
+ 40,
336
+ 40,
337
+ 40,
338
+ 40,
339
+ 40,
340
+ 40,
341
+ 40,
342
+ 40,
343
+ 40,
344
+ 40,
345
+ 40,
346
+ 40,
347
+ 40,
348
+ 40,
349
+ 40,
350
+ 40,
351
+ 40,
352
+ 40,
353
+ 40,
354
+ 40,
355
+ 40,
356
+ 40,
357
+ 40,
358
+ 40,
359
+ 40,
360
+ 40,
361
+ 40,
362
+ 40,
363
+ 40,
364
+ 40,
365
+ 40,
366
+ 40,
367
+ 40,
368
+ 40,
369
+ 40,
370
+ 40,
371
+ 40,
372
+ 40,
373
+ 40,
374
+ 40
375
+ ],
376
+ "written_at": "2026-09-17T14:34:26"
377
+ }
blenderobj_eval/target/scene_000007__traj000__bullettime_late/caption.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ A chaotic assortment of colorful, toy-like objects—including a yellow box, a red and white striped candy cane, a small figurine, and various other items—tumbles through the air and scatters across a weathered wooden floor inside a stone-walled room, eventually coming to rest in a disorganized pile. A steady orbital camera move. The camera tracks along a smooth horizontal arc at a low elevation of 14°, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). It views the objects from close to their own height, so they slide past one another and the background parallax shifts steadily across the shot, while the framing stays centered on the group of objects. The motion of the scene is frozen at a late moment while the camera keeps moving, a bullet-time shot.
blenderobj_eval/target/scene_000007__traj000__bullettime_late/extras/blender_meta.json ADDED
@@ -0,0 +1,377 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "format_version": "blender6d-eval-video-v1",
3
+ "scene_name": "scene_000007",
4
+ "trajectory_index": 0,
5
+ "trajectory_id": "T0",
6
+ "trajectory_name": "low_elevation_arc",
7
+ "pattern": "bullettime_70",
8
+ "pattern_params": {
9
+ "kind": "bullettime",
10
+ "bullet_frame": 70,
11
+ "stride": 0,
12
+ "cam_start": 0,
13
+ "src_frame_range": [
14
+ 70,
15
+ 70
16
+ ]
17
+ },
18
+ "frame_count": 81,
19
+ "resolution": [
20
+ 832,
21
+ 480
22
+ ],
23
+ "resolution_order": "width_height",
24
+ "files": {
25
+ "preview": {
26
+ "file": "rgb.mp4",
27
+ "encoding": "libx264 crf17 yuv420p (lossy, \uc5b4\ub514\uc11c\ub098 \uc7ac\uc0dd)"
28
+ },
29
+ "lossless": {
30
+ "file": "rgb_lossless.mkv",
31
+ "encoding": "ffv1 level3 gbrp (bit-exact, \uc9c0\ud45c \uce21\uc815\uc6a9)"
32
+ }
33
+ },
34
+ "metric_reference": "rgb_lossless.mkv",
35
+ "source_fps": 30,
36
+ "playback_fps": 30,
37
+ "time_stride": 0,
38
+ "timestamps": [
39
+ 2.333333333,
40
+ 2.333333333,
41
+ 2.333333333,
42
+ 2.333333333,
43
+ 2.333333333,
44
+ 2.333333333,
45
+ 2.333333333,
46
+ 2.333333333,
47
+ 2.333333333,
48
+ 2.333333333,
49
+ 2.333333333,
50
+ 2.333333333,
51
+ 2.333333333,
52
+ 2.333333333,
53
+ 2.333333333,
54
+ 2.333333333,
55
+ 2.333333333,
56
+ 2.333333333,
57
+ 2.333333333,
58
+ 2.333333333,
59
+ 2.333333333,
60
+ 2.333333333,
61
+ 2.333333333,
62
+ 2.333333333,
63
+ 2.333333333,
64
+ 2.333333333,
65
+ 2.333333333,
66
+ 2.333333333,
67
+ 2.333333333,
68
+ 2.333333333,
69
+ 2.333333333,
70
+ 2.333333333,
71
+ 2.333333333,
72
+ 2.333333333,
73
+ 2.333333333,
74
+ 2.333333333,
75
+ 2.333333333,
76
+ 2.333333333,
77
+ 2.333333333,
78
+ 2.333333333,
79
+ 2.333333333,
80
+ 2.333333333,
81
+ 2.333333333,
82
+ 2.333333333,
83
+ 2.333333333,
84
+ 2.333333333,
85
+ 2.333333333,
86
+ 2.333333333,
87
+ 2.333333333,
88
+ 2.333333333,
89
+ 2.333333333,
90
+ 2.333333333,
91
+ 2.333333333,
92
+ 2.333333333,
93
+ 2.333333333,
94
+ 2.333333333,
95
+ 2.333333333,
96
+ 2.333333333,
97
+ 2.333333333,
98
+ 2.333333333,
99
+ 2.333333333,
100
+ 2.333333333,
101
+ 2.333333333,
102
+ 2.333333333,
103
+ 2.333333333,
104
+ 2.333333333,
105
+ 2.333333333,
106
+ 2.333333333,
107
+ 2.333333333,
108
+ 2.333333333,
109
+ 2.333333333,
110
+ 2.333333333,
111
+ 2.333333333,
112
+ 2.333333333,
113
+ 2.333333333,
114
+ 2.333333333,
115
+ 2.333333333,
116
+ 2.333333333,
117
+ 2.333333333,
118
+ 2.333333333,
119
+ 2.333333333
120
+ ],
121
+ "timestamp_range": [
122
+ 2.333333333,
123
+ 2.333333333
124
+ ],
125
+ "scene_time_span_seconds": 0.0,
126
+ "playback_timestamps": [
127
+ 0.0,
128
+ 0.033333333,
129
+ 0.066666667,
130
+ 0.1,
131
+ 0.133333333,
132
+ 0.166666667,
133
+ 0.2,
134
+ 0.233333333,
135
+ 0.266666667,
136
+ 0.3,
137
+ 0.333333333,
138
+ 0.366666667,
139
+ 0.4,
140
+ 0.433333333,
141
+ 0.466666667,
142
+ 0.5,
143
+ 0.533333333,
144
+ 0.566666667,
145
+ 0.6,
146
+ 0.633333333,
147
+ 0.666666667,
148
+ 0.7,
149
+ 0.733333333,
150
+ 0.766666667,
151
+ 0.8,
152
+ 0.833333333,
153
+ 0.866666667,
154
+ 0.9,
155
+ 0.933333333,
156
+ 0.966666667,
157
+ 1.0,
158
+ 1.033333333,
159
+ 1.066666667,
160
+ 1.1,
161
+ 1.133333333,
162
+ 1.166666667,
163
+ 1.2,
164
+ 1.233333333,
165
+ 1.266666667,
166
+ 1.3,
167
+ 1.333333333,
168
+ 1.366666667,
169
+ 1.4,
170
+ 1.433333333,
171
+ 1.466666667,
172
+ 1.5,
173
+ 1.533333333,
174
+ 1.566666667,
175
+ 1.6,
176
+ 1.633333333,
177
+ 1.666666667,
178
+ 1.7,
179
+ 1.733333333,
180
+ 1.766666667,
181
+ 1.8,
182
+ 1.833333333,
183
+ 1.866666667,
184
+ 1.9,
185
+ 1.933333333,
186
+ 1.966666667,
187
+ 2.0,
188
+ 2.033333333,
189
+ 2.066666667,
190
+ 2.1,
191
+ 2.133333333,
192
+ 2.166666667,
193
+ 2.2,
194
+ 2.233333333,
195
+ 2.266666667,
196
+ 2.3,
197
+ 2.333333333,
198
+ 2.366666667,
199
+ 2.4,
200
+ 2.433333333,
201
+ 2.466666667,
202
+ 2.5,
203
+ 2.533333333,
204
+ 2.566666667,
205
+ 2.6,
206
+ 2.633333333,
207
+ 2.666666667
208
+ ],
209
+ "playback_duration_seconds": 2.7,
210
+ "source_cam_index": [
211
+ 0,
212
+ 1,
213
+ 2,
214
+ 3,
215
+ 4,
216
+ 5,
217
+ 6,
218
+ 7,
219
+ 8,
220
+ 9,
221
+ 10,
222
+ 11,
223
+ 12,
224
+ 13,
225
+ 14,
226
+ 15,
227
+ 16,
228
+ 17,
229
+ 18,
230
+ 19,
231
+ 20,
232
+ 21,
233
+ 22,
234
+ 23,
235
+ 24,
236
+ 25,
237
+ 26,
238
+ 27,
239
+ 28,
240
+ 29,
241
+ 30,
242
+ 31,
243
+ 32,
244
+ 33,
245
+ 34,
246
+ 35,
247
+ 36,
248
+ 37,
249
+ 38,
250
+ 39,
251
+ 40,
252
+ 41,
253
+ 42,
254
+ 43,
255
+ 44,
256
+ 45,
257
+ 46,
258
+ 47,
259
+ 48,
260
+ 49,
261
+ 50,
262
+ 51,
263
+ 52,
264
+ 53,
265
+ 54,
266
+ 55,
267
+ 56,
268
+ 57,
269
+ 58,
270
+ 59,
271
+ 60,
272
+ 61,
273
+ 62,
274
+ 63,
275
+ 64,
276
+ 65,
277
+ 66,
278
+ 67,
279
+ 68,
280
+ 69,
281
+ 70,
282
+ 71,
283
+ 72,
284
+ 73,
285
+ 74,
286
+ 75,
287
+ 76,
288
+ 77,
289
+ 78,
290
+ 79,
291
+ 80
292
+ ],
293
+ "source_frame_index": [
294
+ 70,
295
+ 70,
296
+ 70,
297
+ 70,
298
+ 70,
299
+ 70,
300
+ 70,
301
+ 70,
302
+ 70,
303
+ 70,
304
+ 70,
305
+ 70,
306
+ 70,
307
+ 70,
308
+ 70,
309
+ 70,
310
+ 70,
311
+ 70,
312
+ 70,
313
+ 70,
314
+ 70,
315
+ 70,
316
+ 70,
317
+ 70,
318
+ 70,
319
+ 70,
320
+ 70,
321
+ 70,
322
+ 70,
323
+ 70,
324
+ 70,
325
+ 70,
326
+ 70,
327
+ 70,
328
+ 70,
329
+ 70,
330
+ 70,
331
+ 70,
332
+ 70,
333
+ 70,
334
+ 70,
335
+ 70,
336
+ 70,
337
+ 70,
338
+ 70,
339
+ 70,
340
+ 70,
341
+ 70,
342
+ 70,
343
+ 70,
344
+ 70,
345
+ 70,
346
+ 70,
347
+ 70,
348
+ 70,
349
+ 70,
350
+ 70,
351
+ 70,
352
+ 70,
353
+ 70,
354
+ 70,
355
+ 70,
356
+ 70,
357
+ 70,
358
+ 70,
359
+ 70,
360
+ 70,
361
+ 70,
362
+ 70,
363
+ 70,
364
+ 70,
365
+ 70,
366
+ 70,
367
+ 70,
368
+ 70,
369
+ 70,
370
+ 70,
371
+ 70,
372
+ 70,
373
+ 70,
374
+ 70
375
+ ],
376
+ "written_at": "2026-09-17T14:34:26"
377
+ }
blenderobj_eval/target/scene_000007__traj000__bullettime_late/extras/temporal_mapping.json ADDED
@@ -0,0 +1,350 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pattern": "bullettime_late",
3
+ "original_pattern": "bullettime_70",
4
+ "trajectory": {
5
+ "dir": "traj000",
6
+ "index": 0,
7
+ "id": "T0",
8
+ "name": "low_elevation_arc"
9
+ },
10
+ "source_fps": 30,
11
+ "playback_fps": 30,
12
+ "time_stride": 0,
13
+ "source_cam_idx": [
14
+ 0,
15
+ 1,
16
+ 2,
17
+ 3,
18
+ 4,
19
+ 5,
20
+ 6,
21
+ 7,
22
+ 8,
23
+ 9,
24
+ 10,
25
+ 11,
26
+ 12,
27
+ 13,
28
+ 14,
29
+ 15,
30
+ 16,
31
+ 17,
32
+ 18,
33
+ 19,
34
+ 20,
35
+ 21,
36
+ 22,
37
+ 23,
38
+ 24,
39
+ 25,
40
+ 26,
41
+ 27,
42
+ 28,
43
+ 29,
44
+ 30,
45
+ 31,
46
+ 32,
47
+ 33,
48
+ 34,
49
+ 35,
50
+ 36,
51
+ 37,
52
+ 38,
53
+ 39,
54
+ 40,
55
+ 41,
56
+ 42,
57
+ 43,
58
+ 44,
59
+ 45,
60
+ 46,
61
+ 47,
62
+ 48,
63
+ 49,
64
+ 50,
65
+ 51,
66
+ 52,
67
+ 53,
68
+ 54,
69
+ 55,
70
+ 56,
71
+ 57,
72
+ 58,
73
+ 59,
74
+ 60,
75
+ 61,
76
+ 62,
77
+ 63,
78
+ 64,
79
+ 65,
80
+ 66,
81
+ 67,
82
+ 68,
83
+ 69,
84
+ 70,
85
+ 71,
86
+ 72,
87
+ 73,
88
+ 74,
89
+ 75,
90
+ 76,
91
+ 77,
92
+ 78,
93
+ 79,
94
+ 80
95
+ ],
96
+ "source_motion_frame": [
97
+ 70,
98
+ 70,
99
+ 70,
100
+ 70,
101
+ 70,
102
+ 70,
103
+ 70,
104
+ 70,
105
+ 70,
106
+ 70,
107
+ 70,
108
+ 70,
109
+ 70,
110
+ 70,
111
+ 70,
112
+ 70,
113
+ 70,
114
+ 70,
115
+ 70,
116
+ 70,
117
+ 70,
118
+ 70,
119
+ 70,
120
+ 70,
121
+ 70,
122
+ 70,
123
+ 70,
124
+ 70,
125
+ 70,
126
+ 70,
127
+ 70,
128
+ 70,
129
+ 70,
130
+ 70,
131
+ 70,
132
+ 70,
133
+ 70,
134
+ 70,
135
+ 70,
136
+ 70,
137
+ 70,
138
+ 70,
139
+ 70,
140
+ 70,
141
+ 70,
142
+ 70,
143
+ 70,
144
+ 70,
145
+ 70,
146
+ 70,
147
+ 70,
148
+ 70,
149
+ 70,
150
+ 70,
151
+ 70,
152
+ 70,
153
+ 70,
154
+ 70,
155
+ 70,
156
+ 70,
157
+ 70,
158
+ 70,
159
+ 70,
160
+ 70,
161
+ 70,
162
+ 70,
163
+ 70,
164
+ 70,
165
+ 70,
166
+ 70,
167
+ 70,
168
+ 70,
169
+ 70,
170
+ 70,
171
+ 70,
172
+ 70,
173
+ 70,
174
+ 70,
175
+ 70,
176
+ 70,
177
+ 70
178
+ ],
179
+ "timestamps_seconds": [
180
+ 2.333333333,
181
+ 2.333333333,
182
+ 2.333333333,
183
+ 2.333333333,
184
+ 2.333333333,
185
+ 2.333333333,
186
+ 2.333333333,
187
+ 2.333333333,
188
+ 2.333333333,
189
+ 2.333333333,
190
+ 2.333333333,
191
+ 2.333333333,
192
+ 2.333333333,
193
+ 2.333333333,
194
+ 2.333333333,
195
+ 2.333333333,
196
+ 2.333333333,
197
+ 2.333333333,
198
+ 2.333333333,
199
+ 2.333333333,
200
+ 2.333333333,
201
+ 2.333333333,
202
+ 2.333333333,
203
+ 2.333333333,
204
+ 2.333333333,
205
+ 2.333333333,
206
+ 2.333333333,
207
+ 2.333333333,
208
+ 2.333333333,
209
+ 2.333333333,
210
+ 2.333333333,
211
+ 2.333333333,
212
+ 2.333333333,
213
+ 2.333333333,
214
+ 2.333333333,
215
+ 2.333333333,
216
+ 2.333333333,
217
+ 2.333333333,
218
+ 2.333333333,
219
+ 2.333333333,
220
+ 2.333333333,
221
+ 2.333333333,
222
+ 2.333333333,
223
+ 2.333333333,
224
+ 2.333333333,
225
+ 2.333333333,
226
+ 2.333333333,
227
+ 2.333333333,
228
+ 2.333333333,
229
+ 2.333333333,
230
+ 2.333333333,
231
+ 2.333333333,
232
+ 2.333333333,
233
+ 2.333333333,
234
+ 2.333333333,
235
+ 2.333333333,
236
+ 2.333333333,
237
+ 2.333333333,
238
+ 2.333333333,
239
+ 2.333333333,
240
+ 2.333333333,
241
+ 2.333333333,
242
+ 2.333333333,
243
+ 2.333333333,
244
+ 2.333333333,
245
+ 2.333333333,
246
+ 2.333333333,
247
+ 2.333333333,
248
+ 2.333333333,
249
+ 2.333333333,
250
+ 2.333333333,
251
+ 2.333333333,
252
+ 2.333333333,
253
+ 2.333333333,
254
+ 2.333333333,
255
+ 2.333333333,
256
+ 2.333333333,
257
+ 2.333333333,
258
+ 2.333333333,
259
+ 2.333333333,
260
+ 2.333333333
261
+ ],
262
+ "playback_timestamps_seconds": [
263
+ 0.0,
264
+ 0.033333333,
265
+ 0.066666667,
266
+ 0.1,
267
+ 0.133333333,
268
+ 0.166666667,
269
+ 0.2,
270
+ 0.233333333,
271
+ 0.266666667,
272
+ 0.3,
273
+ 0.333333333,
274
+ 0.366666667,
275
+ 0.4,
276
+ 0.433333333,
277
+ 0.466666667,
278
+ 0.5,
279
+ 0.533333333,
280
+ 0.566666667,
281
+ 0.6,
282
+ 0.633333333,
283
+ 0.666666667,
284
+ 0.7,
285
+ 0.733333333,
286
+ 0.766666667,
287
+ 0.8,
288
+ 0.833333333,
289
+ 0.866666667,
290
+ 0.9,
291
+ 0.933333333,
292
+ 0.966666667,
293
+ 1.0,
294
+ 1.033333333,
295
+ 1.066666667,
296
+ 1.1,
297
+ 1.133333333,
298
+ 1.166666667,
299
+ 1.2,
300
+ 1.233333333,
301
+ 1.266666667,
302
+ 1.3,
303
+ 1.333333333,
304
+ 1.366666667,
305
+ 1.4,
306
+ 1.433333333,
307
+ 1.466666667,
308
+ 1.5,
309
+ 1.533333333,
310
+ 1.566666667,
311
+ 1.6,
312
+ 1.633333333,
313
+ 1.666666667,
314
+ 1.7,
315
+ 1.733333333,
316
+ 1.766666667,
317
+ 1.8,
318
+ 1.833333333,
319
+ 1.866666667,
320
+ 1.9,
321
+ 1.933333333,
322
+ 1.966666667,
323
+ 2.0,
324
+ 2.033333333,
325
+ 2.066666667,
326
+ 2.1,
327
+ 2.133333333,
328
+ 2.166666667,
329
+ 2.2,
330
+ 2.233333333,
331
+ 2.266666667,
332
+ 2.3,
333
+ 2.333333333,
334
+ 2.366666667,
335
+ 2.4,
336
+ 2.433333333,
337
+ 2.466666667,
338
+ 2.5,
339
+ 2.533333333,
340
+ 2.566666667,
341
+ 2.6,
342
+ 2.633333333,
343
+ 2.666666667
344
+ ],
345
+ "scene_time_range_seconds": [
346
+ 2.333333333,
347
+ 2.333333333
348
+ ],
349
+ "metric_reference": "extras/rgb_lossless.mkv"
350
+ }
blenderobj_eval/target/scene_000007__traj000__bullettime_late/extras/traj_caption.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ A steady orbital camera move. The camera tracks along a smooth horizontal arc at a low elevation of 14°, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). It views the objects from close to their own height, so they slide past one another and the background parallax shifts steadily across the shot, while the framing stays centered on the group of objects.
blenderobj_eval/target/scene_000007__traj000__bullettime_late/transforms.json ADDED
@@ -0,0 +1,2849 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "format_version": "1.0",
3
+ "camera_model": "opencv_pinhole",
4
+ "pose_type": "c2w",
5
+ "coordinate_system": "opencv",
6
+ "world_frame": "blender_right_handed_z_up_meters",
7
+ "image_hw": [
8
+ 480,
9
+ 832
10
+ ],
11
+ "num_frames": 81,
12
+ "frames": [
13
+ {
14
+ "frame_index": 0,
15
+ "c2w": [
16
+ [
17
+ 0.6192521452903748,
18
+ 0.1899552047252655,
19
+ -0.7618686556816101,
20
+ -2.972383975982666
21
+ ],
22
+ [
23
+ 0.7851922512054443,
24
+ -0.14981064200401306,
25
+ 0.6008577346801758,
26
+ 2.134799003601074
27
+ ],
28
+ [
29
+ -4.184979118804222e-08,
30
+ -0.970295786857605,
31
+ -0.24192188680171967,
32
+ 0.6273472905158997
33
+ ],
34
+ [
35
+ 0.0,
36
+ 0.0,
37
+ 0.0,
38
+ 1.0
39
+ ]
40
+ ],
41
+ "intrinsics": {
42
+ "fx": 416.0,
43
+ "fy": 416.0,
44
+ "cx": 415.5,
45
+ "cy": 239.5
46
+ }
47
+ },
48
+ {
49
+ "frame_index": 1,
50
+ "c2w": [
51
+ [
52
+ 0.6086033582687378,
53
+ 0.19195884466171265,
54
+ -0.7699050903320312,
55
+ -2.9611330032348633
56
+ ],
57
+ [
58
+ 0.7934746742248535,
59
+ -0.14723438024520874,
60
+ 0.5905253291130066,
61
+ 2.1492645740509033
62
+ ],
63
+ [
64
+ -5.137375680419609e-08,
65
+ -0.9702958464622498,
66
+ -0.24192175269126892,
67
+ 0.6273472905158997
68
+ ],
69
+ [
70
+ 0.0,
71
+ 0.0,
72
+ 0.0,
73
+ 1.0
74
+ ]
75
+ ],
76
+ "intrinsics": {
77
+ "fx": 416.0,
78
+ "fy": 416.0,
79
+ "cx": 415.5,
80
+ "cy": 239.5
81
+ }
82
+ },
83
+ {
84
+ "frame_index": 2,
85
+ "c2w": [
86
+ [
87
+ 0.5978437066078186,
88
+ 0.1939275860786438,
89
+ -0.7778013944625854,
90
+ -2.950078248977661
91
+ ],
92
+ [
93
+ 0.8016127347946167,
94
+ -0.14463147521018982,
95
+ 0.580085277557373,
96
+ 2.1638805866241455
97
+ ],
98
+ [
99
+ -1.005577985324635e-07,
100
+ -0.9702958464622498,
101
+ -0.2419217973947525,
102
+ 0.6273472905158997
103
+ ],
104
+ [
105
+ 0.0,
106
+ 0.0,
107
+ 0.0,
108
+ 1.0
109
+ ]
110
+ ],
111
+ "intrinsics": {
112
+ "fx": 416.0,
113
+ "fy": 416.0,
114
+ "cx": 415.5,
115
+ "cy": 239.5
116
+ }
117
+ },
118
+ {
119
+ "frame_index": 3,
120
+ "c2w": [
121
+ [
122
+ 0.5869753956794739,
123
+ 0.19586116075515747,
124
+ -0.7855560183525085,
125
+ -2.9392216205596924
126
+ ],
127
+ [
128
+ 0.8096047639846802,
129
+ -0.14200222492218018,
130
+ 0.5695397257804871,
131
+ 2.1786444187164307
132
+ ],
133
+ [
134
+ 2.691173506264022e-08,
135
+ -0.9702956676483154,
136
+ -0.24192194640636444,
137
+ 0.6273472905158997
138
+ ],
139
+ [
140
+ 0.0,
141
+ 0.0,
142
+ 0.0,
143
+ 1.0
144
+ ]
145
+ ],
146
+ "intrinsics": {
147
+ "fx": 416.0,
148
+ "fy": 416.0,
149
+ "cx": 415.5,
150
+ "cy": 239.5
151
+ }
152
+ },
153
+ {
154
+ "frame_index": 4,
155
+ "c2w": [
156
+ [
157
+ 0.5759999752044678,
158
+ 0.1977589726448059,
159
+ -0.7931680083274841,
160
+ -2.92856502532959
161
+ ],
162
+ [
163
+ 0.8174497485160828,
164
+ -0.13934697210788727,
165
+ 0.5588904023170471,
166
+ 2.1935532093048096
167
+ ],
168
+ [
169
+ -4.7187466378773024e-08,
170
+ -0.9702958464622498,
171
+ -0.2419218122959137,
172
+ 0.6273472905158997
173
+ ],
174
+ [
175
+ 0.0,
176
+ 0.0,
177
+ 0.0,
178
+ 1.0
179
+ ]
180
+ ],
181
+ "intrinsics": {
182
+ "fx": 416.0,
183
+ "fy": 416.0,
184
+ "cx": 415.5,
185
+ "cy": 239.5
186
+ }
187
+ },
188
+ {
189
+ "frame_index": 5,
190
+ "c2w": [
191
+ [
192
+ 0.5649200677871704,
193
+ 0.19962078332901,
194
+ -0.8006353378295898,
195
+ -2.9181106090545654
196
+ ],
197
+ [
198
+ 0.8251456618309021,
199
+ -0.13666662573814392,
200
+ 0.5481395125389099,
201
+ 2.208604574203491
202
+ ],
203
+ [
204
+ -1.1223676210647682e-07,
205
+ -0.9702957272529602,
206
+ -0.24192193150520325,
207
+ 0.6273472905158997
208
+ ],
209
+ [
210
+ 0.0,
211
+ 0.0,
212
+ 0.0,
213
+ 1.0
214
+ ]
215
+ ],
216
+ "intrinsics": {
217
+ "fx": 416.0,
218
+ "fy": 416.0,
219
+ "cx": 415.5,
220
+ "cy": 239.5
221
+ }
222
+ },
223
+ {
224
+ "frame_index": 6,
225
+ "c2w": [
226
+ [
227
+ 0.5537372827529907,
228
+ 0.20144635438919067,
229
+ -0.8079569935798645,
230
+ -2.907860279083252
231
+ ],
232
+ [
233
+ 0.832691490650177,
234
+ -0.13396114110946655,
235
+ 0.5372890830039978,
236
+ 2.2237956523895264
237
+ ],
238
+ [
239
+ -3.702682960238235e-08,
240
+ -0.9702958464622498,
241
+ -0.24192187190055847,
242
+ 0.6273472905158997
243
+ ],
244
+ [
245
+ 0.0,
246
+ 0.0,
247
+ 0.0,
248
+ 1.0
249
+ ]
250
+ ],
251
+ "intrinsics": {
252
+ "fx": 416.0,
253
+ "fy": 416.0,
254
+ "cx": 415.5,
255
+ "cy": 239.5
256
+ }
257
+ },
258
+ {
259
+ "frame_index": 7,
260
+ "c2w": [
261
+ [
262
+ 0.5424535274505615,
263
+ 0.2032351791858673,
264
+ -0.8151317834854126,
265
+ -2.897815704345703
266
+ ],
267
+ [
268
+ 0.8400859236717224,
269
+ -0.13123127818107605,
270
+ 0.5263405442237854,
271
+ 2.2391233444213867
272
+ ],
273
+ [
274
+ -2.4412486254732357e-08,
275
+ -0.9702959060668945,
276
+ -0.24192176759243011,
277
+ 0.6273472905158997
278
+ ],
279
+ [
280
+ 0.0,
281
+ 0.0,
282
+ 0.0,
283
+ 1.0
284
+ ]
285
+ ],
286
+ "intrinsics": {
287
+ "fx": 416.0,
288
+ "fy": 416.0,
289
+ "cx": 415.5,
290
+ "cy": 239.5
291
+ }
292
+ },
293
+ {
294
+ "frame_index": 8,
295
+ "c2w": [
296
+ [
297
+ 0.5310712456703186,
298
+ 0.20498701930046082,
299
+ -0.8221578598022461,
300
+ -2.8879787921905518
301
+ ],
302
+ [
303
+ 0.8473271131515503,
304
+ -0.12847794592380524,
305
+ 0.5152960419654846,
306
+ 2.2545852661132812
307
+ ],
308
+ [
309
+ -7.107621513569029e-08,
310
+ -0.9702956080436707,
311
+ -0.2419220507144928,
312
+ 0.6273472905158997
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ],
321
+ "intrinsics": {
322
+ "fx": 416.0,
323
+ "fy": 416.0,
324
+ "cx": 415.5,
325
+ "cy": 239.5
326
+ }
327
+ },
328
+ {
329
+ "frame_index": 9,
330
+ "c2w": [
331
+ [
332
+ 0.5195921063423157,
333
+ 0.206701397895813,
334
+ -0.8290347456932068,
335
+ -2.8783514499664307
336
+ ],
337
+ [
338
+ 0.8544144630432129,
339
+ -0.12570060789585114,
340
+ 0.504158079624176,
341
+ 2.2701785564422607
342
+ ],
343
+ [
344
+ -1.5588280888323425e-08,
345
+ -0.970295786857605,
346
+ -0.24192169308662415,
347
+ 0.6273472905158997
348
+ ],
349
+ [
350
+ 0.0,
351
+ 0.0,
352
+ 0.0,
353
+ 1.0
354
+ ]
355
+ ],
356
+ "intrinsics": {
357
+ "fx": 416.0,
358
+ "fy": 416.0,
359
+ "cx": 415.5,
360
+ "cy": 239.5
361
+ }
362
+ },
363
+ {
364
+ "frame_index": 10,
365
+ "c2w": [
366
+ [
367
+ 0.5080185532569885,
368
+ 0.20837847888469696,
369
+ -0.8357605934143066,
370
+ -2.8689353466033936
371
+ ],
372
+ [
373
+ 0.8613462448120117,
374
+ -0.12290067225694656,
375
+ 0.4929283559322357,
376
+ 2.285900354385376
377
+ ],
378
+ [
379
+ 5.447748918641082e-09,
380
+ -0.9702958464622498,
381
+ -0.24192173779010773,
382
+ 0.6273472905158997
383
+ ],
384
+ [
385
+ 0.0,
386
+ 0.0,
387
+ 0.0,
388
+ 1.0
389
+ ]
390
+ ],
391
+ "intrinsics": {
392
+ "fx": 416.0,
393
+ "fy": 416.0,
394
+ "cx": 415.5,
395
+ "cy": 239.5
396
+ }
397
+ },
398
+ {
399
+ "frame_index": 11,
400
+ "c2w": [
401
+ [
402
+ 0.4963524639606476,
403
+ 0.21001751720905304,
404
+ -0.8423343896865845,
405
+ -2.859732151031494
406
+ ],
407
+ [
408
+ 0.8681212663650513,
409
+ -0.12007841467857361,
410
+ 0.48160892724990845,
411
+ 2.3017475605010986
412
+ ],
413
+ [
414
+ -1.1376769748494553e-07,
415
+ -0.9702960252761841,
416
+ -0.24192170798778534,
417
+ 0.6273472905158997
418
+ ],
419
+ [
420
+ 0.0,
421
+ 0.0,
422
+ 0.0,
423
+ 1.0
424
+ ]
425
+ ],
426
+ "intrinsics": {
427
+ "fx": 416.0,
428
+ "fy": 416.0,
429
+ "cx": 415.5,
430
+ "cy": 239.5
431
+ }
432
+ },
433
+ {
434
+ "frame_index": 12,
435
+ "c2w": [
436
+ [
437
+ 0.4845961034297943,
438
+ 0.21161817014217377,
439
+ -0.8487547039985657,
440
+ -2.8507437705993652
441
+ ],
442
+ [
443
+ 0.8747380971908569,
444
+ -0.1172342523932457,
445
+ 0.470201700925827,
446
+ 2.3177177906036377
447
+ ],
448
+ [
449
+ -2.7580789208059286e-08,
450
+ -0.9702959060668945,
451
+ -0.24192164838314056,
452
+ 0.6273472905158997
453
+ ],
454
+ [
455
+ 0.0,
456
+ 0.0,
457
+ 0.0,
458
+ 1.0
459
+ ]
460
+ ],
461
+ "intrinsics": {
462
+ "fx": 416.0,
463
+ "fy": 416.0,
464
+ "cx": 415.5,
465
+ "cy": 239.5
466
+ }
467
+ },
468
+ {
469
+ "frame_index": 13,
470
+ "c2w": [
471
+ [
472
+ 0.4727517068386078,
473
+ 0.2131805121898651,
474
+ -0.8550204038619995,
475
+ -2.8419713973999023
476
+ ],
477
+ [
478
+ 0.8811956644058228,
479
+ -0.11436907947063446,
480
+ 0.45870891213417053,
481
+ 2.3338074684143066
482
+ ],
483
+ [
484
+ -9.074689444332762e-08,
485
+ -0.9702957272529602,
486
+ -0.24192193150520325,
487
+ 0.6273472905158997
488
+ ],
489
+ [
490
+ 0.0,
491
+ 0.0,
492
+ 0.0,
493
+ 1.0
494
+ ]
495
+ ],
496
+ "intrinsics": {
497
+ "fx": 416.0,
498
+ "fy": 416.0,
499
+ "cx": 415.5,
500
+ "cy": 239.5
501
+ }
502
+ },
503
+ {
504
+ "frame_index": 14,
505
+ "c2w": [
506
+ [
507
+ 0.46082088351249695,
508
+ 0.21470411121845245,
509
+ -0.8611308336257935,
510
+ -2.8334169387817383
511
+ ],
512
+ [
513
+ 0.8874931931495667,
514
+ -0.1114826500415802,
515
+ 0.44713255763053894,
516
+ 2.3500142097473145
517
+ ],
518
+ [
519
+ 1.2146614380981191e-08,
520
+ -0.9702957272529602,
521
+ -0.24192194640636444,
522
+ 0.6273472905158997
523
+ ],
524
+ [
525
+ 0.0,
526
+ 0.0,
527
+ 0.0,
528
+ 1.0
529
+ ]
530
+ ],
531
+ "intrinsics": {
532
+ "fx": 416.0,
533
+ "fy": 416.0,
534
+ "cx": 415.5,
535
+ "cy": 239.5
536
+ }
537
+ },
538
+ {
539
+ "frame_index": 15,
540
+ "c2w": [
541
+ [
542
+ 0.4488064646720886,
543
+ 0.216188445687294,
544
+ -0.8670844435691833,
545
+ -2.8250818252563477
546
+ ],
547
+ [
548
+ 0.8936290740966797,
549
+ -0.1085759848356247,
550
+ 0.4354751408100128,
551
+ 2.366334915161133
552
+ ],
553
+ [
554
+ 2.5417392635063152e-08,
555
+ -0.9702958464622498,
556
+ -0.2419217824935913,
557
+ 0.6273472905158997
558
+ ],
559
+ [
560
+ 0.0,
561
+ 0.0,
562
+ 0.0,
563
+ 1.0
564
+ ]
565
+ ],
566
+ "intrinsics": {
567
+ "fx": 416.0,
568
+ "fy": 416.0,
569
+ "cx": 415.5,
570
+ "cy": 239.5
571
+ }
572
+ },
573
+ {
574
+ "frame_index": 16,
575
+ "c2w": [
576
+ [
577
+ 0.436710387468338,
578
+ 0.217633455991745,
579
+ -0.8728801608085632,
580
+ -2.816967725753784
581
+ ],
582
+ [
583
+ 0.8996021747589111,
584
+ -0.1056496649980545,
585
+ 0.4237383306026459,
586
+ 2.3827664852142334
587
+ ],
588
+ [
589
+ 7.00425175637065e-08,
590
+ -0.970295786857605,
591
+ -0.2419217824935913,
592
+ 0.6273472905158997
593
+ ],
594
+ [
595
+ 0.0,
596
+ 0.0,
597
+ 0.0,
598
+ 1.0
599
+ ]
600
+ ],
601
+ "intrinsics": {
602
+ "fx": 416.0,
603
+ "fy": 416.0,
604
+ "cx": 415.5,
605
+ "cy": 239.5
606
+ }
607
+ },
608
+ {
609
+ "frame_index": 17,
610
+ "c2w": [
611
+ [
612
+ 0.4245346486568451,
613
+ 0.21903888881206512,
614
+ -0.878517210483551,
615
+ -2.8090760707855225
616
+ ],
617
+ [
618
+ 0.9054117798805237,
619
+ -0.10270412266254425,
620
+ 0.4119243025779724,
621
+ 2.399306058883667
622
+ ],
623
+ [
624
+ -1.804978211339403e-08,
625
+ -0.9702958464622498,
626
+ -0.24192175269126892,
627
+ 0.6273472905158997
628
+ ],
629
+ [
630
+ 0.0,
631
+ 0.0,
632
+ 0.0,
633
+ 1.0
634
+ ]
635
+ ],
636
+ "intrinsics": {
637
+ "fx": 416.0,
638
+ "fy": 416.0,
639
+ "cx": 415.5,
640
+ "cy": 239.5
641
+ }
642
+ },
643
+ {
644
+ "frame_index": 18,
645
+ "c2w": [
646
+ [
647
+ 0.4122816324234009,
648
+ 0.2204044908285141,
649
+ -0.8839942812919617,
650
+ -2.801408290863037
651
+ ],
652
+ [
653
+ 0.9110565185546875,
654
+ -0.09973973780870438,
655
+ 0.4000352919101715,
656
+ 2.4159505367279053
657
+ ],
658
+ [
659
+ 9.147581891966183e-08,
660
+ -0.9702959060668945,
661
+ -0.24192170798778534,
662
+ 0.6273472905158997
663
+ ],
664
+ [
665
+ 0.0,
666
+ 0.0,
667
+ 0.0,
668
+ 1.0
669
+ ]
670
+ ],
671
+ "intrinsics": {
672
+ "fx": 416.0,
673
+ "fy": 416.0,
674
+ "cx": 415.5,
675
+ "cy": 239.5
676
+ }
677
+ },
678
+ {
679
+ "frame_index": 19,
680
+ "c2w": [
681
+ [
682
+ 0.3999537527561188,
683
+ 0.22173002362251282,
684
+ -0.8893103003501892,
685
+ -2.7939655780792236
686
+ ],
687
+ [
688
+ 0.9165353178977966,
689
+ -0.09675759822130203,
690
+ 0.38807347416877747,
691
+ 2.432697057723999
692
+ ],
693
+ [
694
+ -3.316637986472415e-08,
695
+ -0.9702957272529602,
696
+ -0.24192194640636444,
697
+ 0.6273472905158997
698
+ ],
699
+ [
700
+ 0.0,
701
+ 0.0,
702
+ 0.0,
703
+ 1.0
704
+ ]
705
+ ],
706
+ "intrinsics": {
707
+ "fx": 416.0,
708
+ "fy": 416.0,
709
+ "cx": 415.5,
710
+ "cy": 239.5
711
+ }
712
+ },
713
+ {
714
+ "frame_index": 20,
715
+ "c2w": [
716
+ [
717
+ 0.38755306601524353,
718
+ 0.22301502525806427,
719
+ -0.8944646716117859,
720
+ -2.7867496013641357
721
+ ],
722
+ [
723
+ 0.9218474626541138,
724
+ -0.09375746548175812,
725
+ 0.3760412037372589,
726
+ 2.449542284011841
727
+ ],
728
+ [
729
+ 1.8987691419170005e-09,
730
+ -0.9702958464622498,
731
+ -0.24192175269126892,
732
+ 0.6273472905158997
733
+ ],
734
+ [
735
+ 0.0,
736
+ 0.0,
737
+ 0.0,
738
+ 1.0
739
+ ]
740
+ ],
741
+ "intrinsics": {
742
+ "fx": 416.0,
743
+ "fy": 416.0,
744
+ "cx": 415.5,
745
+ "cy": 239.5
746
+ }
747
+ },
748
+ {
749
+ "frame_index": 21,
750
+ "c2w": [
751
+ [
752
+ 0.37508177757263184,
753
+ 0.224259614944458,
754
+ -0.8994562029838562,
755
+ -2.779761552810669
756
+ ],
757
+ [
758
+ 0.9269918203353882,
759
+ -0.09074018895626068,
760
+ 0.36394044756889343,
761
+ 2.4664833545684814
762
+ ],
763
+ [
764
+ 1.6486089293721307e-07,
765
+ -0.9702959060668945,
766
+ -0.24192169308662415,
767
+ 0.6273472905158997
768
+ ],
769
+ [
770
+ 0.0,
771
+ 0.0,
772
+ 0.0,
773
+ 1.0
774
+ ]
775
+ ],
776
+ "intrinsics": {
777
+ "fx": 416.0,
778
+ "fy": 416.0,
779
+ "cx": 415.5,
780
+ "cy": 239.5
781
+ }
782
+ },
783
+ {
784
+ "frame_index": 22,
785
+ "c2w": [
786
+ [
787
+ 0.3625422418117523,
788
+ 0.22546330094337463,
789
+ -0.9042840003967285,
790
+ -2.7730026245117188
791
+ ],
792
+ [
793
+ 0.9319674372673035,
794
+ -0.08770686388015747,
795
+ 0.35177329182624817,
796
+ 2.4835174083709717
797
+ ],
798
+ [
799
+ -6.538867580729857e-08,
800
+ -0.9702958464622498,
801
+ -0.2419217824935913,
802
+ 0.6273472905158997
803
+ ],
804
+ [
805
+ 0.0,
806
+ 0.0,
807
+ 0.0,
808
+ 1.0
809
+ ]
810
+ ],
811
+ "intrinsics": {
812
+ "fx": 416.0,
813
+ "fy": 416.0,
814
+ "cx": 415.5,
815
+ "cy": 239.5
816
+ }
817
+ },
818
+ {
819
+ "frame_index": 23,
820
+ "c2w": [
821
+ [
822
+ 0.3499367833137512,
823
+ 0.2266259640455246,
824
+ -0.908947229385376,
825
+ -2.7664740085601807
826
+ ],
827
+ [
828
+ 0.9367733597755432,
829
+ -0.0846572294831276,
830
+ 0.3395422399044037,
831
+ 2.500640869140625
832
+ ],
833
+ [
834
+ 6.411634245750975e-08,
835
+ -0.970295786857605,
836
+ -0.2419217824935913,
837
+ 0.6273472905158997
838
+ ],
839
+ [
840
+ 0.0,
841
+ 0.0,
842
+ 0.0,
843
+ 1.0
844
+ ]
845
+ ],
846
+ "intrinsics": {
847
+ "fx": 416.0,
848
+ "fy": 416.0,
849
+ "cx": 415.5,
850
+ "cy": 239.5
851
+ }
852
+ },
853
+ {
854
+ "frame_index": 24,
855
+ "c2w": [
856
+ [
857
+ 0.33726751804351807,
858
+ 0.22774739563465118,
859
+ -0.9134451150894165,
860
+ -2.7601771354675293
861
+ ],
862
+ [
863
+ 0.9414089322090149,
864
+ -0.08159217983484268,
865
+ 0.3272494375705719,
866
+ 2.517850875854492
867
+ ],
868
+ [
869
+ 7.414718083964544e-08,
870
+ -0.9702959060668945,
871
+ -0.24192169308662415,
872
+ 0.6273472905158997
873
+ ],
874
+ [
875
+ 0.0,
876
+ 0.0,
877
+ 0.0,
878
+ 1.0
879
+ ]
880
+ ],
881
+ "intrinsics": {
882
+ "fx": 416.0,
883
+ "fy": 416.0,
884
+ "cx": 415.5,
885
+ "cy": 239.5
886
+ }
887
+ },
888
+ {
889
+ "frame_index": 25,
890
+ "c2w": [
891
+ [
892
+ 0.3245370090007782,
893
+ 0.22882743179798126,
894
+ -0.9177766442298889,
895
+ -2.754112958908081
896
+ ],
897
+ [
898
+ 0.9458730816841125,
899
+ -0.07851239293813705,
900
+ 0.3148970603942871,
901
+ 2.535144329071045
902
+ ],
903
+ [
904
+ 1.1139042044305825e-07,
905
+ -0.9702958464622498,
906
+ -0.24192176759243011,
907
+ 0.6273472905158997
908
+ ],
909
+ [
910
+ 0.0,
911
+ 0.0,
912
+ 0.0,
913
+ 1.0
914
+ ]
915
+ ],
916
+ "intrinsics": {
917
+ "fx": 416.0,
918
+ "fy": 416.0,
919
+ "cx": 415.5,
920
+ "cy": 239.5
921
+ }
922
+ },
923
+ {
924
+ "frame_index": 26,
925
+ "c2w": [
926
+ [
927
+ 0.31174734234809875,
928
+ 0.22986575961112976,
929
+ -0.9219411611557007,
930
+ -2.7482826709747314
931
+ ],
932
+ [
933
+ 0.9501650929450989,
934
+ -0.0754183679819107,
935
+ 0.30248722434043884,
936
+ 2.552517890930176
937
+ ],
938
+ [
939
+ 5.7866731850708675e-08,
940
+ -0.9702958464622498,
941
+ -0.2419218122959137,
942
+ 0.6273472905158997
943
+ ],
944
+ [
945
+ 0.0,
946
+ 0.0,
947
+ 0.0,
948
+ 1.0
949
+ ]
950
+ ],
951
+ "intrinsics": {
952
+ "fx": 416.0,
953
+ "fy": 416.0,
954
+ "cx": 415.5,
955
+ "cy": 239.5
956
+ }
957
+ },
958
+ {
959
+ "frame_index": 27,
960
+ "c2w": [
961
+ [
962
+ 0.29890090227127075,
963
+ 0.23086221516132355,
964
+ -0.9259379506111145,
965
+ -2.742687225341797
966
+ ],
967
+ [
968
+ 0.9542842507362366,
969
+ -0.07231056690216064,
970
+ 0.2900224030017853,
971
+ 2.5699684619903564
972
+ ],
973
+ [
974
+ 8.941256623984373e-09,
975
+ -0.9702958464622498,
976
+ -0.24192176759243011,
977
+ 0.6273472905158997
978
+ ],
979
+ [
980
+ 0.0,
981
+ 0.0,
982
+ 0.0,
983
+ 1.0
984
+ ]
985
+ ],
986
+ "intrinsics": {
987
+ "fx": 416.0,
988
+ "fy": 416.0,
989
+ "cx": 415.5,
990
+ "cy": 239.5
991
+ }
992
+ },
993
+ {
994
+ "frame_index": 28,
995
+ "c2w": [
996
+ [
997
+ 0.2860002815723419,
998
+ 0.23181672394275665,
999
+ -0.929766058921814,
1000
+ -2.7373275756835938
1001
+ ],
1002
+ [
1003
+ 0.9582296013832092,
1004
+ -0.06918971985578537,
1005
+ 0.27750492095947266,
1006
+ 2.5874931812286377
1007
+ ],
1008
+ [
1009
+ -4.3831118290427185e-08,
1010
+ -0.970295786857605,
1011
+ -0.24192185699939728,
1012
+ 0.6273472905158997
1013
+ ],
1014
+ [
1015
+ 0.0,
1016
+ 0.0,
1017
+ 0.0,
1018
+ 1.0
1019
+ ]
1020
+ ],
1021
+ "intrinsics": {
1022
+ "fx": 416.0,
1023
+ "fy": 416.0,
1024
+ "cx": 415.5,
1025
+ "cy": 239.5
1026
+ }
1027
+ },
1028
+ {
1029
+ "frame_index": 29,
1030
+ "c2w": [
1031
+ [
1032
+ 0.273047536611557,
1033
+ 0.23272903263568878,
1034
+ -0.9334249496459961,
1035
+ -2.7322049140930176
1036
+ ],
1037
+ [
1038
+ 0.9620004892349243,
1039
+ -0.06605620682239532,
1040
+ 0.26493680477142334,
1041
+ 2.605088472366333
1042
+ ],
1043
+ [
1044
+ 3.544565174706804e-08,
1045
+ -0.9702956676483154,
1046
+ -0.24192197620868683,
1047
+ 0.6273472905158997
1048
+ ],
1049
+ [
1050
+ 0.0,
1051
+ 0.0,
1052
+ 0.0,
1053
+ 1.0
1054
+ ]
1055
+ ],
1056
+ "intrinsics": {
1057
+ "fx": 416.0,
1058
+ "fy": 416.0,
1059
+ "cx": 415.5,
1060
+ "cy": 239.5
1061
+ }
1062
+ },
1063
+ {
1064
+ "frame_index": 30,
1065
+ "c2w": [
1066
+ [
1067
+ 0.2600449025630951,
1068
+ 0.23359903693199158,
1069
+ -0.9369142651557922,
1070
+ -2.7273201942443848
1071
+ ],
1072
+ [
1073
+ 0.9655966758728027,
1074
+ -0.0629103034734726,
1075
+ 0.25232064723968506,
1076
+ 2.622751235961914
1077
+ ],
1078
+ [
1079
+ 1.4524516700475942e-07,
1080
+ -0.9702958464622498,
1081
+ -0.2419217973947525,
1082
+ 0.6273472905158997
1083
+ ],
1084
+ [
1085
+ 0.0,
1086
+ 0.0,
1087
+ 0.0,
1088
+ 1.0
1089
+ ]
1090
+ ],
1091
+ "intrinsics": {
1092
+ "fx": 416.0,
1093
+ "fy": 416.0,
1094
+ "cx": 415.5,
1095
+ "cy": 239.5
1096
+ }
1097
+ },
1098
+ {
1099
+ "frame_index": 31,
1100
+ "c2w": [
1101
+ [
1102
+ 0.24699506163597107,
1103
+ 0.2344263643026352,
1104
+ -0.9402327537536621,
1105
+ -2.7226741313934326
1106
+ ],
1107
+ [
1108
+ 0.9690167307853699,
1109
+ -0.0597534216940403,
1110
+ 0.23965825140476227,
1111
+ 2.6404783725738525
1112
+ ],
1113
+ [
1114
+ 1.069444195422875e-07,
1115
+ -0.9702957272529602,
1116
+ -0.24192188680171967,
1117
+ 0.6273472905158997
1118
+ ],
1119
+ [
1120
+ 0.0,
1121
+ 0.0,
1122
+ 0.0,
1123
+ 1.0
1124
+ ]
1125
+ ],
1126
+ "intrinsics": {
1127
+ "fx": 416.0,
1128
+ "fy": 416.0,
1129
+ "cx": 415.5,
1130
+ "cy": 239.5
1131
+ }
1132
+ },
1133
+ {
1134
+ "frame_index": 32,
1135
+ "c2w": [
1136
+ [
1137
+ 0.2339002788066864,
1138
+ 0.23521114885807037,
1139
+ -0.9433803558349609,
1140
+ -2.7182676792144775
1141
+ ],
1142
+ [
1143
+ 0.9722606539726257,
1144
+ -0.05658553168177605,
1145
+ 0.22695252299308777,
1146
+ 2.658266544342041
1147
+ ],
1148
+ [
1149
+ 1.2969120888328689e-08,
1150
+ -0.970295786857605,
1151
+ -0.24192184209823608,
1152
+ 0.6273472905158997
1153
+ ],
1154
+ [
1155
+ 0.0,
1156
+ 0.0,
1157
+ 0.0,
1158
+ 1.0
1159
+ ]
1160
+ ],
1161
+ "intrinsics": {
1162
+ "fx": 416.0,
1163
+ "fy": 416.0,
1164
+ "cx": 415.5,
1165
+ "cy": 239.5
1166
+ }
1167
+ },
1168
+ {
1169
+ "frame_index": 33,
1170
+ "c2w": [
1171
+ [
1172
+ 0.22076280415058136,
1173
+ 0.23595310747623444,
1174
+ -0.9463562369346619,
1175
+ -2.714101552963257
1176
+ ],
1177
+ [
1178
+ 0.9753276109695435,
1179
+ -0.05340728908777237,
1180
+ 0.2142053097486496,
1181
+ 2.676112413406372
1182
+ ],
1183
+ [
1184
+ -1.4380944435288256e-08,
1185
+ -0.9702958464622498,
1186
+ -0.2419218122959137,
1187
+ 0.6273472905158997
1188
+ ],
1189
+ [
1190
+ 0.0,
1191
+ 0.0,
1192
+ 0.0,
1193
+ 1.0
1194
+ ]
1195
+ ],
1196
+ "intrinsics": {
1197
+ "fx": 416.0,
1198
+ "fy": 416.0,
1199
+ "cx": 415.5,
1200
+ "cy": 239.5
1201
+ }
1202
+ },
1203
+ {
1204
+ "frame_index": 34,
1205
+ "c2w": [
1206
+ [
1207
+ 0.20758526027202606,
1208
+ 0.23665213584899902,
1209
+ -0.9491598010063171,
1210
+ -2.710176467895508
1211
+ ],
1212
+ [
1213
+ 0.9782170057296753,
1214
+ -0.050219252705574036,
1215
+ 0.20141921937465668,
1216
+ 2.6940131187438965
1217
+ ],
1218
+ [
1219
+ 8.229441306184526e-08,
1220
+ -0.9702958464622498,
1221
+ -0.2419218122959137,
1222
+ 0.6273472905158997
1223
+ ],
1224
+ [
1225
+ 0.0,
1226
+ 0.0,
1227
+ 0.0,
1228
+ 1.0
1229
+ ]
1230
+ ],
1231
+ "intrinsics": {
1232
+ "fx": 416.0,
1233
+ "fy": 416.0,
1234
+ "cx": 415.5,
1235
+ "cy": 239.5
1236
+ }
1237
+ },
1238
+ {
1239
+ "frame_index": 35,
1240
+ "c2w": [
1241
+ [
1242
+ 0.19436991214752197,
1243
+ 0.23730801045894623,
1244
+ -0.9517906904220581,
1245
+ -2.706493377685547
1246
+ ],
1247
+ [
1248
+ 0.9809284210205078,
1249
+ -0.04702221229672432,
1250
+ 0.1885964423418045,
1251
+ 2.7119648456573486
1252
+ ],
1253
+ [
1254
+ -4.303927880755509e-09,
1255
+ -0.9702959060668945,
1256
+ -0.24192172288894653,
1257
+ 0.6273472905158997
1258
+ ],
1259
+ [
1260
+ 0.0,
1261
+ 0.0,
1262
+ 0.0,
1263
+ 1.0
1264
+ ]
1265
+ ],
1266
+ "intrinsics": {
1267
+ "fx": 416.0,
1268
+ "fy": 416.0,
1269
+ "cx": 415.5,
1270
+ "cy": 239.5
1271
+ }
1272
+ },
1273
+ {
1274
+ "frame_index": 36,
1275
+ "c2w": [
1276
+ [
1277
+ 0.18111920356750488,
1278
+ 0.23792089521884918,
1279
+ -0.9542482495307922,
1280
+ -2.703052520751953
1281
+ ],
1282
+ [
1283
+ 0.9834612607955933,
1284
+ -0.043816499412059784,
1285
+ 0.1757393628358841,
1286
+ 2.7299649715423584
1287
+ ],
1288
+ [
1289
+ 9.42291933370143e-08,
1290
+ -0.9702958464622498,
1291
+ -0.2419218271970749,
1292
+ 0.6273472905158997
1293
+ ],
1294
+ [
1295
+ 0.0,
1296
+ 0.0,
1297
+ 0.0,
1298
+ 1.0
1299
+ ]
1300
+ ],
1301
+ "intrinsics": {
1302
+ "fx": 416.0,
1303
+ "fy": 416.0,
1304
+ "cx": 415.5,
1305
+ "cy": 239.5
1306
+ }
1307
+ },
1308
+ {
1309
+ "frame_index": 37,
1310
+ "c2w": [
1311
+ [
1312
+ 0.167835533618927,
1313
+ 0.23849031329154968,
1314
+ -0.9565321207046509,
1315
+ -2.699855089187622
1316
+ ],
1317
+ [
1318
+ 0.9858150482177734,
1319
+ -0.04060303792357445,
1320
+ 0.16285015642642975,
1321
+ 2.74800968170166
1322
+ ],
1323
+ [
1324
+ 2.615125183069722e-08,
1325
+ -0.970295786857605,
1326
+ -0.24192191660404205,
1327
+ 0.6273472905158997
1328
+ ],
1329
+ [
1330
+ 0.0,
1331
+ 0.0,
1332
+ 0.0,
1333
+ 1.0
1334
+ ]
1335
+ ],
1336
+ "intrinsics": {
1337
+ "fx": 416.0,
1338
+ "fy": 416.0,
1339
+ "cx": 415.5,
1340
+ "cy": 239.5
1341
+ }
1342
+ },
1343
+ {
1344
+ "frame_index": 38,
1345
+ "c2w": [
1346
+ [
1347
+ 0.15452128648757935,
1348
+ 0.2390163391828537,
1349
+ -0.9586421251296997,
1350
+ -2.696901321411133
1351
+ ],
1352
+ [
1353
+ 0.987989604473114,
1354
+ -0.03738171234726906,
1355
+ 0.14993159472942352,
1356
+ 2.7660958766937256
1357
+ ],
1358
+ [
1359
+ 2.3462186504730198e-07,
1360
+ -0.9702959060668945,
1361
+ -0.24192173779010773,
1362
+ 0.6273472905158997
1363
+ ],
1364
+ [
1365
+ 0.0,
1366
+ 0.0,
1367
+ 0.0,
1368
+ 1.0
1369
+ ]
1370
+ ],
1371
+ "intrinsics": {
1372
+ "fx": 416.0,
1373
+ "fy": 416.0,
1374
+ "cx": 415.5,
1375
+ "cy": 239.5
1376
+ }
1377
+ },
1378
+ {
1379
+ "frame_index": 39,
1380
+ "c2w": [
1381
+ [
1382
+ 0.14117899537086487,
1383
+ 0.23949888348579407,
1384
+ -0.9605774879455566,
1385
+ -2.6941916942596436
1386
+ ],
1387
+ [
1388
+ 0.9899842143058777,
1389
+ -0.034154195338487625,
1390
+ 0.13698554039001465,
1391
+ 2.7842202186584473
1392
+ ],
1393
+ [
1394
+ -3.2550246942264494e-08,
1395
+ -0.9702959060668945,
1396
+ -0.2419217824935913,
1397
+ 0.6273472905158997
1398
+ ],
1399
+ [
1400
+ 0.0,
1401
+ 0.0,
1402
+ 0.0,
1403
+ 1.0
1404
+ ]
1405
+ ],
1406
+ "intrinsics": {
1407
+ "fx": 416.0,
1408
+ "fy": 416.0,
1409
+ "cx": 415.5,
1410
+ "cy": 239.5
1411
+ }
1412
+ },
1413
+ {
1414
+ "frame_index": 40,
1415
+ "c2w": [
1416
+ [
1417
+ 0.1278110146522522,
1418
+ 0.23993775248527527,
1419
+ -0.9623380899429321,
1420
+ -2.6917269229888916
1421
+ ],
1422
+ [
1423
+ 0.9917986989021301,
1424
+ -0.030919987708330154,
1425
+ 0.1240147203207016,
1426
+ 2.802379608154297
1427
+ ],
1428
+ [
1429
+ 1.3762428352492861e-07,
1430
+ -0.9702959656715393,
1431
+ -0.24192164838314056,
1432
+ 0.6273472905158997
1433
+ ],
1434
+ [
1435
+ 0.0,
1436
+ 0.0,
1437
+ 0.0,
1438
+ 1.0
1439
+ ]
1440
+ ],
1441
+ "intrinsics": {
1442
+ "fx": 416.0,
1443
+ "fy": 416.0,
1444
+ "cx": 415.5,
1445
+ "cy": 239.5
1446
+ }
1447
+ },
1448
+ {
1449
+ "frame_index": 41,
1450
+ "c2w": [
1451
+ [
1452
+ 0.11441979557275772,
1453
+ 0.24033305048942566,
1454
+ -0.9639233946800232,
1455
+ -2.689507484436035
1456
+ ],
1457
+ [
1458
+ 0.9934325814247131,
1459
+ -0.027680588886141777,
1460
+ 0.11102113127708435,
1461
+ 2.820570468902588
1462
+ ],
1463
+ [
1464
+ -1.9985794352805897e-08,
1465
+ -0.9702958464622498,
1466
+ -0.2419217824935913,
1467
+ 0.6273472905158997
1468
+ ],
1469
+ [
1470
+ 0.0,
1471
+ 0.0,
1472
+ 0.0,
1473
+ 1.0
1474
+ ]
1475
+ ],
1476
+ "intrinsics": {
1477
+ "fx": 416.0,
1478
+ "fy": 416.0,
1479
+ "cx": 415.5,
1480
+ "cy": 239.5
1481
+ }
1482
+ },
1483
+ {
1484
+ "frame_index": 42,
1485
+ "c2w": [
1486
+ [
1487
+ 0.10100752860307693,
1488
+ 0.24068476259708405,
1489
+ -0.9653332829475403,
1490
+ -2.687533378601074
1491
+ ],
1492
+ [
1493
+ 0.9948856830596924,
1494
+ -0.02443588338792324,
1495
+ 0.0980072170495987,
1496
+ 2.838789701461792
1497
+ ],
1498
+ [
1499
+ 3.577918761266119e-08,
1500
+ -0.9702957272529602,
1501
+ -0.24192199110984802,
1502
+ 0.6273472905158997
1503
+ ],
1504
+ [
1505
+ 0.0,
1506
+ 0.0,
1507
+ 0.0,
1508
+ 1.0
1509
+ ]
1510
+ ],
1511
+ "intrinsics": {
1512
+ "fx": 416.0,
1513
+ "fy": 416.0,
1514
+ "cx": 415.5,
1515
+ "cy": 239.5
1516
+ }
1517
+ },
1518
+ {
1519
+ "frame_index": 43,
1520
+ "c2w": [
1521
+ [
1522
+ 0.08757686614990234,
1523
+ 0.2409924566745758,
1524
+ -0.966567873954773,
1525
+ -2.685805320739746
1526
+ ],
1527
+ [
1528
+ 0.9961580038070679,
1529
+ -0.02118641696870327,
1530
+ 0.08497575670480728,
1531
+ 2.8570337295532227
1532
+ ],
1533
+ [
1534
+ 1.4523865843329986e-07,
1535
+ -0.9702959656715393,
1536
+ -0.24192169308662415,
1537
+ 0.6273472905158997
1538
+ ],
1539
+ [
1540
+ 0.0,
1541
+ 0.0,
1542
+ 0.0,
1543
+ 1.0
1544
+ ]
1545
+ ],
1546
+ "intrinsics": {
1547
+ "fx": 416.0,
1548
+ "fy": 416.0,
1549
+ "cx": 415.5,
1550
+ "cy": 239.5
1551
+ }
1552
+ },
1553
+ {
1554
+ "frame_index": 44,
1555
+ "c2w": [
1556
+ [
1557
+ 0.07413065433502197,
1558
+ 0.24125628173351288,
1559
+ -0.9676260948181152,
1560
+ -2.68432354927063
1561
+ ],
1562
+ [
1563
+ 0.997248649597168,
1564
+ -0.017933808267116547,
1565
+ 0.0719287320971489,
1566
+ 2.8752996921539307
1567
+ ],
1568
+ [
1569
+ -4.8836639621185896e-08,
1570
+ -0.970295786857605,
1571
+ -0.2419218271970749,
1572
+ 0.6273472905158997
1573
+ ],
1574
+ [
1575
+ 0.0,
1576
+ 0.0,
1577
+ 0.0,
1578
+ 1.0
1579
+ ]
1580
+ ],
1581
+ "intrinsics": {
1582
+ "fx": 416.0,
1583
+ "fy": 416.0,
1584
+ "cx": 415.5,
1585
+ "cy": 239.5
1586
+ }
1587
+ },
1588
+ {
1589
+ "frame_index": 45,
1590
+ "c2w": [
1591
+ [
1592
+ 0.06067061424255371,
1593
+ 0.24147628247737885,
1594
+ -0.9685085415840149,
1595
+ -2.6830883026123047
1596
+ ],
1597
+ [
1598
+ 0.9981580972671509,
1599
+ -0.014677152037620544,
1600
+ 0.058868736028671265,
1601
+ 2.8935837745666504
1602
+ ],
1603
+ [
1604
+ 2.1110159309500887e-07,
1605
+ -0.9702959656715393,
1606
+ -0.24192167818546295,
1607
+ 0.6273472905158997
1608
+ ],
1609
+ [
1610
+ 0.0,
1611
+ 0.0,
1612
+ 0.0,
1613
+ 1.0
1614
+ ]
1615
+ ],
1616
+ "intrinsics": {
1617
+ "fx": 416.0,
1618
+ "fy": 416.0,
1619
+ "cx": 415.5,
1620
+ "cy": 239.5
1621
+ }
1622
+ },
1623
+ {
1624
+ "frame_index": 46,
1625
+ "c2w": [
1626
+ [
1627
+ 0.04719977825880051,
1628
+ 0.24165228009223938,
1629
+ -0.9692143797874451,
1630
+ -2.6821000576019287
1631
+ ],
1632
+ [
1633
+ 0.9988855719566345,
1634
+ -0.011418580077588558,
1635
+ 0.045797839760780334,
1636
+ 2.9118828773498535
1637
+ ],
1638
+ [
1639
+ 5.526892721263721e-09,
1640
+ -0.9702958464622498,
1641
+ -0.2419218122959137,
1642
+ 0.6273472905158997
1643
+ ],
1644
+ [
1645
+ 0.0,
1646
+ 0.0,
1647
+ 0.0,
1648
+ 1.0
1649
+ ]
1650
+ ],
1651
+ "intrinsics": {
1652
+ "fx": 416.0,
1653
+ "fy": 416.0,
1654
+ "cx": 415.5,
1655
+ "cy": 239.5
1656
+ }
1657
+ },
1658
+ {
1659
+ "frame_index": 47,
1660
+ "c2w": [
1661
+ [
1662
+ 0.03372018039226532,
1663
+ 0.24178440868854523,
1664
+ -0.969744086265564,
1665
+ -2.681358575820923
1666
+ ],
1667
+ [
1668
+ 0.9994314908981323,
1669
+ -0.008157425560057163,
1670
+ 0.032718725502491,
1671
+ 2.9301936626434326
1672
+ ],
1673
+ [
1674
+ 1.1220792117683231e-07,
1675
+ -0.9702958464622498,
1676
+ -0.24192184209823608,
1677
+ 0.6273472905158997
1678
+ ],
1679
+ [
1680
+ 0.0,
1681
+ 0.0,
1682
+ 0.0,
1683
+ 1.0
1684
+ ]
1685
+ ],
1686
+ "intrinsics": {
1687
+ "fx": 416.0,
1688
+ "fy": 416.0,
1689
+ "cx": 415.5,
1690
+ "cy": 239.5
1691
+ }
1692
+ },
1693
+ {
1694
+ "frame_index": 48,
1695
+ "c2w": [
1696
+ [
1697
+ 0.02023470401763916,
1698
+ 0.24187231063842773,
1699
+ -0.9700970649719238,
1700
+ -2.680864095687866
1701
+ ],
1702
+ [
1703
+ 0.9997952580451965,
1704
+ -0.004895282443612814,
1705
+ 0.019633622840046883,
1706
+ 2.9485130310058594
1707
+ ],
1708
+ [
1709
+ -5.78822962893355e-08,
1710
+ -0.9702957272529602,
1711
+ -0.24192185699939728,
1712
+ 0.6273472905158997
1713
+ ],
1714
+ [
1715
+ 0.0,
1716
+ 0.0,
1717
+ 0.0,
1718
+ 1.0
1719
+ ]
1720
+ ],
1721
+ "intrinsics": {
1722
+ "fx": 416.0,
1723
+ "fy": 416.0,
1724
+ "cx": 415.5,
1725
+ "cy": 239.5
1726
+ }
1727
+ },
1728
+ {
1729
+ "frame_index": 49,
1730
+ "c2w": [
1731
+ [
1732
+ 0.0067452071234583855,
1733
+ 0.24191631376743317,
1734
+ -0.9702737331390381,
1735
+ -2.680616855621338
1736
+ ],
1737
+ [
1738
+ 0.9999772906303406,
1739
+ -0.0016316778492182493,
1740
+ 0.006544921081513166,
1741
+ 2.966837167739868
1742
+ ],
1743
+ [
1744
+ 9.749944496206808e-08,
1745
+ -0.970295786857605,
1746
+ -0.24192176759243011,
1747
+ 0.6273472905158997
1748
+ ],
1749
+ [
1750
+ 0.0,
1751
+ 0.0,
1752
+ 0.0,
1753
+ 1.0
1754
+ ]
1755
+ ],
1756
+ "intrinsics": {
1757
+ "fx": 416.0,
1758
+ "fy": 416.0,
1759
+ "cx": 415.5,
1760
+ "cy": 239.5
1761
+ }
1762
+ },
1763
+ {
1764
+ "frame_index": 50,
1765
+ "c2w": [
1766
+ [
1767
+ -0.0067453947849571705,
1768
+ 0.2419164627790451,
1769
+ -0.9702736735343933,
1770
+ -2.680616855621338
1771
+ ],
1772
+ [
1773
+ 0.9999772906303406,
1774
+ 0.0016318140551447868,
1775
+ -0.0065450058318674564,
1776
+ 2.9851629734039307
1777
+ ],
1778
+ [
1779
+ -7.93264121057291e-08,
1780
+ -0.9702957272529602,
1781
+ -0.24192193150520325,
1782
+ 0.6273472905158997
1783
+ ],
1784
+ [
1785
+ 0.0,
1786
+ 0.0,
1787
+ 0.0,
1788
+ 1.0
1789
+ ]
1790
+ ],
1791
+ "intrinsics": {
1792
+ "fx": 416.0,
1793
+ "fy": 416.0,
1794
+ "cx": 415.5,
1795
+ "cy": 239.5
1796
+ }
1797
+ },
1798
+ {
1799
+ "frame_index": 51,
1800
+ "c2w": [
1801
+ [
1802
+ -0.020234815776348114,
1803
+ 0.24187242984771729,
1804
+ -0.9700971841812134,
1805
+ -2.680864095687866
1806
+ ],
1807
+ [
1808
+ 0.9997953772544861,
1809
+ 0.00489544402807951,
1810
+ -0.019633591175079346,
1811
+ 3.0034871101379395
1812
+ ],
1813
+ [
1814
+ 9.037864856509259e-08,
1815
+ -0.9702958464622498,
1816
+ -0.2419218122959137,
1817
+ 0.6273472905158997
1818
+ ],
1819
+ [
1820
+ 0.0,
1821
+ 0.0,
1822
+ 0.0,
1823
+ 1.0
1824
+ ]
1825
+ ],
1826
+ "intrinsics": {
1827
+ "fx": 416.0,
1828
+ "fy": 416.0,
1829
+ "cx": 415.5,
1830
+ "cy": 239.5
1831
+ }
1832
+ },
1833
+ {
1834
+ "frame_index": 52,
1835
+ "c2w": [
1836
+ [
1837
+ -0.033720627427101135,
1838
+ 0.24178436398506165,
1839
+ -0.9697441458702087,
1840
+ -2.681358575820923
1841
+ ],
1842
+ [
1843
+ 0.9994314908981323,
1844
+ 0.008157973177731037,
1845
+ -0.03271876275539398,
1846
+ 3.021806240081787
1847
+ ],
1848
+ [
1849
+ 5.910507994144609e-08,
1850
+ -0.9702959060668945,
1851
+ -0.24192173779010773,
1852
+ 0.6273472905158997
1853
+ ],
1854
+ [
1855
+ 0.0,
1856
+ 0.0,
1857
+ 0.0,
1858
+ 1.0
1859
+ ]
1860
+ ],
1861
+ "intrinsics": {
1862
+ "fx": 416.0,
1863
+ "fy": 416.0,
1864
+ "cx": 415.5,
1865
+ "cy": 239.5
1866
+ }
1867
+ },
1868
+ {
1869
+ "frame_index": 53,
1870
+ "c2w": [
1871
+ [
1872
+ -0.04720016196370125,
1873
+ 0.241652250289917,
1874
+ -0.9692144393920898,
1875
+ -2.6821000576019287
1876
+ ],
1877
+ [
1878
+ 0.9988855719566345,
1879
+ 0.011418910697102547,
1880
+ -0.04579797759652138,
1881
+ 3.040117025375366
1882
+ ],
1883
+ [
1884
+ 6.581806388794575e-08,
1885
+ -0.9702958464622498,
1886
+ -0.24192175269126892,
1887
+ 0.6273472905158997
1888
+ ],
1889
+ [
1890
+ 0.0,
1891
+ 0.0,
1892
+ 0.0,
1893
+ 1.0
1894
+ ]
1895
+ ],
1896
+ "intrinsics": {
1897
+ "fx": 416.0,
1898
+ "fy": 416.0,
1899
+ "cx": 415.5,
1900
+ "cy": 239.5
1901
+ }
1902
+ },
1903
+ {
1904
+ "frame_index": 54,
1905
+ "c2w": [
1906
+ [
1907
+ -0.06067109853029251,
1908
+ 0.24147634208202362,
1909
+ -0.9685084223747253,
1910
+ -2.6830883026123047
1911
+ ],
1912
+ [
1913
+ 0.9981579780578613,
1914
+ 0.014677795581519604,
1915
+ -0.058868736028671265,
1916
+ 3.0584161281585693
1917
+ ],
1918
+ [
1919
+ -1.078992184488925e-08,
1920
+ -0.9702959060668945,
1921
+ -0.2419218271970749,
1922
+ 0.6273472905158997
1923
+ ],
1924
+ [
1925
+ 0.0,
1926
+ 0.0,
1927
+ 0.0,
1928
+ 1.0
1929
+ ]
1930
+ ],
1931
+ "intrinsics": {
1932
+ "fx": 416.0,
1933
+ "fy": 416.0,
1934
+ "cx": 415.5,
1935
+ "cy": 239.5
1936
+ }
1937
+ },
1938
+ {
1939
+ "frame_index": 55,
1940
+ "c2w": [
1941
+ [
1942
+ -0.07413094490766525,
1943
+ 0.2412562221288681,
1944
+ -0.96762615442276,
1945
+ -2.68432354927063
1946
+ ],
1947
+ [
1948
+ 0.997248649597168,
1949
+ 0.017933987081050873,
1950
+ -0.07192880660295486,
1951
+ 3.076700448989868
1952
+ ],
1953
+ [
1954
+ -1.5078256865308504e-08,
1955
+ -0.9702959060668945,
1956
+ -0.24192172288894653,
1957
+ 0.6273472905158997
1958
+ ],
1959
+ [
1960
+ 0.0,
1961
+ 0.0,
1962
+ 0.0,
1963
+ 1.0
1964
+ ]
1965
+ ],
1966
+ "intrinsics": {
1967
+ "fx": 416.0,
1968
+ "fy": 416.0,
1969
+ "cx": 415.5,
1970
+ "cy": 239.5
1971
+ }
1972
+ },
1973
+ {
1974
+ "frame_index": 56,
1975
+ "c2w": [
1976
+ [
1977
+ -0.08757754415273666,
1978
+ 0.24099238216876984,
1979
+ -0.9665678143501282,
1980
+ -2.685805320739746
1981
+ ],
1982
+ [
1983
+ 0.9961579442024231,
1984
+ 0.02118709497153759,
1985
+ -0.08497590571641922,
1986
+ 3.094966173171997
1987
+ ],
1988
+ [
1989
+ 1.2575537056136454e-08,
1990
+ -0.9702959656715393,
1991
+ -0.24192169308662415,
1992
+ 0.6273472905158997
1993
+ ],
1994
+ [
1995
+ 0.0,
1996
+ 0.0,
1997
+ 0.0,
1998
+ 1.0
1999
+ ]
2000
+ ],
2001
+ "intrinsics": {
2002
+ "fx": 416.0,
2003
+ "fy": 416.0,
2004
+ "cx": 415.5,
2005
+ "cy": 239.5
2006
+ }
2007
+ },
2008
+ {
2009
+ "frame_index": 57,
2010
+ "c2w": [
2011
+ [
2012
+ -0.10100781917572021,
2013
+ 0.2406846433877945,
2014
+ -0.9653332829475403,
2015
+ -2.687533378601074
2016
+ ],
2017
+ [
2018
+ 0.9948856830596924,
2019
+ 0.02443585731089115,
2020
+ -0.09800746291875839,
2021
+ 3.113210439682007
2022
+ ],
2023
+ [
2024
+ -1.7698397414278588e-07,
2025
+ -0.970295786857605,
2026
+ -0.24192187190055847,
2027
+ 0.6273472905158997
2028
+ ],
2029
+ [
2030
+ 0.0,
2031
+ 0.0,
2032
+ 0.0,
2033
+ 1.0
2034
+ ]
2035
+ ],
2036
+ "intrinsics": {
2037
+ "fx": 416.0,
2038
+ "fy": 416.0,
2039
+ "cx": 415.5,
2040
+ "cy": 239.5
2041
+ }
2042
+ },
2043
+ {
2044
+ "frame_index": 58,
2045
+ "c2w": [
2046
+ [
2047
+ -0.11441994458436966,
2048
+ 0.24033312499523163,
2049
+ -0.9639232754707336,
2050
+ -2.689507484436035
2051
+ ],
2052
+ [
2053
+ 0.9934325218200684,
2054
+ 0.02768070064485073,
2055
+ -0.11102116107940674,
2056
+ 3.131429433822632
2057
+ ],
2058
+ [
2059
+ -1.8881383567759258e-08,
2060
+ -0.9702957272529602,
2061
+ -0.24192193150520325,
2062
+ 0.6273472905158997
2063
+ ],
2064
+ [
2065
+ 0.0,
2066
+ 0.0,
2067
+ 0.0,
2068
+ 1.0
2069
+ ]
2070
+ ],
2071
+ "intrinsics": {
2072
+ "fx": 416.0,
2073
+ "fy": 416.0,
2074
+ "cx": 415.5,
2075
+ "cy": 239.5
2076
+ }
2077
+ },
2078
+ {
2079
+ "frame_index": 59,
2080
+ "c2w": [
2081
+ [
2082
+ -0.12781134247779846,
2083
+ 0.23993784189224243,
2084
+ -0.9623379707336426,
2085
+ -2.6917269229888916
2086
+ ],
2087
+ [
2088
+ 0.9917986392974854,
2089
+ 0.03092053160071373,
2090
+ -0.12401468306779861,
2091
+ 3.149620532989502
2092
+ ],
2093
+ [
2094
+ 9.002424405935017e-08,
2095
+ -0.970295786857605,
2096
+ -0.24192187190055847,
2097
+ 0.6273472905158997
2098
+ ],
2099
+ [
2100
+ 0.0,
2101
+ 0.0,
2102
+ 0.0,
2103
+ 1.0
2104
+ ]
2105
+ ],
2106
+ "intrinsics": {
2107
+ "fx": 416.0,
2108
+ "fy": 416.0,
2109
+ "cx": 415.5,
2110
+ "cy": 239.5
2111
+ }
2112
+ },
2113
+ {
2114
+ "frame_index": 60,
2115
+ "c2w": [
2116
+ [
2117
+ -0.14117945730686188,
2118
+ 0.23949888348579407,
2119
+ -0.9605774283409119,
2120
+ -2.6941916942596436
2121
+ ],
2122
+ [
2123
+ 0.9899842143058777,
2124
+ 0.034154441207647324,
2125
+ -0.1369856745004654,
2126
+ 3.1677796840667725
2127
+ ],
2128
+ [
2129
+ -9.996537642109615e-08,
2130
+ -0.9702959060668945,
2131
+ -0.24192176759243011,
2132
+ 0.6273472905158997
2133
+ ],
2134
+ [
2135
+ 0.0,
2136
+ 0.0,
2137
+ 0.0,
2138
+ 1.0
2139
+ ]
2140
+ ],
2141
+ "intrinsics": {
2142
+ "fx": 416.0,
2143
+ "fy": 416.0,
2144
+ "cx": 415.5,
2145
+ "cy": 239.5
2146
+ }
2147
+ },
2148
+ {
2149
+ "frame_index": 61,
2150
+ "c2w": [
2151
+ [
2152
+ -0.15452176332473755,
2153
+ 0.2390163540840149,
2154
+ -0.9586420655250549,
2155
+ -2.696901321411133
2156
+ ],
2157
+ [
2158
+ 0.987989604473114,
2159
+ 0.03738223761320114,
2160
+ -0.1499316543340683,
2161
+ 3.1859042644500732
2162
+ ],
2163
+ [
2164
+ -1.0060265509537203e-07,
2165
+ -0.9702959060668945,
2166
+ -0.2419217973947525,
2167
+ 0.6273472905158997
2168
+ ],
2169
+ [
2170
+ 0.0,
2171
+ 0.0,
2172
+ 0.0,
2173
+ 1.0
2174
+ ]
2175
+ ],
2176
+ "intrinsics": {
2177
+ "fx": 416.0,
2178
+ "fy": 416.0,
2179
+ "cx": 415.5,
2180
+ "cy": 239.5
2181
+ }
2182
+ },
2183
+ {
2184
+ "frame_index": 62,
2185
+ "c2w": [
2186
+ [
2187
+ -0.1678357571363449,
2188
+ 0.23849022388458252,
2189
+ -0.9565320611000061,
2190
+ -2.699855089187622
2191
+ ],
2192
+ [
2193
+ 0.9858149886131287,
2194
+ 0.04060309752821922,
2195
+ -0.1628503054380417,
2196
+ 3.2039904594421387
2197
+ ],
2198
+ [
2199
+ -6.655419326762058e-08,
2200
+ -0.9702957272529602,
2201
+ -0.24192185699939728,
2202
+ 0.6273472905158997
2203
+ ],
2204
+ [
2205
+ 0.0,
2206
+ 0.0,
2207
+ 0.0,
2208
+ 1.0
2209
+ ]
2210
+ ],
2211
+ "intrinsics": {
2212
+ "fx": 416.0,
2213
+ "fy": 416.0,
2214
+ "cx": 415.5,
2215
+ "cy": 239.5
2216
+ }
2217
+ },
2218
+ {
2219
+ "frame_index": 63,
2220
+ "c2w": [
2221
+ [
2222
+ -0.18111957609653473,
2223
+ 0.23792079091072083,
2224
+ -0.9542482495307922,
2225
+ -2.703052520751953
2226
+ ],
2227
+ [
2228
+ 0.9834612607955933,
2229
+ 0.04381681978702545,
2230
+ -0.17573943734169006,
2231
+ 3.2220351696014404
2232
+ ],
2233
+ [
2234
+ -6.788292239434668e-08,
2235
+ -0.9702958464622498,
2236
+ -0.24192176759243011,
2237
+ 0.6273472905158997
2238
+ ],
2239
+ [
2240
+ 0.0,
2241
+ 0.0,
2242
+ 0.0,
2243
+ 1.0
2244
+ ]
2245
+ ],
2246
+ "intrinsics": {
2247
+ "fx": 416.0,
2248
+ "fy": 416.0,
2249
+ "cx": 415.5,
2250
+ "cy": 239.5
2251
+ }
2252
+ },
2253
+ {
2254
+ "frame_index": 64,
2255
+ "c2w": [
2256
+ [
2257
+ -0.19437028467655182,
2258
+ 0.23730801045894623,
2259
+ -0.9517906904220581,
2260
+ -2.706493377685547
2261
+ ],
2262
+ [
2263
+ 0.9809284210205078,
2264
+ 0.04702248051762581,
2265
+ -0.18859651684761047,
2266
+ 3.240035057067871
2267
+ ],
2268
+ [
2269
+ -6.180295031299465e-08,
2270
+ -0.9702959060668945,
2271
+ -0.24192170798778534,
2272
+ 0.6273472905158997
2273
+ ],
2274
+ [
2275
+ 0.0,
2276
+ 0.0,
2277
+ 0.0,
2278
+ 1.0
2279
+ ]
2280
+ ],
2281
+ "intrinsics": {
2282
+ "fx": 416.0,
2283
+ "fy": 416.0,
2284
+ "cx": 415.5,
2285
+ "cy": 239.5
2286
+ }
2287
+ },
2288
+ {
2289
+ "frame_index": 65,
2290
+ "c2w": [
2291
+ [
2292
+ -0.20758576691150665,
2293
+ 0.23665212094783783,
2294
+ -0.9491598606109619,
2295
+ -2.710176467895508
2296
+ ],
2297
+ [
2298
+ 0.9782171249389648,
2299
+ 0.050219640135765076,
2300
+ -0.2014193832874298,
2301
+ 3.2579870223999023
2302
+ ],
2303
+ [
2304
+ -6.671234586974606e-08,
2305
+ -0.9702959656715393,
2306
+ -0.24192169308662415,
2307
+ 0.6273472905158997
2308
+ ],
2309
+ [
2310
+ 0.0,
2311
+ 0.0,
2312
+ 0.0,
2313
+ 1.0
2314
+ ]
2315
+ ],
2316
+ "intrinsics": {
2317
+ "fx": 416.0,
2318
+ "fy": 416.0,
2319
+ "cx": 415.5,
2320
+ "cy": 239.5
2321
+ }
2322
+ },
2323
+ {
2324
+ "frame_index": 66,
2325
+ "c2w": [
2326
+ [
2327
+ -0.22076316177845,
2328
+ 0.23595325648784637,
2329
+ -0.9463562369346619,
2330
+ -2.714101552963257
2331
+ ],
2332
+ [
2333
+ 0.9753276705741882,
2334
+ 0.05340756103396416,
2335
+ -0.21420539915561676,
2336
+ 3.2758874893188477
2337
+ ],
2338
+ [
2339
+ -4.186853175269789e-08,
2340
+ -0.9702958464622498,
2341
+ -0.24192190170288086,
2342
+ 0.6273472905158997
2343
+ ],
2344
+ [
2345
+ 0.0,
2346
+ 0.0,
2347
+ 0.0,
2348
+ 1.0
2349
+ ]
2350
+ ],
2351
+ "intrinsics": {
2352
+ "fx": 416.0,
2353
+ "fy": 416.0,
2354
+ "cx": 415.5,
2355
+ "cy": 239.5
2356
+ }
2357
+ },
2358
+ {
2359
+ "frame_index": 67,
2360
+ "c2w": [
2361
+ [
2362
+ -0.23390017449855804,
2363
+ 0.23521113395690918,
2364
+ -0.9433801770210266,
2365
+ -2.7182676792144775
2366
+ ],
2367
+ [
2368
+ 0.9722604751586914,
2369
+ 0.056585490703582764,
2370
+ -0.2269524484872818,
2371
+ 3.293733596801758
2372
+ ],
2373
+ [
2374
+ -8.32212165846613e-09,
2375
+ -0.9702956080436707,
2376
+ -0.24192200601100922,
2377
+ 0.6273472905158997
2378
+ ],
2379
+ [
2380
+ 0.0,
2381
+ 0.0,
2382
+ 0.0,
2383
+ 1.0
2384
+ ]
2385
+ ],
2386
+ "intrinsics": {
2387
+ "fx": 416.0,
2388
+ "fy": 416.0,
2389
+ "cx": 415.5,
2390
+ "cy": 239.5
2391
+ }
2392
+ },
2393
+ {
2394
+ "frame_index": 68,
2395
+ "c2w": [
2396
+ [
2397
+ -0.2469952553510666,
2398
+ 0.23442642390727997,
2399
+ -0.9402328133583069,
2400
+ -2.7226741313934326
2401
+ ],
2402
+ [
2403
+ 0.9690167307853699,
2404
+ 0.059753671288490295,
2405
+ -0.239658385515213,
2406
+ 3.311521530151367
2407
+ ],
2408
+ [
2409
+ 6.989491652120705e-08,
2410
+ -0.9702957272529602,
2411
+ -0.24192194640636444,
2412
+ 0.6273472905158997
2413
+ ],
2414
+ [
2415
+ 0.0,
2416
+ 0.0,
2417
+ 0.0,
2418
+ 1.0
2419
+ ]
2420
+ ],
2421
+ "intrinsics": {
2422
+ "fx": 416.0,
2423
+ "fy": 416.0,
2424
+ "cx": 415.5,
2425
+ "cy": 239.5
2426
+ }
2427
+ },
2428
+ {
2429
+ "frame_index": 69,
2430
+ "c2w": [
2431
+ [
2432
+ -0.2600450813770294,
2433
+ 0.233598992228508,
2434
+ -0.9369142651557922,
2435
+ -2.7273201942443848
2436
+ ],
2437
+ [
2438
+ 0.965596616268158,
2439
+ 0.06291071325540543,
2440
+ -0.2523205280303955,
2441
+ 3.3292486667633057
2442
+ ],
2443
+ [
2444
+ 1.5583246693040564e-08,
2445
+ -0.9702958464622498,
2446
+ -0.2419218271970749,
2447
+ 0.6273472905158997
2448
+ ],
2449
+ [
2450
+ 0.0,
2451
+ 0.0,
2452
+ 0.0,
2453
+ 1.0
2454
+ ]
2455
+ ],
2456
+ "intrinsics": {
2457
+ "fx": 416.0,
2458
+ "fy": 416.0,
2459
+ "cx": 415.5,
2460
+ "cy": 239.5
2461
+ }
2462
+ },
2463
+ {
2464
+ "frame_index": 70,
2465
+ "c2w": [
2466
+ [
2467
+ -0.27304762601852417,
2468
+ 0.2327290177345276,
2469
+ -0.9334251880645752,
2470
+ -2.7322049140930176
2471
+ ],
2472
+ [
2473
+ 0.9620006680488586,
2474
+ 0.06605635583400726,
2475
+ -0.26493680477142334,
2476
+ 3.346911668777466
2477
+ ],
2478
+ [
2479
+ 6.36268850939814e-08,
2480
+ -0.9702958464622498,
2481
+ -0.2419217824935913,
2482
+ 0.6273472905158997
2483
+ ],
2484
+ [
2485
+ 0.0,
2486
+ 0.0,
2487
+ 0.0,
2488
+ 1.0
2489
+ ]
2490
+ ],
2491
+ "intrinsics": {
2492
+ "fx": 416.0,
2493
+ "fy": 416.0,
2494
+ "cx": 415.5,
2495
+ "cy": 239.5
2496
+ }
2497
+ },
2498
+ {
2499
+ "frame_index": 71,
2500
+ "c2w": [
2501
+ [
2502
+ -0.2860002815723419,
2503
+ 0.23181675374507904,
2504
+ -0.9297659993171692,
2505
+ -2.7373275756835938
2506
+ ],
2507
+ [
2508
+ 0.9582294821739197,
2509
+ 0.0691896304488182,
2510
+ -0.27750489115715027,
2511
+ 3.364506959915161
2512
+ ],
2513
+ [
2514
+ -1.0477280198983863e-07,
2515
+ -0.9702957272529602,
2516
+ -0.24192194640636444,
2517
+ 0.6273472905158997
2518
+ ],
2519
+ [
2520
+ 0.0,
2521
+ 0.0,
2522
+ 0.0,
2523
+ 1.0
2524
+ ]
2525
+ ],
2526
+ "intrinsics": {
2527
+ "fx": 416.0,
2528
+ "fy": 416.0,
2529
+ "cx": 415.5,
2530
+ "cy": 239.5
2531
+ }
2532
+ },
2533
+ {
2534
+ "frame_index": 72,
2535
+ "c2w": [
2536
+ [
2537
+ -0.29890134930610657,
2538
+ 0.23086227476596832,
2539
+ -0.9259378910064697,
2540
+ -2.742687225341797
2541
+ ],
2542
+ [
2543
+ 0.9542841911315918,
2544
+ 0.07231086492538452,
2545
+ -0.2900225818157196,
2546
+ 3.3820314407348633
2547
+ ],
2548
+ [
2549
+ -3.942705717463468e-08,
2550
+ -0.9702958464622498,
2551
+ -0.2419217973947525,
2552
+ 0.6273472905158997
2553
+ ],
2554
+ [
2555
+ 0.0,
2556
+ 0.0,
2557
+ 0.0,
2558
+ 1.0
2559
+ ]
2560
+ ],
2561
+ "intrinsics": {
2562
+ "fx": 416.0,
2563
+ "fy": 416.0,
2564
+ "cx": 415.5,
2565
+ "cy": 239.5
2566
+ }
2567
+ },
2568
+ {
2569
+ "frame_index": 73,
2570
+ "c2w": [
2571
+ [
2572
+ -0.3117476999759674,
2573
+ 0.2298658788204193,
2574
+ -0.9219411015510559,
2575
+ -2.7482826709747314
2576
+ ],
2577
+ [
2578
+ 0.9501650929450989,
2579
+ 0.07541865110397339,
2580
+ -0.3024873435497284,
2581
+ 3.399482250213623
2582
+ ],
2583
+ [
2584
+ -9.08898130091984e-08,
2585
+ -0.9702958464622498,
2586
+ -0.24192190170288086,
2587
+ 0.6273472905158997
2588
+ ],
2589
+ [
2590
+ 0.0,
2591
+ 0.0,
2592
+ 0.0,
2593
+ 1.0
2594
+ ]
2595
+ ],
2596
+ "intrinsics": {
2597
+ "fx": 416.0,
2598
+ "fy": 416.0,
2599
+ "cx": 415.5,
2600
+ "cy": 239.5
2601
+ }
2602
+ },
2603
+ {
2604
+ "frame_index": 74,
2605
+ "c2w": [
2606
+ [
2607
+ -0.32453733682632446,
2608
+ 0.22882749140262604,
2609
+ -0.9177765846252441,
2610
+ -2.754112958908081
2611
+ ],
2612
+ [
2613
+ 0.9458730816841125,
2614
+ 0.07851283252239227,
2615
+ -0.3148970603942871,
2616
+ 3.416855812072754
2617
+ ],
2618
+ [
2619
+ 1.5716700829671026e-08,
2620
+ -0.9702958464622498,
2621
+ -0.24192188680171967,
2622
+ 0.6273472905158997
2623
+ ],
2624
+ [
2625
+ 0.0,
2626
+ 0.0,
2627
+ 0.0,
2628
+ 1.0
2629
+ ]
2630
+ ],
2631
+ "intrinsics": {
2632
+ "fx": 416.0,
2633
+ "fy": 416.0,
2634
+ "cx": 415.5,
2635
+ "cy": 239.5
2636
+ }
2637
+ },
2638
+ {
2639
+ "frame_index": 75,
2640
+ "c2w": [
2641
+ [
2642
+ -0.33726784586906433,
2643
+ 0.22774738073349,
2644
+ -0.9134450554847717,
2645
+ -2.7601771354675293
2646
+ ],
2647
+ [
2648
+ 0.9414088726043701,
2649
+ 0.08159247040748596,
2650
+ -0.3272494673728943,
2651
+ 3.4341492652893066
2652
+ ],
2653
+ [
2654
+ -8.25472596943655e-08,
2655
+ -0.9702958464622498,
2656
+ -0.24192173779010773,
2657
+ 0.6273472905158997
2658
+ ],
2659
+ [
2660
+ 0.0,
2661
+ 0.0,
2662
+ 0.0,
2663
+ 1.0
2664
+ ]
2665
+ ],
2666
+ "intrinsics": {
2667
+ "fx": 416.0,
2668
+ "fy": 416.0,
2669
+ "cx": 415.5,
2670
+ "cy": 239.5
2671
+ }
2672
+ },
2673
+ {
2674
+ "frame_index": 76,
2675
+ "c2w": [
2676
+ [
2677
+ -0.34993693232536316,
2678
+ 0.2266259640455246,
2679
+ -0.9089471697807312,
2680
+ -2.7664740085601807
2681
+ ],
2682
+ [
2683
+ 0.9367733001708984,
2684
+ 0.08465734869241714,
2685
+ -0.33954229950904846,
2686
+ 3.451359272003174
2687
+ ],
2688
+ [
2689
+ -7.255611933487671e-08,
2690
+ -0.970295786857605,
2691
+ -0.2419218271970749,
2692
+ 0.6273472905158997
2693
+ ],
2694
+ [
2695
+ 0.0,
2696
+ 0.0,
2697
+ 0.0,
2698
+ 1.0
2699
+ ]
2700
+ ],
2701
+ "intrinsics": {
2702
+ "fx": 416.0,
2703
+ "fy": 416.0,
2704
+ "cx": 415.5,
2705
+ "cy": 239.5
2706
+ }
2707
+ },
2708
+ {
2709
+ "frame_index": 77,
2710
+ "c2w": [
2711
+ [
2712
+ -0.36254262924194336,
2713
+ 0.22546331584453583,
2714
+ -0.9042840003967285,
2715
+ -2.7730026245117188
2716
+ ],
2717
+ [
2718
+ 0.9319673776626587,
2719
+ 0.0877070426940918,
2720
+ -0.3517734408378601,
2721
+ 3.468482732772827
2722
+ ],
2723
+ [
2724
+ -6.51809486384991e-08,
2725
+ -0.9702959060668945,
2726
+ -0.24192175269126892,
2727
+ 0.6273472905158997
2728
+ ],
2729
+ [
2730
+ 0.0,
2731
+ 0.0,
2732
+ 0.0,
2733
+ 1.0
2734
+ ]
2735
+ ],
2736
+ "intrinsics": {
2737
+ "fx": 416.0,
2738
+ "fy": 416.0,
2739
+ "cx": 415.5,
2740
+ "cy": 239.5
2741
+ }
2742
+ },
2743
+ {
2744
+ "frame_index": 78,
2745
+ "c2w": [
2746
+ [
2747
+ -0.3750821352005005,
2748
+ 0.22425971925258636,
2749
+ -0.8994562029838562,
2750
+ -2.779761552810669
2751
+ ],
2752
+ [
2753
+ 0.926991879940033,
2754
+ 0.09074068069458008,
2755
+ -0.36394041776657104,
2756
+ 3.4855165481567383
2757
+ ],
2758
+ [
2759
+ -7.132626933525898e-08,
2760
+ -0.9702959060668945,
2761
+ -0.2419218271970749,
2762
+ 0.6273472905158997
2763
+ ],
2764
+ [
2765
+ 0.0,
2766
+ 0.0,
2767
+ 0.0,
2768
+ 1.0
2769
+ ]
2770
+ ],
2771
+ "intrinsics": {
2772
+ "fx": 416.0,
2773
+ "fy": 416.0,
2774
+ "cx": 415.5,
2775
+ "cy": 239.5
2776
+ }
2777
+ },
2778
+ {
2779
+ "frame_index": 79,
2780
+ "c2w": [
2781
+ [
2782
+ -0.38755372166633606,
2783
+ 0.2230151742696762,
2784
+ -0.8944646716117859,
2785
+ -2.7867496013641357
2786
+ ],
2787
+ [
2788
+ 0.9218475222587585,
2789
+ 0.09375786781311035,
2790
+ -0.3760414719581604,
2791
+ 3.502457618713379
2792
+ ],
2793
+ [
2794
+ -9.002091161391945e-08,
2795
+ -0.9702959656715393,
2796
+ -0.24192175269126892,
2797
+ 0.6273472905158997
2798
+ ],
2799
+ [
2800
+ 0.0,
2801
+ 0.0,
2802
+ 0.0,
2803
+ 1.0
2804
+ ]
2805
+ ],
2806
+ "intrinsics": {
2807
+ "fx": 416.0,
2808
+ "fy": 416.0,
2809
+ "cx": 415.5,
2810
+ "cy": 239.5
2811
+ }
2812
+ },
2813
+ {
2814
+ "frame_index": 80,
2815
+ "c2w": [
2816
+ [
2817
+ -0.3999541401863098,
2818
+ 0.221730038523674,
2819
+ -0.889310359954834,
2820
+ -2.7939655780792236
2821
+ ],
2822
+ [
2823
+ 0.9165353775024414,
2824
+ 0.09675780683755875,
2825
+ -0.3880736529827118,
2826
+ 3.5193030834198
2827
+ ],
2828
+ [
2829
+ 1.3317919211885965e-08,
2830
+ -0.9702958464622498,
2831
+ -0.24192185699939728,
2832
+ 0.6273472905158997
2833
+ ],
2834
+ [
2835
+ 0.0,
2836
+ 0.0,
2837
+ 0.0,
2838
+ 1.0
2839
+ ]
2840
+ ],
2841
+ "intrinsics": {
2842
+ "fx": 416.0,
2843
+ "fy": 416.0,
2844
+ "cx": 415.5,
2845
+ "cy": 239.5
2846
+ }
2847
+ }
2848
+ ]
2849
+ }
blenderobj_eval/target/scene_000009__traj000__slowmo/transforms.json ADDED
@@ -0,0 +1,2849 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "format_version": "1.0",
3
+ "camera_model": "opencv_pinhole",
4
+ "pose_type": "c2w",
5
+ "coordinate_system": "opencv",
6
+ "world_frame": "blender_right_handed_z_up_meters",
7
+ "image_hw": [
8
+ 480,
9
+ 832
10
+ ],
11
+ "num_frames": 81,
12
+ "frames": [
13
+ {
14
+ "frame_index": 0,
15
+ "c2w": [
16
+ [
17
+ -0.9896225333213806,
18
+ 0.03476225584745407,
19
+ -0.13942381739616394,
20
+ -0.554806649684906
21
+ ],
22
+ [
23
+ 0.14369209110736847,
24
+ 0.2394116073846817,
25
+ -0.9602264165878296,
26
+ 3.744317054748535
27
+ ],
28
+ [
29
+ 3.4516038027732066e-08,
30
+ -0.9702957272529602,
31
+ -0.2419220507144928,
32
+ 0.6186897158622742
33
+ ],
34
+ [
35
+ 0.0,
36
+ 0.0,
37
+ 0.0,
38
+ 1.0
39
+ ]
40
+ ],
41
+ "intrinsics": {
42
+ "fx": 416.0,
43
+ "fy": 416.0,
44
+ "cx": 415.5,
45
+ "cy": 239.5
46
+ }
47
+ },
48
+ {
49
+ "frame_index": 1,
50
+ "c2w": [
51
+ [
52
+ -0.9914711117744446,
53
+ 0.03152937442064285,
54
+ -0.12645740807056427,
55
+ -0.5729596614837646
56
+ ],
57
+ [
58
+ 0.1303287297487259,
59
+ 0.23985882103443146,
60
+ -0.9620199799537659,
61
+ 3.7468278408050537
62
+ ],
63
+ [
64
+ 2.0199198758064085e-08,
65
+ -0.970295786857605,
66
+ -0.24192196130752563,
67
+ 0.6186897158622742
68
+ ],
69
+ [
70
+ 0.0,
71
+ 0.0,
72
+ 0.0,
73
+ 1.0
74
+ ]
75
+ ],
76
+ "intrinsics": {
77
+ "fx": 416.0,
78
+ "fy": 416.0,
79
+ "cx": 415.5,
80
+ "cy": 239.5
81
+ }
82
+ },
83
+ {
84
+ "frame_index": 2,
85
+ "c2w": [
86
+ [
87
+ -0.9931387305259705,
88
+ 0.0282907634973526,
89
+ -0.11346794664859772,
90
+ -0.591144859790802
91
+ ],
92
+ [
93
+ 0.11694161593914032,
94
+ 0.24026206135749817,
95
+ -0.9636382460594177,
96
+ 3.749093770980835
97
+ ],
98
+ [
99
+ -1.510068869947645e-08,
100
+ -0.9702956676483154,
101
+ -0.2419220209121704,
102
+ 0.6186897158622742
103
+ ],
104
+ [
105
+ 0.0,
106
+ 0.0,
107
+ 0.0,
108
+ 1.0
109
+ ]
110
+ ],
111
+ "intrinsics": {
112
+ "fx": 416.0,
113
+ "fy": 416.0,
114
+ "cx": 415.5,
115
+ "cy": 239.5
116
+ }
117
+ },
118
+ {
119
+ "frame_index": 3,
120
+ "c2w": [
121
+ [
122
+ -0.9946261644363403,
123
+ 0.025046994909644127,
124
+ -0.10045783966779709,
125
+ -0.6093590259552002
126
+ ],
127
+ [
128
+ 0.10353323072195053,
129
+ 0.24062184989452362,
130
+ -0.9650814533233643,
131
+ 3.7511138916015625
132
+ ],
133
+ [
134
+ -4.722690150060771e-08,
135
+ -0.9702958464622498,
136
+ -0.24192176759243011,
137
+ 0.6186897158622742
138
+ ],
139
+ [
140
+ 0.0,
141
+ 0.0,
142
+ 0.0,
143
+ 1.0
144
+ ]
145
+ ],
146
+ "intrinsics": {
147
+ "fx": 416.0,
148
+ "fy": 416.0,
149
+ "cx": 415.5,
150
+ "cy": 239.5
151
+ }
152
+ },
153
+ {
154
+ "frame_index": 4,
155
+ "c2w": [
156
+ [
157
+ -0.9959323406219482,
158
+ 0.021798700094223022,
159
+ -0.087429478764534,
160
+ -0.627598762512207
161
+ ],
162
+ [
163
+ 0.09010603278875351,
164
+ 0.24093779921531677,
165
+ -0.9663488268852234,
166
+ 3.7528882026672363
167
+ ],
168
+ [
169
+ -8.762094694247935e-08,
170
+ -0.9702958464622498,
171
+ -0.24192175269126892,
172
+ 0.6186897158622742
173
+ ],
174
+ [
175
+ 0.0,
176
+ 0.0,
177
+ 0.0,
178
+ 1.0
179
+ ]
180
+ ],
181
+ "intrinsics": {
182
+ "fx": 416.0,
183
+ "fy": 416.0,
184
+ "cx": 415.5,
185
+ "cy": 239.5
186
+ }
187
+ },
188
+ {
189
+ "frame_index": 5,
190
+ "c2w": [
191
+ [
192
+ -0.9970571994781494,
193
+ 0.01854642666876316,
194
+ -0.07438519597053528,
195
+ -0.6458607316017151
196
+ ],
197
+ [
198
+ 0.07666242122650146,
199
+ 0.24121007323265076,
200
+ -0.9674402475357056,
201
+ 3.7544164657592773
202
+ ],
203
+ [
204
+ -1.0543718076405639e-07,
205
+ -0.9702957272529602,
206
+ -0.24192196130752563,
207
+ 0.6186897158622742
208
+ ],
209
+ [
210
+ 0.0,
211
+ 0.0,
212
+ 0.0,
213
+ 1.0
214
+ ]
215
+ ],
216
+ "intrinsics": {
217
+ "fx": 416.0,
218
+ "fy": 416.0,
219
+ "cx": 415.5,
220
+ "cy": 239.5
221
+ }
222
+ },
223
+ {
224
+ "frame_index": 6,
225
+ "c2w": [
226
+ [
227
+ -0.998000979423523,
228
+ 0.015290540643036366,
229
+ -0.061327360570430756,
230
+ -0.6641417145729065
231
+ ],
232
+ [
233
+ 0.0632047951221466,
234
+ 0.24143846333026886,
235
+ -0.9683558940887451,
236
+ 3.7556979656219482
237
+ ],
238
+ [
239
+ 8.738353329817983e-08,
240
+ -0.9702959060668945,
241
+ -0.2419217824935913,
242
+ 0.6186897158622742
243
+ ],
244
+ [
245
+ 0.0,
246
+ 0.0,
247
+ 0.0,
248
+ 1.0
249
+ ]
250
+ ],
251
+ "intrinsics": {
252
+ "fx": 416.0,
253
+ "fy": 416.0,
254
+ "cx": 415.5,
255
+ "cy": 239.5
256
+ }
257
+ },
258
+ {
259
+ "frame_index": 7,
260
+ "c2w": [
261
+ [
262
+ -0.998762309551239,
263
+ 0.012032106518745422,
264
+ -0.048258375376462936,
265
+ -0.6824382543563843
266
+ ],
267
+ [
268
+ 0.04973572492599487,
269
+ 0.24162258207798004,
270
+ -0.9690948128700256,
271
+ 3.756732940673828
272
+ ],
273
+ [
274
+ 6.358184378996157e-08,
275
+ -0.9702956676483154,
276
+ -0.24192208051681519,
277
+ 0.6186897158622742
278
+ ],
279
+ [
280
+ 0.0,
281
+ 0.0,
282
+ 0.0,
283
+ 1.0
284
+ ]
285
+ ],
286
+ "intrinsics": {
287
+ "fx": 416.0,
288
+ "fy": 416.0,
289
+ "cx": 415.5,
290
+ "cy": 239.5
291
+ }
292
+ },
293
+ {
294
+ "frame_index": 8,
295
+ "c2w": [
296
+ [
297
+ -0.9993427395820618,
298
+ 0.008771485649049282,
299
+ -0.03518060967326164,
300
+ -0.7007471323013306
301
+ ],
302
+ [
303
+ 0.036257609724998474,
304
+ 0.2417631596326828,
305
+ -0.969657838344574,
306
+ 3.757520914077759
307
+ ],
308
+ [
309
+ 3.1285832591265716e-08,
310
+ -0.970295786857605,
311
+ -0.24192197620868683,
312
+ 0.6186897158622742
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ],
321
+ "intrinsics": {
322
+ "fx": 416.0,
323
+ "fy": 416.0,
324
+ "cx": 415.5,
325
+ "cy": 239.5
326
+ }
327
+ },
328
+ {
329
+ "frame_index": 9,
330
+ "c2w": [
331
+ [
332
+ -0.9997409582138062,
333
+ 0.005509251728653908,
334
+ -0.022096430882811546,
335
+ -0.7190650105476379
336
+ ],
337
+ [
338
+ 0.022772880271077156,
339
+ 0.24185925722122192,
340
+ -0.9700442552566528,
341
+ 3.758061647415161
342
+ ],
343
+ [
344
+ 5.1870712169943545e-09,
345
+ -0.9702958464622498,
346
+ -0.24192172288894653,
347
+ 0.6186897158622742
348
+ ],
349
+ [
350
+ 0.0,
351
+ 0.0,
352
+ 0.0,
353
+ 1.0
354
+ ]
355
+ ],
356
+ "intrinsics": {
357
+ "fx": 416.0,
358
+ "fy": 416.0,
359
+ "cx": 415.5,
360
+ "cy": 239.5
361
+ }
362
+ },
363
+ {
364
+ "frame_index": 10,
365
+ "c2w": [
366
+ [
367
+ -0.9999570250511169,
368
+ 0.0022460315376520157,
369
+ -0.009008238092064857,
370
+ -0.7373884916305542
371
+ ],
372
+ [
373
+ 0.009284019470214844,
374
+ 0.2419116199016571,
375
+ -0.9702539443969727,
376
+ 3.7583553791046143
377
+ ],
378
+ [
379
+ -2.3906704171849924e-08,
380
+ -0.970295786857605,
381
+ -0.24192193150520325,
382
+ 0.6186897158622742
383
+ ],
384
+ [
385
+ 0.0,
386
+ 0.0,
387
+ 0.0,
388
+ 1.0
389
+ ]
390
+ ],
391
+ "intrinsics": {
392
+ "fx": 416.0,
393
+ "fy": 416.0,
394
+ "cx": 415.5,
395
+ "cy": 239.5
396
+ }
397
+ },
398
+ {
399
+ "frame_index": 11,
400
+ "c2w": [
401
+ [
402
+ -0.9999911785125732,
403
+ -0.0010176646756008267,
404
+ 0.004081597551703453,
405
+ -0.7557142376899719
406
+ ],
407
+ [
408
+ -0.00420655170455575,
409
+ 0.2419198751449585,
410
+ -0.9702871441841125,
411
+ 3.758402109146118
412
+ ],
413
+ [
414
+ 7.441345317715786e-09,
415
+ -0.9702957272529602,
416
+ -0.24192200601100922,
417
+ 0.6186897158622742
418
+ ],
419
+ [
420
+ 0.0,
421
+ 0.0,
422
+ 0.0,
423
+ 1.0
424
+ ]
425
+ ],
426
+ "intrinsics": {
427
+ "fx": 416.0,
428
+ "fy": 416.0,
429
+ "cx": 415.5,
430
+ "cy": 239.5
431
+ }
432
+ },
433
+ {
434
+ "frame_index": 12,
435
+ "c2w": [
436
+ [
437
+ -0.9998435378074646,
438
+ -0.004281111992895603,
439
+ 0.01717068813741207,
440
+ -0.7740389704704285
441
+ ],
442
+ [
443
+ -0.017696339637041092,
444
+ 0.24188418686389923,
445
+ -0.9701438546180725,
446
+ 3.7582013607025146
447
+ ],
448
+ [
449
+ -2.225969630842428e-08,
450
+ -0.970295786857605,
451
+ -0.24192191660404205,
452
+ 0.6186897158622742
453
+ ],
454
+ [
455
+ 0.0,
456
+ 0.0,
457
+ 0.0,
458
+ 1.0
459
+ ]
460
+ ],
461
+ "intrinsics": {
462
+ "fx": 416.0,
463
+ "fy": 416.0,
464
+ "cx": 415.5,
465
+ "cy": 239.5
466
+ }
467
+ },
468
+ {
469
+ "frame_index": 13,
470
+ "c2w": [
471
+ [
472
+ -0.999514102935791,
473
+ -0.0075437817722558975,
474
+ 0.03025665692985058,
475
+ -0.7923592925071716
476
+ ],
477
+ [
478
+ -0.031182911247015,
479
+ 0.2418045848608017,
480
+ -0.9698240160942078,
481
+ 3.757753372192383
482
+ ],
483
+ [
484
+ -5.1900592268339096e-08,
485
+ -0.9702959060668945,
486
+ -0.24192185699939728,
487
+ 0.6186897158622742
488
+ ],
489
+ [
490
+ 0.0,
491
+ 0.0,
492
+ 0.0,
493
+ 1.0
494
+ ]
495
+ ],
496
+ "intrinsics": {
497
+ "fx": 416.0,
498
+ "fy": 416.0,
499
+ "cx": 415.5,
500
+ "cy": 239.5
501
+ }
502
+ },
503
+ {
504
+ "frame_index": 14,
505
+ "c2w": [
506
+ [
507
+ -0.99900221824646,
508
+ -0.01080507691949606,
509
+ 0.04333711788058281,
510
+ -0.8106719851493835
511
+ ],
512
+ [
513
+ -0.04466380551457405,
514
+ 0.24168068170547485,
515
+ -0.9693275094032288,
516
+ 3.7570583820343018
517
+ ],
518
+ [
519
+ -8.265121920203455e-08,
520
+ -0.970295786857605,
521
+ -0.24192194640636444,
522
+ 0.6186897158622742
523
+ ],
524
+ [
525
+ 0.0,
526
+ 0.0,
527
+ 0.0,
528
+ 1.0
529
+ ]
530
+ ],
531
+ "intrinsics": {
532
+ "fx": 416.0,
533
+ "fy": 416.0,
534
+ "cx": 415.5,
535
+ "cy": 239.5
536
+ }
537
+ },
538
+ {
539
+ "frame_index": 15,
540
+ "c2w": [
541
+ [
542
+ -0.9983089566230774,
543
+ -0.01406441442668438,
544
+ 0.05640969052910805,
545
+ -0.8289735317230225
546
+ ],
547
+ [
548
+ -0.05813657119870186,
549
+ 0.24151305854320526,
550
+ -0.9686547517776489,
551
+ 3.7561163902282715
552
+ ],
553
+ [
554
+ -1.0579597642390581e-07,
555
+ -0.9702958464622498,
556
+ -0.24192190170288086,
557
+ 0.6186897158622742
558
+ ],
559
+ [
560
+ 0.0,
561
+ 0.0,
562
+ 0.0,
563
+ 1.0
564
+ ]
565
+ ],
566
+ "intrinsics": {
567
+ "fx": 416.0,
568
+ "fy": 416.0,
569
+ "cx": 415.5,
570
+ "cy": 239.5
571
+ }
572
+ },
573
+ {
574
+ "frame_index": 16,
575
+ "c2w": [
576
+ [
577
+ -0.9974337816238403,
578
+ -0.01732141152024269,
579
+ 0.06947198510169983,
580
+ -0.8472607731819153
581
+ ],
582
+ [
583
+ -0.07159879803657532,
584
+ 0.24130114912986755,
585
+ -0.9678056240081787,
586
+ 3.754927635192871
587
+ ],
588
+ [
589
+ 9.907505926776139e-08,
590
+ -0.9702958464622498,
591
+ -0.24192176759243011,
592
+ 0.6186897158622742
593
+ ],
594
+ [
595
+ 0.0,
596
+ 0.0,
597
+ 0.0,
598
+ 1.0
599
+ ]
600
+ ],
601
+ "intrinsics": {
602
+ "fx": 416.0,
603
+ "fy": 416.0,
604
+ "cx": 415.5,
605
+ "cy": 239.5
606
+ }
607
+ },
608
+ {
609
+ "frame_index": 17,
610
+ "c2w": [
611
+ [
612
+ -0.9963771104812622,
613
+ -0.020575016736984253,
614
+ 0.08252165466547012,
615
+ -0.8655303120613098
616
+ ],
617
+ [
618
+ -0.08504796028137207,
619
+ 0.2410455346107483,
620
+ -0.9667803049087524,
621
+ 3.7534923553466797
622
+ ],
623
+ [
624
+ 5.501641808791646e-08,
625
+ -0.9702958464622498,
626
+ -0.2419218122959137,
627
+ 0.6186897158622742
628
+ ],
629
+ [
630
+ 0.0,
631
+ 0.0,
632
+ 0.0,
633
+ 1.0
634
+ ]
635
+ ],
636
+ "intrinsics": {
637
+ "fx": 416.0,
638
+ "fy": 416.0,
639
+ "cx": 415.5,
640
+ "cy": 239.5
641
+ }
642
+ },
643
+ {
644
+ "frame_index": 18,
645
+ "c2w": [
646
+ [
647
+ -0.9951390027999878,
648
+ -0.023824896663427353,
649
+ 0.09555628895759583,
650
+ -0.8837788105010986
651
+ ],
652
+ [
653
+ -0.09848162531852722,
654
+ 0.24074605107307434,
655
+ -0.9655790328979492,
656
+ 3.7518105506896973
657
+ ],
658
+ [
659
+ 2.864837078675464e-08,
660
+ -0.970295786857605,
661
+ -0.24192191660404205,
662
+ 0.6186897158622742
663
+ ],
664
+ [
665
+ 0.0,
666
+ 0.0,
667
+ 0.0,
668
+ 1.0
669
+ ]
670
+ ],
671
+ "intrinsics": {
672
+ "fx": 416.0,
673
+ "fy": 416.0,
674
+ "cx": 415.5,
675
+ "cy": 239.5
676
+ }
677
+ },
678
+ {
679
+ "frame_index": 19,
680
+ "c2w": [
681
+ [
682
+ -0.9937199950218201,
683
+ -0.02707044593989849,
684
+ 0.1085735484957695,
685
+ -0.9020029902458191
686
+ ],
687
+ [
688
+ -0.11189737915992737,
689
+ 0.2404027283191681,
690
+ -0.9642021656036377,
691
+ 3.749882936477661
692
+ ],
693
+ [
694
+ 1.7896974568998303e-08,
695
+ -0.9702958464622498,
696
+ -0.2419218271970749,
697
+ 0.6186897158622742
698
+ ],
699
+ [
700
+ 0.0,
701
+ 0.0,
702
+ 0.0,
703
+ 1.0
704
+ ]
705
+ ],
706
+ "intrinsics": {
707
+ "fx": 416.0,
708
+ "fy": 416.0,
709
+ "cx": 415.5,
710
+ "cy": 239.5
711
+ }
712
+ },
713
+ {
714
+ "frame_index": 20,
715
+ "c2w": [
716
+ [
717
+ -0.992120087146759,
718
+ -0.030311038717627525,
719
+ 0.12157106399536133,
720
+ -0.920199453830719
721
+ ],
722
+ [
723
+ -0.1252927929162979,
724
+ 0.24001556634902954,
725
+ -0.9626497626304626,
726
+ 3.7477095127105713
727
+ ],
728
+ [
729
+ -1.738013999386112e-08,
730
+ -0.9702958464622498,
731
+ -0.24192170798778534,
732
+ 0.6186897158622742
733
+ ],
734
+ [
735
+ 0.0,
736
+ 0.0,
737
+ 0.0,
738
+ 1.0
739
+ ]
740
+ ],
741
+ "intrinsics": {
742
+ "fx": 416.0,
743
+ "fy": 416.0,
744
+ "cx": 415.5,
745
+ "cy": 239.5
746
+ }
747
+ },
748
+ {
749
+ "frame_index": 21,
750
+ "c2w": [
751
+ [
752
+ -0.9903393387794495,
753
+ -0.033546123653650284,
754
+ 0.1345463991165161,
755
+ -0.9383649826049805
756
+ ],
757
+ [
758
+ -0.1386653333902359,
759
+ 0.2395847886800766,
760
+ -0.9609220027923584,
761
+ 3.745290756225586
762
+ ],
763
+ [
764
+ -5.985793194440703e-08,
765
+ -0.970295786857605,
766
+ -0.24192185699939728,
767
+ 0.6186897158622742
768
+ ],
769
+ [
770
+ 0.0,
771
+ 0.0,
772
+ 0.0,
773
+ 1.0
774
+ ]
775
+ ],
776
+ "intrinsics": {
777
+ "fx": 416.0,
778
+ "fy": 416.0,
779
+ "cx": 415.5,
780
+ "cy": 239.5
781
+ }
782
+ },
783
+ {
784
+ "frame_index": 22,
785
+ "c2w": [
786
+ [
787
+ -0.9883785247802734,
788
+ -0.0367751345038414,
789
+ 0.147497296333313,
790
+ -0.9564961791038513
791
+ ],
792
+ [
793
+ -0.15201270580291748,
794
+ 0.23911042511463165,
795
+ -0.9590194821357727,
796
+ 3.7426271438598633
797
+ ],
798
+ [
799
+ -6.99758686550922e-08,
800
+ -0.9702957272529602,
801
+ -0.24192190170288086,
802
+ 0.6186897158622742
803
+ ],
804
+ [
805
+ 0.0,
806
+ 0.0,
807
+ 0.0,
808
+ 1.0
809
+ ]
810
+ ],
811
+ "intrinsics": {
812
+ "fx": 416.0,
813
+ "fy": 416.0,
814
+ "cx": 415.5,
815
+ "cy": 239.5
816
+ }
817
+ },
818
+ {
819
+ "frame_index": 23,
820
+ "c2w": [
821
+ [
822
+ -0.986238420009613,
823
+ -0.03999743238091469,
824
+ 0.16042132675647736,
825
+ -0.9745898842811584
826
+ ],
827
+ [
828
+ -0.1653323769569397,
829
+ 0.23859287798404694,
830
+ -0.9569426774978638,
831
+ 3.7397193908691406
832
+ ],
833
+ [
834
+ -9.715317617065011e-08,
835
+ -0.9702959656715393,
836
+ -0.24192170798778534,
837
+ 0.6186897158622742
838
+ ],
839
+ [
840
+ 0.0,
841
+ 0.0,
842
+ 0.0,
843
+ 1.0
844
+ ]
845
+ ],
846
+ "intrinsics": {
847
+ "fx": 416.0,
848
+ "fy": 416.0,
849
+ "cx": 415.5,
850
+ "cy": 239.5
851
+ }
852
+ },
853
+ {
854
+ "frame_index": 24,
855
+ "c2w": [
856
+ [
857
+ -0.9839180707931519,
858
+ -0.043212711811065674,
859
+ 0.17331618070602417,
860
+ -0.9926426410675049
861
+ ],
862
+ [
863
+ -0.1786220520734787,
864
+ 0.23803141713142395,
865
+ -0.9546913504600525,
866
+ 3.736567735671997
867
+ ],
868
+ [
869
+ 1.3309252722137899e-07,
870
+ -0.9702959060668945,
871
+ -0.24192176759243011,
872
+ 0.6186897158622742
873
+ ],
874
+ [
875
+ 0.0,
876
+ 0.0,
877
+ 0.0,
878
+ 1.0
879
+ ]
880
+ ],
881
+ "intrinsics": {
882
+ "fx": 416.0,
883
+ "fy": 416.0,
884
+ "cx": 415.5,
885
+ "cy": 239.5
886
+ }
887
+ },
888
+ {
889
+ "frame_index": 25,
890
+ "c2w": [
891
+ [
892
+ -0.9814189076423645,
893
+ -0.046419840306043625,
894
+ 0.18617944419384003,
895
+ -1.0106512308120728
896
+ ],
897
+ [
898
+ -0.19187909364700317,
899
+ 0.23742686212062836,
900
+ -0.9522663950920105,
901
+ 3.733172655105591
902
+ ],
903
+ [
904
+ 8.402811602081783e-08,
905
+ -0.9702959060668945,
906
+ -0.2419217973947525,
907
+ 0.6186897158622742
908
+ ],
909
+ [
910
+ 0.0,
911
+ 0.0,
912
+ 0.0,
913
+ 1.0
914
+ ]
915
+ ],
916
+ "intrinsics": {
917
+ "fx": 416.0,
918
+ "fy": 416.0,
919
+ "cx": 415.5,
920
+ "cy": 239.5
921
+ }
922
+ },
923
+ {
924
+ "frame_index": 26,
925
+ "c2w": [
926
+ [
927
+ -0.9787410497665405,
928
+ -0.04961855337023735,
929
+ 0.19900889694690704,
930
+ -1.0286123752593994
931
+ ],
932
+ [
933
+ -0.20510129630565643,
934
+ 0.23677922785282135,
935
+ -0.9496680498123169,
936
+ 3.7295351028442383
937
+ ],
938
+ [
939
+ 1.2526347070718202e-08,
940
+ -0.9702958464622498,
941
+ -0.24192200601100922,
942
+ 0.6186897158622742
943
+ ],
944
+ [
945
+ 0.0,
946
+ 0.0,
947
+ 0.0,
948
+ 1.0
949
+ ]
950
+ ],
951
+ "intrinsics": {
952
+ "fx": 416.0,
953
+ "fy": 416.0,
954
+ "cx": 415.5,
955
+ "cy": 239.5
956
+ }
957
+ },
958
+ {
959
+ "frame_index": 27,
960
+ "c2w": [
961
+ [
962
+ -0.9758849740028381,
963
+ -0.0528082437813282,
964
+ 0.21180208027362823,
965
+ -1.046522855758667
966
+ ],
967
+ [
968
+ -0.21828611195087433,
969
+ 0.23608800768852234,
970
+ -0.9468969106674194,
971
+ 3.7256555557250977
972
+ ],
973
+ [
974
+ 4.9209390340365644e-08,
975
+ -0.970295786857605,
976
+ -0.24192187190055847,
977
+ 0.6186897158622742
978
+ ],
979
+ [
980
+ 0.0,
981
+ 0.0,
982
+ 0.0,
983
+ 1.0
984
+ ]
985
+ ],
986
+ "intrinsics": {
987
+ "fx": 416.0,
988
+ "fy": 416.0,
989
+ "cx": 415.5,
990
+ "cy": 239.5
991
+ }
992
+ },
993
+ {
994
+ "frame_index": 28,
995
+ "c2w": [
996
+ [
997
+ -0.9728518128395081,
998
+ -0.05598827823996544,
999
+ 0.22455671429634094,
1000
+ -1.0643794536590576
1001
+ ],
1002
+ [
1003
+ -0.23143120110034943,
1004
+ 0.23535434901714325,
1005
+ -0.9439536929130554,
1006
+ 3.7215347290039062
1007
+ ],
1008
+ [
1009
+ 2.136378185468857e-09,
1010
+ -0.9702959656715393,
1011
+ -0.24192169308662415,
1012
+ 0.6186897158622742
1013
+ ],
1014
+ [
1015
+ 0.0,
1016
+ 0.0,
1017
+ 0.0,
1018
+ 1.0
1019
+ ]
1020
+ ],
1021
+ "intrinsics": {
1022
+ "fx": 416.0,
1023
+ "fy": 416.0,
1024
+ "cx": 415.5,
1025
+ "cy": 239.5
1026
+ }
1027
+ },
1028
+ {
1029
+ "frame_index": 29,
1030
+ "c2w": [
1031
+ [
1032
+ -0.9696409702301025,
1033
+ -0.05915817990899086,
1034
+ 0.23727047443389893,
1035
+ -1.0821787118911743
1036
+ ],
1037
+ [
1038
+ -0.2445341944694519,
1039
+ 0.23457756638526917,
1040
+ -0.9408383369445801,
1041
+ 3.7171735763549805
1042
+ ],
1043
+ [
1044
+ -1.4320853836125025e-08,
1045
+ -0.9702958464622498,
1046
+ -0.24192185699939728,
1047
+ 0.6186897158622742
1048
+ ],
1049
+ [
1050
+ 0.0,
1051
+ 0.0,
1052
+ 0.0,
1053
+ 1.0
1054
+ ]
1055
+ ],
1056
+ "intrinsics": {
1057
+ "fx": 416.0,
1058
+ "fy": 416.0,
1059
+ "cx": 415.5,
1060
+ "cy": 239.5
1061
+ }
1062
+ },
1063
+ {
1064
+ "frame_index": 30,
1065
+ "c2w": [
1066
+ [
1067
+ -0.9662536978721619,
1068
+ -0.06231725588440895,
1069
+ 0.24994106590747833,
1070
+ -1.0999175310134888
1071
+ ],
1072
+ [
1073
+ -0.25759264826774597,
1074
+ 0.2337581068277359,
1075
+ -0.9375517964363098,
1076
+ 3.7125723361968994
1077
+ ],
1078
+ [
1079
+ -8.069835644164414e-08,
1080
+ -0.970295786857605,
1081
+ -0.24192196130752563,
1082
+ 0.6186897158622742
1083
+ ],
1084
+ [
1085
+ 0.0,
1086
+ 0.0,
1087
+ 0.0,
1088
+ 1.0
1089
+ ]
1090
+ ],
1091
+ "intrinsics": {
1092
+ "fx": 416.0,
1093
+ "fy": 416.0,
1094
+ "cx": 415.5,
1095
+ "cy": 239.5
1096
+ }
1097
+ },
1098
+ {
1099
+ "frame_index": 31,
1100
+ "c2w": [
1101
+ [
1102
+ -0.9626908302307129,
1103
+ -0.06546523422002792,
1104
+ 0.2625662386417389,
1105
+ -1.117592692375183
1106
+ ],
1107
+ [
1108
+ -0.27060437202453613,
1109
+ 0.23289614915847778,
1110
+ -0.9340946674346924,
1111
+ 3.7077324390411377
1112
+ ],
1113
+ [
1114
+ 8.665976025667987e-08,
1115
+ -0.970295786857605,
1116
+ -0.24192193150520325,
1117
+ 0.6186897158622742
1118
+ ],
1119
+ [
1120
+ 0.0,
1121
+ 0.0,
1122
+ 0.0,
1123
+ 1.0
1124
+ ]
1125
+ ],
1126
+ "intrinsics": {
1127
+ "fx": 416.0,
1128
+ "fy": 416.0,
1129
+ "cx": 415.5,
1130
+ "cy": 239.5
1131
+ }
1132
+ },
1133
+ {
1134
+ "frame_index": 32,
1135
+ "c2w": [
1136
+ [
1137
+ -0.9589528441429138,
1138
+ -0.06860107183456421,
1139
+ 0.2751435339450836,
1140
+ -1.1352009773254395
1141
+ ],
1142
+ [
1143
+ -0.2835667133331299,
1144
+ 0.23199179768562317,
1145
+ -0.9304676651954651,
1146
+ 3.7026546001434326
1147
+ ],
1148
+ [
1149
+ 7.648309718888413e-08,
1150
+ -0.9702958464622498,
1151
+ -0.2419218122959137,
1152
+ 0.6186897158622742
1153
+ ],
1154
+ [
1155
+ 0.0,
1156
+ 0.0,
1157
+ 0.0,
1158
+ 1.0
1159
+ ]
1160
+ ],
1161
+ "intrinsics": {
1162
+ "fx": 416.0,
1163
+ "fy": 416.0,
1164
+ "cx": 415.5,
1165
+ "cy": 239.5
1166
+ }
1167
+ },
1168
+ {
1169
+ "frame_index": 33,
1170
+ "c2w": [
1171
+ [
1172
+ -0.9550402164459229,
1173
+ -0.07172442972660065,
1174
+ 0.2876707911491394,
1175
+ -1.1527390480041504
1176
+ ],
1177
+ [
1178
+ -0.29647746682167053,
1179
+ 0.23104529082775116,
1180
+ -0.9266712665557861,
1181
+ 3.6973395347595215
1182
+ ],
1183
+ [
1184
+ 3.376532120569209e-08,
1185
+ -0.9702959060668945,
1186
+ -0.2419218122959137,
1187
+ 0.6186897158622742
1188
+ ],
1189
+ [
1190
+ 0.0,
1191
+ 0.0,
1192
+ 0.0,
1193
+ 1.0
1194
+ ]
1195
+ ],
1196
+ "intrinsics": {
1197
+ "fx": 416.0,
1198
+ "fy": 416.0,
1199
+ "cx": 415.5,
1200
+ "cy": 239.5
1201
+ }
1202
+ },
1203
+ {
1204
+ "frame_index": 34,
1205
+ "c2w": [
1206
+ [
1207
+ -0.9509536623954773,
1208
+ -0.07483484596014023,
1209
+ 0.3001457154750824,
1210
+ -1.1702039241790771
1211
+ ],
1212
+ [
1213
+ -0.30933427810668945,
1214
+ 0.23005668818950653,
1215
+ -0.922706127166748,
1216
+ 3.6917884349823
1217
+ ],
1218
+ [
1219
+ 8.855381850025879e-08,
1220
+ -0.9702958464622498,
1221
+ -0.24192187190055847,
1222
+ 0.6186897158622742
1223
+ ],
1224
+ [
1225
+ 0.0,
1226
+ 0.0,
1227
+ 0.0,
1228
+ 1.0
1229
+ ]
1230
+ ],
1231
+ "intrinsics": {
1232
+ "fx": 416.0,
1233
+ "fy": 416.0,
1234
+ "cx": 415.5,
1235
+ "cy": 239.5
1236
+ }
1237
+ },
1238
+ {
1239
+ "frame_index": 35,
1240
+ "c2w": [
1241
+ [
1242
+ -0.9466940760612488,
1243
+ -0.07793142646551132,
1244
+ 0.31256598234176636,
1245
+ -1.1875922679901123
1246
+ ],
1247
+ [
1248
+ -0.32213473320007324,
1249
+ 0.22902606427669525,
1250
+ -0.9185731410980225,
1251
+ 3.686002254486084
1252
+ ],
1253
+ [
1254
+ -1.3146141952802282e-09,
1255
+ -0.9702958464622498,
1256
+ -0.24192173779010773,
1257
+ 0.6186897158622742
1258
+ ],
1259
+ [
1260
+ 0.0,
1261
+ 0.0,
1262
+ 0.0,
1263
+ 1.0
1264
+ ]
1265
+ ],
1266
+ "intrinsics": {
1267
+ "fx": 416.0,
1268
+ "fy": 416.0,
1269
+ "cx": 415.5,
1270
+ "cy": 239.5
1271
+ }
1272
+ },
1273
+ {
1274
+ "frame_index": 36,
1275
+ "c2w": [
1276
+ [
1277
+ -0.9422622919082642,
1278
+ -0.08101390302181244,
1279
+ 0.3249293267726898,
1280
+ -1.2049009799957275
1281
+ ],
1282
+ [
1283
+ -0.3348765969276428,
1284
+ 0.22795401513576508,
1285
+ -0.9142729043960571,
1286
+ 3.6799819469451904
1287
+ ],
1288
+ [
1289
+ -8.8475118786846e-08,
1290
+ -0.9702958464622498,
1291
+ -0.2419218122959137,
1292
+ 0.6186897158622742
1293
+ ],
1294
+ [
1295
+ 0.0,
1296
+ 0.0,
1297
+ 0.0,
1298
+ 1.0
1299
+ ]
1300
+ ],
1301
+ "intrinsics": {
1302
+ "fx": 416.0,
1303
+ "fy": 416.0,
1304
+ "cx": 415.5,
1305
+ "cy": 239.5
1306
+ }
1307
+ },
1308
+ {
1309
+ "frame_index": 37,
1310
+ "c2w": [
1311
+ [
1312
+ -0.9376590847969055,
1313
+ -0.08408171683549881,
1314
+ 0.33723363280296326,
1315
+ -1.2221269607543945
1316
+ ],
1317
+ [
1318
+ -0.34755757451057434,
1319
+ 0.22684043645858765,
1320
+ -0.9098063707351685,
1321
+ 3.6737287044525146
1322
+ ],
1323
+ [
1324
+ -7.237820653926974e-08,
1325
+ -0.9702959656715393,
1326
+ -0.24192172288894653,
1327
+ 0.6186897158622742
1328
+ ],
1329
+ [
1330
+ 0.0,
1331
+ 0.0,
1332
+ 0.0,
1333
+ 1.0
1334
+ ]
1335
+ ],
1336
+ "intrinsics": {
1337
+ "fx": 416.0,
1338
+ "fy": 416.0,
1339
+ "cx": 415.5,
1340
+ "cy": 239.5
1341
+ }
1342
+ },
1343
+ {
1344
+ "frame_index": 38,
1345
+ "c2w": [
1346
+ [
1347
+ -0.9328848719596863,
1348
+ -0.0871342122554779,
1349
+ 0.3494763970375061,
1350
+ -1.2392669916152954
1351
+ ],
1352
+ [
1353
+ -0.36017513275146484,
1354
+ 0.22568540275096893,
1355
+ -0.9051741361618042,
1356
+ 3.667243719100952
1357
+ ],
1358
+ [
1359
+ -5.385794565881952e-08,
1360
+ -0.970295786857605,
1361
+ -0.24192185699939728,
1362
+ 0.6186897158622742
1363
+ ],
1364
+ [
1365
+ 0.0,
1366
+ 0.0,
1367
+ 0.0,
1368
+ 1.0
1369
+ ]
1370
+ ],
1371
+ "intrinsics": {
1372
+ "fx": 416.0,
1373
+ "fy": 416.0,
1374
+ "cx": 415.5,
1375
+ "cy": 239.5
1376
+ }
1377
+ },
1378
+ {
1379
+ "frame_index": 39,
1380
+ "c2w": [
1381
+ [
1382
+ -0.9279412627220154,
1383
+ -0.0901709571480751,
1384
+ 0.3616558015346527,
1385
+ -1.2563179731369019
1386
+ ],
1387
+ [
1388
+ -0.3727274239063263,
1389
+ 0.22448936104774475,
1390
+ -0.9003772735595703,
1391
+ 3.6605279445648193
1392
+ ],
1393
+ [
1394
+ 6.898943638589117e-08,
1395
+ -0.9702959060668945,
1396
+ -0.24192167818546295,
1397
+ 0.6186897158622742
1398
+ ],
1399
+ [
1400
+ 0.0,
1401
+ 0.0,
1402
+ 0.0,
1403
+ 1.0
1404
+ ]
1405
+ ],
1406
+ "intrinsics": {
1407
+ "fx": 416.0,
1408
+ "fy": 416.0,
1409
+ "cx": 415.5,
1410
+ "cy": 239.5
1411
+ }
1412
+ },
1413
+ {
1414
+ "frame_index": 40,
1415
+ "c2w": [
1416
+ [
1417
+ -0.9228286743164062,
1418
+ -0.09319121390581131,
1419
+ 0.3737691640853882,
1420
+ -1.2732768058776855
1421
+ ],
1422
+ [
1423
+ -0.38521161675453186,
1424
+ 0.2232525497674942,
1425
+ -0.8954164981842041,
1426
+ 3.653582811355591
1427
+ ],
1428
+ [
1429
+ 9.762695185600023e-08,
1430
+ -0.9702959060668945,
1431
+ -0.24192175269126892,
1432
+ 0.6186897158622742
1433
+ ],
1434
+ [
1435
+ 0.0,
1436
+ 0.0,
1437
+ 0.0,
1438
+ 1.0
1439
+ ]
1440
+ ],
1441
+ "intrinsics": {
1442
+ "fx": 416.0,
1443
+ "fy": 416.0,
1444
+ "cx": 415.5,
1445
+ "cy": 239.5
1446
+ }
1447
+ },
1448
+ {
1449
+ "frame_index": 41,
1450
+ "c2w": [
1451
+ [
1452
+ -0.9175475239753723,
1453
+ -0.09619441628456116,
1454
+ 0.3858145773410797,
1455
+ -1.2901403903961182
1456
+ ],
1457
+ [
1458
+ -0.39762577414512634,
1459
+ 0.22197474539279938,
1460
+ -0.8902925252914429,
1461
+ 3.646409749984741
1462
+ ],
1463
+ [
1464
+ 3.7102640959574273e-08,
1465
+ -0.9702956676483154,
1466
+ -0.24192196130752563,
1467
+ 0.6186897158622742
1468
+ ],
1469
+ [
1470
+ 0.0,
1471
+ 0.0,
1472
+ 0.0,
1473
+ 1.0
1474
+ ]
1475
+ ],
1476
+ "intrinsics": {
1477
+ "fx": 416.0,
1478
+ "fy": 416.0,
1479
+ "cx": 415.5,
1480
+ "cy": 239.5
1481
+ }
1482
+ },
1483
+ {
1484
+ "frame_index": 42,
1485
+ "c2w": [
1486
+ [
1487
+ -0.9121004343032837,
1488
+ -0.0991801843047142,
1489
+ 0.3977898061275482,
1490
+ -1.3069056272506714
1491
+ ],
1492
+ [
1493
+ -0.4099676012992859,
1494
+ 0.22065727412700653,
1495
+ -0.8850069642066956,
1496
+ 3.639009475708008
1497
+ ],
1498
+ [
1499
+ 2.655998088130218e-09,
1500
+ -0.9702958464622498,
1501
+ -0.24192187190055847,
1502
+ 0.6186897158622742
1503
+ ],
1504
+ [
1505
+ 0.0,
1506
+ 0.0,
1507
+ 0.0,
1508
+ 1.0
1509
+ ]
1510
+ ],
1511
+ "intrinsics": {
1512
+ "fx": 416.0,
1513
+ "fy": 416.0,
1514
+ "cx": 415.5,
1515
+ "cy": 239.5
1516
+ }
1517
+ },
1518
+ {
1519
+ "frame_index": 43,
1520
+ "c2w": [
1521
+ [
1522
+ -0.9064867496490479,
1523
+ -0.10214788466691971,
1524
+ 0.40969258546829224,
1525
+ -1.3235695362091064
1526
+ ],
1527
+ [
1528
+ -0.42223477363586426,
1529
+ 0.2192990928888321,
1530
+ -0.879560112953186,
1531
+ 3.6313838958740234
1532
+ ],
1533
+ [
1534
+ 3.04390965766288e-08,
1535
+ -0.970295786857605,
1536
+ -0.24192187190055847,
1537
+ 0.6186897158622742
1538
+ ],
1539
+ [
1540
+ 0.0,
1541
+ 0.0,
1542
+ 0.0,
1543
+ 1.0
1544
+ ]
1545
+ ],
1546
+ "intrinsics": {
1547
+ "fx": 416.0,
1548
+ "fy": 416.0,
1549
+ "cx": 415.5,
1550
+ "cy": 239.5
1551
+ }
1552
+ },
1553
+ {
1554
+ "frame_index": 44,
1555
+ "c2w": [
1556
+ [
1557
+ -0.9007081389427185,
1558
+ -0.1050969734787941,
1559
+ 0.42152082920074463,
1560
+ -1.3401291370391846
1561
+ ],
1562
+ [
1563
+ -0.43442511558532715,
1564
+ 0.21790127456188202,
1565
+ -0.8739531636238098,
1566
+ 3.6235344409942627
1567
+ ],
1568
+ [
1569
+ -5.6239173318317626e-08,
1570
+ -0.970295786857605,
1571
+ -0.24192200601100922,
1572
+ 0.6186897158622742
1573
+ ],
1574
+ [
1575
+ 0.0,
1576
+ 0.0,
1577
+ 0.0,
1578
+ 1.0
1579
+ ]
1580
+ ],
1581
+ "intrinsics": {
1582
+ "fx": 416.0,
1583
+ "fy": 416.0,
1584
+ "cx": 415.5,
1585
+ "cy": 239.5
1586
+ }
1587
+ },
1588
+ {
1589
+ "frame_index": 45,
1590
+ "c2w": [
1591
+ [
1592
+ -0.8947654962539673,
1593
+ -0.10802696645259857,
1594
+ 0.4332723021507263,
1595
+ -1.356581211090088
1596
+ ],
1597
+ [
1598
+ -0.4465363323688507,
1599
+ 0.21646347641944885,
1600
+ -0.8681871294975281,
1601
+ 3.615462064743042
1602
+ ],
1603
+ [
1604
+ -1.3270735621517815e-09,
1605
+ -0.9702957272529602,
1606
+ -0.24192199110984802,
1607
+ 0.6186897158622742
1608
+ ],
1609
+ [
1610
+ 0.0,
1611
+ 0.0,
1612
+ 0.0,
1613
+ 1.0
1614
+ ]
1615
+ ],
1616
+ "intrinsics": {
1617
+ "fx": 416.0,
1618
+ "fy": 416.0,
1619
+ "cx": 415.5,
1620
+ "cy": 239.5
1621
+ }
1622
+ },
1623
+ {
1624
+ "frame_index": 46,
1625
+ "c2w": [
1626
+ [
1627
+ -0.8886605501174927,
1628
+ -0.1109374538064003,
1629
+ 0.4449450671672821,
1630
+ -1.3729230165481567
1631
+ ],
1632
+ [
1633
+ -0.45856648683547974,
1634
+ 0.21498654782772064,
1635
+ -0.8622633218765259,
1636
+ 3.607168436050415
1637
+ ],
1638
+ [
1639
+ 1.8415489932976925e-07,
1640
+ -0.9702959060668945,
1641
+ -0.2419217973947525,
1642
+ 0.6186897158622742
1643
+ ],
1644
+ [
1645
+ 0.0,
1646
+ 0.0,
1647
+ 0.0,
1648
+ 1.0
1649
+ ]
1650
+ ],
1651
+ "intrinsics": {
1652
+ "fx": 416.0,
1653
+ "fy": 416.0,
1654
+ "cx": 415.5,
1655
+ "cy": 239.5
1656
+ }
1657
+ },
1658
+ {
1659
+ "frame_index": 47,
1660
+ "c2w": [
1661
+ [
1662
+ -0.8823935389518738,
1663
+ -0.11382750421762466,
1664
+ 0.45653679966926575,
1665
+ -1.3891513347625732
1666
+ ],
1667
+ [
1668
+ -0.47051307559013367,
1669
+ 0.213470458984375,
1670
+ -0.8561824560165405,
1671
+ 3.5986552238464355
1672
+ ],
1673
+ [
1674
+ 9.280830681746011e-08,
1675
+ -0.9702959656715393,
1676
+ -0.24192172288894653,
1677
+ 0.6186897158622742
1678
+ ],
1679
+ [
1680
+ 0.0,
1681
+ 0.0,
1682
+ 0.0,
1683
+ 1.0
1684
+ ]
1685
+ ],
1686
+ "intrinsics": {
1687
+ "fx": 416.0,
1688
+ "fy": 416.0,
1689
+ "cx": 415.5,
1690
+ "cy": 239.5
1691
+ }
1692
+ },
1693
+ {
1694
+ "frame_index": 48,
1695
+ "c2w": [
1696
+ [
1697
+ -0.8759655356407166,
1698
+ -0.11669685691595078,
1699
+ 0.46804529428482056,
1700
+ -1.4052634239196777
1701
+ ],
1702
+ [
1703
+ -0.4823738634586334,
1704
+ 0.21191523969173431,
1705
+ -0.849945604801178,
1706
+ 3.589923620223999
1707
+ ],
1708
+ [
1709
+ 7.024938497579569e-08,
1710
+ -0.970295786857605,
1711
+ -0.24192184209823608,
1712
+ 0.6186897158622742
1713
+ ],
1714
+ [
1715
+ 0.0,
1716
+ 0.0,
1717
+ 0.0,
1718
+ 1.0
1719
+ ]
1720
+ ],
1721
+ "intrinsics": {
1722
+ "fx": 416.0,
1723
+ "fy": 416.0,
1724
+ "cx": 415.5,
1725
+ "cy": 239.5
1726
+ }
1727
+ },
1728
+ {
1729
+ "frame_index": 49,
1730
+ "c2w": [
1731
+ [
1732
+ -0.8693785667419434,
1733
+ -0.11954506486654282,
1734
+ 0.47946879267692566,
1735
+ -1.421256184577942
1736
+ ],
1737
+ [
1738
+ -0.49414709210395813,
1739
+ 0.21032173931598663,
1740
+ -0.8435541987419128,
1741
+ 3.5809757709503174
1742
+ ],
1743
+ [
1744
+ 8.980714483186603e-08,
1745
+ -0.9702958464622498,
1746
+ -0.2419217824935913,
1747
+ 0.6186897158622742
1748
+ ],
1749
+ [
1750
+ 0.0,
1751
+ 0.0,
1752
+ 0.0,
1753
+ 1.0
1754
+ ]
1755
+ ],
1756
+ "intrinsics": {
1757
+ "fx": 416.0,
1758
+ "fy": 416.0,
1759
+ "cx": 415.5,
1760
+ "cy": 239.5
1761
+ }
1762
+ },
1763
+ {
1764
+ "frame_index": 50,
1765
+ "c2w": [
1766
+ [
1767
+ -0.8626335859298706,
1768
+ -0.12237153202295303,
1769
+ 0.4908049702644348,
1770
+ -1.437126874923706
1771
+ ],
1772
+ [
1773
+ -0.5058302879333496,
1774
+ 0.20869024097919464,
1775
+ -0.8370093703269958,
1776
+ 3.571812868118286
1777
+ ],
1778
+ [
1779
+ 4.491693772479266e-08,
1780
+ -0.9702959656715393,
1781
+ -0.2419218271970749,
1782
+ 0.6186897158622742
1783
+ ],
1784
+ [
1785
+ 0.0,
1786
+ 0.0,
1787
+ 0.0,
1788
+ 1.0
1789
+ ]
1790
+ ],
1791
+ "intrinsics": {
1792
+ "fx": 416.0,
1793
+ "fy": 416.0,
1794
+ "cx": 415.5,
1795
+ "cy": 239.5
1796
+ }
1797
+ },
1798
+ {
1799
+ "frame_index": 51,
1800
+ "c2w": [
1801
+ [
1802
+ -0.855731189250946,
1803
+ -0.1251756101846695,
1804
+ 0.502051830291748,
1805
+ -1.452872395515442
1806
+ ],
1807
+ [
1808
+ -0.5174214243888855,
1809
+ 0.20702031254768372,
1810
+ -0.8303120732307434,
1811
+ 3.562436580657959
1812
+ ],
1813
+ [
1814
+ 1.5710611478425562e-08,
1815
+ -0.9702959060668945,
1816
+ -0.24192176759243011,
1817
+ 0.6186897158622742
1818
+ ],
1819
+ [
1820
+ 0.0,
1821
+ 0.0,
1822
+ 0.0,
1823
+ 1.0
1824
+ ]
1825
+ ],
1826
+ "intrinsics": {
1827
+ "fx": 416.0,
1828
+ "fy": 416.0,
1829
+ "cx": 415.5,
1830
+ "cy": 239.5
1831
+ }
1832
+ },
1833
+ {
1834
+ "frame_index": 52,
1835
+ "c2w": [
1836
+ [
1837
+ -0.8486732840538025,
1838
+ -0.1279570311307907,
1839
+ 0.5132073760032654,
1840
+ -1.4684901237487793
1841
+ ],
1842
+ [
1843
+ -0.5289185047149658,
1844
+ 0.2053127884864807,
1845
+ -0.8234637975692749,
1846
+ 3.5528488159179688
1847
+ ],
1848
+ [
1849
+ 9.67284847774863e-08,
1850
+ -0.9702960252761841,
1851
+ -0.24192163348197937,
1852
+ 0.6186897158622742
1853
+ ],
1854
+ [
1855
+ 0.0,
1856
+ 0.0,
1857
+ 0.0,
1858
+ 1.0
1859
+ ]
1860
+ ],
1861
+ "intrinsics": {
1862
+ "fx": 416.0,
1863
+ "fy": 416.0,
1864
+ "cx": 415.5,
1865
+ "cy": 239.5
1866
+ }
1867
+ },
1868
+ {
1869
+ "frame_index": 53,
1870
+ "c2w": [
1871
+ [
1872
+ -0.8414604663848877,
1873
+ -0.13071495294570923,
1874
+ 0.5242693424224854,
1875
+ -1.48397696018219
1876
+ ],
1877
+ [
1878
+ -0.5403190851211548,
1879
+ 0.20356778800487518,
1880
+ -0.8164653778076172,
1881
+ 3.543051242828369
1882
+ ],
1883
+ [
1884
+ -5.499519062368563e-08,
1885
+ -0.9702958464622498,
1886
+ -0.2419217824935913,
1887
+ 0.6186897158622742
1888
+ ],
1889
+ [
1890
+ 0.0,
1891
+ 0.0,
1892
+ 0.0,
1893
+ 1.0
1894
+ ]
1895
+ ],
1896
+ "intrinsics": {
1897
+ "fx": 416.0,
1898
+ "fy": 416.0,
1899
+ "cx": 415.5,
1900
+ "cy": 239.5
1901
+ }
1902
+ },
1903
+ {
1904
+ "frame_index": 54,
1905
+ "c2w": [
1906
+ [
1907
+ -0.8340947031974792,
1908
+ -0.1334492713212967,
1909
+ 0.5352360010147095,
1910
+ -1.4993302822113037
1911
+ ],
1912
+ [
1913
+ -0.5516214966773987,
1914
+ 0.20178595185279846,
1915
+ -0.8093184232711792,
1916
+ 3.533045768737793
1917
+ ],
1918
+ [
1919
+ -1.213546028111523e-07,
1920
+ -0.970295786857605,
1921
+ -0.24192193150520325,
1922
+ 0.6186897158622742
1923
+ ],
1924
+ [
1925
+ 0.0,
1926
+ 0.0,
1927
+ 0.0,
1928
+ 1.0
1929
+ ]
1930
+ ],
1931
+ "intrinsics": {
1932
+ "fx": 416.0,
1933
+ "fy": 416.0,
1934
+ "cx": 415.5,
1935
+ "cy": 239.5
1936
+ }
1937
+ },
1938
+ {
1939
+ "frame_index": 55,
1940
+ "c2w": [
1941
+ [
1942
+ -0.8265771269798279,
1943
+ -0.1361592710018158,
1944
+ 0.5461052656173706,
1945
+ -1.5145472288131714
1946
+ ],
1947
+ [
1948
+ -0.562823474407196,
1949
+ 0.19996722042560577,
1950
+ -0.802024245262146,
1951
+ 3.522834062576294
1952
+ ],
1953
+ [
1954
+ -1.0923648829930244e-07,
1955
+ -0.9702957272529602,
1956
+ -0.24192194640636444,
1957
+ 0.6186897158622742
1958
+ ],
1959
+ [
1960
+ 0.0,
1961
+ 0.0,
1962
+ 0.0,
1963
+ 1.0
1964
+ ]
1965
+ ],
1966
+ "intrinsics": {
1967
+ "fx": 416.0,
1968
+ "fy": 416.0,
1969
+ "cx": 415.5,
1970
+ "cy": 239.5
1971
+ }
1972
+ },
1973
+ {
1974
+ "frame_index": 56,
1975
+ "c2w": [
1976
+ [
1977
+ -0.8189092874526978,
1978
+ -0.1388445645570755,
1979
+ 0.5568749308586121,
1980
+ -1.5296250581741333
1981
+ ],
1982
+ [
1983
+ -0.5739229321479797,
1984
+ 0.19811199605464935,
1985
+ -0.7945842146873474,
1986
+ 3.512417793273926
1987
+ ],
1988
+ [
1989
+ 7.91115866149994e-08,
1990
+ -0.9702957272529602,
1991
+ -0.24192187190055847,
1992
+ 0.6186897158622742
1993
+ ],
1994
+ [
1995
+ 0.0,
1996
+ 0.0,
1997
+ 0.0,
1998
+ 1.0
1999
+ ]
2000
+ ],
2001
+ "intrinsics": {
2002
+ "fx": 416.0,
2003
+ "fy": 416.0,
2004
+ "cx": 415.5,
2005
+ "cy": 239.5
2006
+ }
2007
+ },
2008
+ {
2009
+ "frame_index": 57,
2010
+ "c2w": [
2011
+ [
2012
+ -0.8110923767089844,
2013
+ -0.1415044665336609,
2014
+ 0.5675435066223145,
2015
+ -1.5445609092712402
2016
+ ],
2017
+ [
2018
+ -0.5849180221557617,
2019
+ 0.19622109830379486,
2020
+ -0.7869994640350342,
2021
+ 3.5017993450164795
2022
+ ],
2023
+ [
2024
+ -7.14870651563615e-08,
2025
+ -0.9702957272529602,
2026
+ -0.24192196130752563,
2027
+ 0.6186897158622742
2028
+ ],
2029
+ [
2030
+ 0.0,
2031
+ 0.0,
2032
+ 0.0,
2033
+ 1.0
2034
+ ]
2035
+ ],
2036
+ "intrinsics": {
2037
+ "fx": 416.0,
2038
+ "fy": 416.0,
2039
+ "cx": 415.5,
2040
+ "cy": 239.5
2041
+ }
2042
+ },
2043
+ {
2044
+ "frame_index": 58,
2045
+ "c2w": [
2046
+ [
2047
+ -0.803128182888031,
2048
+ -0.14413876831531525,
2049
+ 0.5781087875366211,
2050
+ -1.5593522787094116
2051
+ ],
2052
+ [
2053
+ -0.5958068370819092,
2054
+ 0.1942945420742035,
2055
+ -0.7792716026306152,
2056
+ 3.4909801483154297
2057
+ ],
2058
+ [
2059
+ -2.9027475534348923e-08,
2060
+ -0.9702958464622498,
2061
+ -0.24192190170288086,
2062
+ 0.6186897158622742
2063
+ ],
2064
+ [
2065
+ 0.0,
2066
+ 0.0,
2067
+ 0.0,
2068
+ 1.0
2069
+ ]
2070
+ ],
2071
+ "intrinsics": {
2072
+ "fx": 416.0,
2073
+ "fy": 416.0,
2074
+ "cx": 415.5,
2075
+ "cy": 239.5
2076
+ }
2077
+ },
2078
+ {
2079
+ "frame_index": 59,
2080
+ "c2w": [
2081
+ [
2082
+ -0.7950174808502197,
2083
+ -0.14674687385559082,
2084
+ 0.5885688662528992,
2085
+ -1.5739961862564087
2086
+ ],
2087
+ [
2088
+ -0.6065871119499207,
2089
+ 0.192332461476326,
2090
+ -0.7714018225669861,
2091
+ 3.4799623489379883
2092
+ ],
2093
+ [
2094
+ 2.9504114706924156e-08,
2095
+ -0.9702958464622498,
2096
+ -0.24192196130752563,
2097
+ 0.6186897158622742
2098
+ ],
2099
+ [
2100
+ 0.0,
2101
+ 0.0,
2102
+ 0.0,
2103
+ 1.0
2104
+ ]
2105
+ ],
2106
+ "intrinsics": {
2107
+ "fx": 416.0,
2108
+ "fy": 416.0,
2109
+ "cx": 415.5,
2110
+ "cy": 239.5
2111
+ }
2112
+ },
2113
+ {
2114
+ "frame_index": 60,
2115
+ "c2w": [
2116
+ [
2117
+ -0.7867618203163147,
2118
+ -0.1493280678987503,
2119
+ 0.5989216566085815,
2120
+ -1.5884902477264404
2121
+ ],
2122
+ [
2123
+ -0.6172568202018738,
2124
+ 0.1903350055217743,
2125
+ -0.7633915543556213,
2126
+ 3.468748092651367
2127
+ ],
2128
+ [
2129
+ 4.995430913368182e-08,
2130
+ -0.9702957272529602,
2131
+ -0.24192199110984802,
2132
+ 0.6186897158622742
2133
+ ],
2134
+ [
2135
+ 0.0,
2136
+ 0.0,
2137
+ 0.0,
2138
+ 1.0
2139
+ ]
2140
+ ],
2141
+ "intrinsics": {
2142
+ "fx": 416.0,
2143
+ "fy": 416.0,
2144
+ "cx": 415.5,
2145
+ "cy": 239.5
2146
+ }
2147
+ },
2148
+ {
2149
+ "frame_index": 61,
2150
+ "c2w": [
2151
+ [
2152
+ -0.7783637046813965,
2153
+ -0.15188199281692505,
2154
+ 0.6091655492782593,
2155
+ -1.6028317213058472
2156
+ ],
2157
+ [
2158
+ -0.6278142929077148,
2159
+ 0.1883033663034439,
2160
+ -0.7552427649497986,
2161
+ 3.4573395252227783
2162
+ ],
2163
+ [
2164
+ -1.5017356247426505e-08,
2165
+ -0.9702959656715393,
2166
+ -0.24192169308662415,
2167
+ 0.6186897158622742
2168
+ ],
2169
+ [
2170
+ 0.0,
2171
+ 0.0,
2172
+ 0.0,
2173
+ 1.0
2174
+ ]
2175
+ ],
2176
+ "intrinsics": {
2177
+ "fx": 416.0,
2178
+ "fy": 416.0,
2179
+ "cx": 415.5,
2180
+ "cy": 239.5
2181
+ }
2182
+ },
2183
+ {
2184
+ "frame_index": 62,
2185
+ "c2w": [
2186
+ [
2187
+ -0.7698233723640442,
2188
+ -0.15440846979618073,
2189
+ 0.6192985773086548,
2190
+ -1.6170178651809692
2191
+ ],
2192
+ [
2193
+ -0.6382575035095215,
2194
+ 0.18623733520507812,
2195
+ -0.7469561100006104,
2196
+ 3.4457383155822754
2197
+ ],
2198
+ [
2199
+ -4.5983359342471886e-08,
2200
+ -0.9702959060668945,
2201
+ -0.2419217973947525,
2202
+ 0.6186897158622742
2203
+ ],
2204
+ [
2205
+ 0.0,
2206
+ 0.0,
2207
+ 0.0,
2208
+ 1.0
2209
+ ]
2210
+ ],
2211
+ "intrinsics": {
2212
+ "fx": 416.0,
2213
+ "fy": 416.0,
2214
+ "cx": 415.5,
2215
+ "cy": 239.5
2216
+ }
2217
+ },
2218
+ {
2219
+ "frame_index": 63,
2220
+ "c2w": [
2221
+ [
2222
+ -0.7611427903175354,
2223
+ -0.15690699219703674,
2224
+ 0.62931889295578,
2225
+ -1.6310462951660156
2226
+ ],
2227
+ [
2228
+ -0.6485846638679504,
2229
+ 0.18413716554641724,
2230
+ -0.7385334968566895,
2231
+ 3.4339468479156494
2232
+ ],
2233
+ [
2234
+ 1.3393446351983584e-07,
2235
+ -0.970295786857605,
2236
+ -0.24192191660404205,
2237
+ 0.6186897158622742
2238
+ ],
2239
+ [
2240
+ 0.0,
2241
+ 0.0,
2242
+ 0.0,
2243
+ 1.0
2244
+ ]
2245
+ ],
2246
+ "intrinsics": {
2247
+ "fx": 416.0,
2248
+ "fy": 416.0,
2249
+ "cx": 415.5,
2250
+ "cy": 239.5
2251
+ }
2252
+ },
2253
+ {
2254
+ "frame_index": 64,
2255
+ "c2w": [
2256
+ [
2257
+ -0.7523242235183716,
2258
+ -0.1593765765428543,
2259
+ 0.6392247080802917,
2260
+ -1.6449143886566162
2261
+ ],
2262
+ [
2263
+ -0.6587936878204346,
2264
+ 0.18200401961803436,
2265
+ -0.7299767136573792,
2266
+ 3.421967029571533
2267
+ ],
2268
+ [
2269
+ -1.3417141531135712e-07,
2270
+ -0.9702959656715393,
2271
+ -0.2419217973947525,
2272
+ 0.6186897158622742
2273
+ ],
2274
+ [
2275
+ 0.0,
2276
+ 0.0,
2277
+ 0.0,
2278
+ 1.0
2279
+ ]
2280
+ ],
2281
+ "intrinsics": {
2282
+ "fx": 416.0,
2283
+ "fy": 416.0,
2284
+ "cx": 415.5,
2285
+ "cy": 239.5
2286
+ }
2287
+ },
2288
+ {
2289
+ "frame_index": 65,
2290
+ "c2w": [
2291
+ [
2292
+ -0.7433682084083557,
2293
+ -0.1618174910545349,
2294
+ 0.6490139961242676,
2295
+ -1.6586196422576904
2296
+ ],
2297
+ [
2298
+ -0.6688827276229858,
2299
+ 0.17983707785606384,
2300
+ -0.7212868928909302,
2301
+ 3.409801483154297
2302
+ ],
2303
+ [
2304
+ 1.2934658855101588e-07,
2305
+ -0.9702958464622498,
2306
+ -0.24192184209823608,
2307
+ 0.6186897158622742
2308
+ ],
2309
+ [
2310
+ 0.0,
2311
+ 0.0,
2312
+ 0.0,
2313
+ 1.0
2314
+ ]
2315
+ ],
2316
+ "intrinsics": {
2317
+ "fx": 416.0,
2318
+ "fy": 416.0,
2319
+ "cx": 415.5,
2320
+ "cy": 239.5
2321
+ }
2322
+ },
2323
+ {
2324
+ "frame_index": 66,
2325
+ "c2w": [
2326
+ [
2327
+ -0.7342774868011475,
2328
+ -0.1642289161682129,
2329
+ 0.6586854457855225,
2330
+ -1.6721594333648682
2331
+ ],
2332
+ [
2333
+ -0.6788502335548401,
2334
+ 0.17763814330101013,
2335
+ -0.7124660015106201,
2336
+ 3.3974521160125732
2337
+ ],
2338
+ [
2339
+ 6.986171285916498e-08,
2340
+ -0.9702960252761841,
2341
+ -0.2419218271970749,
2342
+ 0.6186897158622742
2343
+ ],
2344
+ [
2345
+ 0.0,
2346
+ 0.0,
2347
+ 0.0,
2348
+ 1.0
2349
+ ]
2350
+ ],
2351
+ "intrinsics": {
2352
+ "fx": 416.0,
2353
+ "fy": 416.0,
2354
+ "cx": 415.5,
2355
+ "cy": 239.5
2356
+ }
2357
+ },
2358
+ {
2359
+ "frame_index": 67,
2360
+ "c2w": [
2361
+ [
2362
+ -0.7250527739524841,
2363
+ -0.1666102409362793,
2364
+ 0.668237030506134,
2365
+ -1.685531497001648
2366
+ ],
2367
+ [
2368
+ -0.688694179058075,
2369
+ 0.17540641129016876,
2370
+ -0.7035152912139893,
2371
+ 3.384921073913574
2372
+ ],
2373
+ [
2374
+ 2.164813750482608e-08,
2375
+ -0.9702960252761841,
2376
+ -0.24192167818546295,
2377
+ 0.6186897158622742
2378
+ ],
2379
+ [
2380
+ 0.0,
2381
+ 0.0,
2382
+ 0.0,
2383
+ 1.0
2384
+ ]
2385
+ ],
2386
+ "intrinsics": {
2387
+ "fx": 416.0,
2388
+ "fy": 416.0,
2389
+ "cx": 415.5,
2390
+ "cy": 239.5
2391
+ }
2392
+ },
2393
+ {
2394
+ "frame_index": 68,
2395
+ "c2w": [
2396
+ [
2397
+ -0.7156957983970642,
2398
+ -0.1689612865447998,
2399
+ 0.6776667237281799,
2400
+ -1.6987332105636597
2401
+ ],
2402
+ [
2403
+ -0.6984125375747681,
2404
+ 0.17314264178276062,
2405
+ -0.6944364309310913,
2406
+ 3.372210741043091
2407
+ ],
2408
+ [
2409
+ -2.649920816111262e-08,
2410
+ -0.9702959060668945,
2411
+ -0.2419217973947525,
2412
+ 0.6186897158622742
2413
+ ],
2414
+ [
2415
+ 0.0,
2416
+ 0.0,
2417
+ 0.0,
2418
+ 1.0
2419
+ ]
2420
+ ],
2421
+ "intrinsics": {
2422
+ "fx": 416.0,
2423
+ "fy": 416.0,
2424
+ "cx": 415.5,
2425
+ "cy": 239.5
2426
+ }
2427
+ },
2428
+ {
2429
+ "frame_index": 69,
2430
+ "c2w": [
2431
+ [
2432
+ -0.7062090039253235,
2433
+ -0.17128174006938934,
2434
+ 0.6869731545448303,
2435
+ -1.7117623090744019
2436
+ ],
2437
+ [
2438
+ -0.7080039381980896,
2439
+ 0.17084771394729614,
2440
+ -0.6852313280105591,
2441
+ 3.359323740005493
2442
+ ],
2443
+ [
2444
+ -4.36994440633498e-08,
2445
+ -0.9702959060668945,
2446
+ -0.24192188680171967,
2447
+ 0.6186897158622742
2448
+ ],
2449
+ [
2450
+ 0.0,
2451
+ 0.0,
2452
+ 0.0,
2453
+ 1.0
2454
+ ]
2455
+ ],
2456
+ "intrinsics": {
2457
+ "fx": 416.0,
2458
+ "fy": 416.0,
2459
+ "cx": 415.5,
2460
+ "cy": 239.5
2461
+ }
2462
+ },
2463
+ {
2464
+ "frame_index": 70,
2465
+ "c2w": [
2466
+ [
2467
+ -0.6965931057929993,
2468
+ -0.17357072234153748,
2469
+ 0.6961545348167419,
2470
+ -1.724616289138794
2471
+ ],
2472
+ [
2473
+ -0.7174663543701172,
2474
+ 0.16852118074893951,
2475
+ -0.6759012937545776,
2476
+ 3.346261978149414
2477
+ ],
2478
+ [
2479
+ -1.2413083538831415e-07,
2480
+ -0.9702956676483154,
2481
+ -0.24192191660404205,
2482
+ 0.6186897158622742
2483
+ ],
2484
+ [
2485
+ 0.0,
2486
+ 0.0,
2487
+ 0.0,
2488
+ 1.0
2489
+ ]
2490
+ ],
2491
+ "intrinsics": {
2492
+ "fx": 416.0,
2493
+ "fy": 416.0,
2494
+ "cx": 415.5,
2495
+ "cy": 239.5
2496
+ }
2497
+ },
2498
+ {
2499
+ "frame_index": 71,
2500
+ "c2w": [
2501
+ [
2502
+ -0.6868510246276855,
2503
+ -0.1758282482624054,
2504
+ 0.7052093148231506,
2505
+ -1.737293004989624
2506
+ ],
2507
+ [
2508
+ -0.7267982959747314,
2509
+ 0.16616447269916534,
2510
+ -0.6664485335350037,
2511
+ 3.3330278396606445
2512
+ ],
2513
+ [
2514
+ -2.2144952538383222e-07,
2515
+ -0.970295786857605,
2516
+ -0.2419218271970749,
2517
+ 0.6186897158622742
2518
+ ],
2519
+ [
2520
+ 0.0,
2521
+ 0.0,
2522
+ 0.0,
2523
+ 1.0
2524
+ ]
2525
+ ],
2526
+ "intrinsics": {
2527
+ "fx": 416.0,
2528
+ "fy": 416.0,
2529
+ "cx": 415.5,
2530
+ "cy": 239.5
2531
+ }
2532
+ },
2533
+ {
2534
+ "frame_index": 72,
2535
+ "c2w": [
2536
+ [
2537
+ -0.6769838929176331,
2538
+ -0.1780540645122528,
2539
+ 0.7141357660293579,
2540
+ -1.7497899532318115
2541
+ ],
2542
+ [
2543
+ -0.7359980344772339,
2544
+ 0.16377753019332886,
2545
+ -0.656874418258667,
2546
+ 3.319624185562134
2547
+ ],
2548
+ [
2549
+ -1.7080076020192791e-07,
2550
+ -0.970295786857605,
2551
+ -0.2419220209121704,
2552
+ 0.6186897158622742
2553
+ ],
2554
+ [
2555
+ 0.0,
2556
+ 0.0,
2557
+ 0.0,
2558
+ 1.0
2559
+ ]
2560
+ ],
2561
+ "intrinsics": {
2562
+ "fx": 416.0,
2563
+ "fy": 416.0,
2564
+ "cx": 415.5,
2565
+ "cy": 239.5
2566
+ }
2567
+ },
2568
+ {
2569
+ "frame_index": 73,
2570
+ "c2w": [
2571
+ [
2572
+ -0.6669937372207642,
2573
+ -0.1802472472190857,
2574
+ 0.7229322195053101,
2575
+ -1.7621049880981445
2576
+ ],
2577
+ [
2578
+ -0.7450637817382812,
2579
+ 0.16136057674884796,
2580
+ -0.64718097448349,
2581
+ 3.3060529232025146
2582
+ ],
2583
+ [
2584
+ -2.0481103035763226e-08,
2585
+ -0.9702959656715393,
2586
+ -0.24192173779010773,
2587
+ 0.6186897158622742
2588
+ ],
2589
+ [
2590
+ 0.0,
2591
+ 0.0,
2592
+ 0.0,
2593
+ 1.0
2594
+ ]
2595
+ ],
2596
+ "intrinsics": {
2597
+ "fx": 416.0,
2598
+ "fy": 416.0,
2599
+ "cx": 415.5,
2600
+ "cy": 239.5
2601
+ }
2602
+ },
2603
+ {
2604
+ "frame_index": 74,
2605
+ "c2w": [
2606
+ [
2607
+ -0.6568820476531982,
2608
+ -0.18240761756896973,
2609
+ 0.7315973043441772,
2610
+ -1.7742358446121216
2611
+ ],
2612
+ [
2613
+ -0.7539941668510437,
2614
+ 0.15891462564468384,
2615
+ -0.6373694539070129,
2616
+ 3.2923169136047363
2617
+ ],
2618
+ [
2619
+ -2.0293472857702e-07,
2620
+ -0.9702960252761841,
2621
+ -0.24192170798778534,
2622
+ 0.6186897158622742
2623
+ ],
2624
+ [
2625
+ 0.0,
2626
+ 0.0,
2627
+ 0.0,
2628
+ 1.0
2629
+ ]
2630
+ ],
2631
+ "intrinsics": {
2632
+ "fx": 416.0,
2633
+ "fy": 416.0,
2634
+ "cx": 415.5,
2635
+ "cy": 239.5
2636
+ }
2637
+ },
2638
+ {
2639
+ "frame_index": 75,
2640
+ "c2w": [
2641
+ [
2642
+ -0.6466503143310547,
2643
+ -0.18453481793403625,
2644
+ 0.7401286959648132,
2645
+ -1.7861802577972412
2646
+ ],
2647
+ [
2648
+ -0.7627867460250854,
2649
+ 0.15643908083438873,
2650
+ -0.627441942691803,
2651
+ 3.27841854095459
2652
+ ],
2653
+ [
2654
+ -1.146132859730642e-07,
2655
+ -0.970295786857605,
2656
+ -0.24192193150520325,
2657
+ 0.6186897158622742
2658
+ ],
2659
+ [
2660
+ 0.0,
2661
+ 0.0,
2662
+ 0.0,
2663
+ 1.0
2664
+ ]
2665
+ ],
2666
+ "intrinsics": {
2667
+ "fx": 416.0,
2668
+ "fy": 416.0,
2669
+ "cx": 415.5,
2670
+ "cy": 239.5
2671
+ }
2672
+ },
2673
+ {
2674
+ "frame_index": 76,
2675
+ "c2w": [
2676
+ [
2677
+ -0.6363012194633484,
2678
+ -0.18662844598293304,
2679
+ 0.7485259175300598,
2680
+ -1.7979360818862915
2681
+ ],
2682
+ [
2683
+ -0.7714410424232483,
2684
+ 0.15393538773059845,
2685
+ -0.6174002289772034,
2686
+ 3.264360189437866
2687
+ ],
2688
+ [
2689
+ -6.428182786066827e-08,
2690
+ -0.9702959060668945,
2691
+ -0.2419217973947525,
2692
+ 0.6186897158622742
2693
+ ],
2694
+ [
2695
+ 0.0,
2696
+ 0.0,
2697
+ 0.0,
2698
+ 1.0
2699
+ ]
2700
+ ],
2701
+ "intrinsics": {
2702
+ "fx": 416.0,
2703
+ "fy": 416.0,
2704
+ "cx": 415.5,
2705
+ "cy": 239.5
2706
+ }
2707
+ },
2708
+ {
2709
+ "frame_index": 77,
2710
+ "c2w": [
2711
+ [
2712
+ -0.6258364319801331,
2713
+ -0.18868815898895264,
2714
+ 0.7567865252494812,
2715
+ -1.8095011711120605
2716
+ ],
2717
+ [
2718
+ -0.7799545526504517,
2719
+ 0.15140371024608612,
2720
+ -0.6072462797164917,
2721
+ 3.2501444816589355
2722
+ ],
2723
+ [
2724
+ -2.965637335705651e-08,
2725
+ -0.970295786857605,
2726
+ -0.24192193150520325,
2727
+ 0.6186897158622742
2728
+ ],
2729
+ [
2730
+ 0.0,
2731
+ 0.0,
2732
+ 0.0,
2733
+ 1.0
2734
+ ]
2735
+ ],
2736
+ "intrinsics": {
2737
+ "fx": 416.0,
2738
+ "fy": 416.0,
2739
+ "cx": 415.5,
2740
+ "cy": 239.5
2741
+ }
2742
+ },
2743
+ {
2744
+ "frame_index": 78,
2745
+ "c2w": [
2746
+ [
2747
+ -0.6152573823928833,
2748
+ -0.1907135546207428,
2749
+ 0.7649096250534058,
2750
+ -1.820873498916626
2751
+ ],
2752
+ [
2753
+ -0.7883263230323792,
2754
+ 0.14884407818317413,
2755
+ -0.5969816446304321,
2756
+ 3.235774278640747
2757
+ ],
2758
+ [
2759
+ 2.3041449992433627e-07,
2760
+ -0.9702957272529602,
2761
+ -0.24192191660404205,
2762
+ 0.6186897158622742
2763
+ ],
2764
+ [
2765
+ 0.0,
2766
+ 0.0,
2767
+ 0.0,
2768
+ 1.0
2769
+ ]
2770
+ ],
2771
+ "intrinsics": {
2772
+ "fx": 416.0,
2773
+ "fy": 416.0,
2774
+ "cx": 415.5,
2775
+ "cy": 239.5
2776
+ }
2777
+ },
2778
+ {
2779
+ "frame_index": 79,
2780
+ "c2w": [
2781
+ [
2782
+ -0.6045665144920349,
2783
+ -0.19270417094230652,
2784
+ 0.7728935480117798,
2785
+ -1.8320509195327759
2786
+ ],
2787
+ [
2788
+ -0.7965546250343323,
2789
+ 0.1462576985359192,
2790
+ -0.586608350276947,
2791
+ 3.2212517261505127
2792
+ ],
2793
+ [
2794
+ 2.4110730123538815e-07,
2795
+ -0.9702957272529602,
2796
+ -0.24192193150520325,
2797
+ 0.6186897158622742
2798
+ ],
2799
+ [
2800
+ 0.0,
2801
+ 0.0,
2802
+ 0.0,
2803
+ 1.0
2804
+ ]
2805
+ ],
2806
+ "intrinsics": {
2807
+ "fx": 416.0,
2808
+ "fy": 416.0,
2809
+ "cx": 415.5,
2810
+ "cy": 239.5
2811
+ }
2812
+ },
2813
+ {
2814
+ "frame_index": 80,
2815
+ "c2w": [
2816
+ [
2817
+ -0.5937660336494446,
2818
+ -0.19465965032577515,
2819
+ 0.7807366847991943,
2820
+ -1.843031406402588
2821
+ ],
2822
+ [
2823
+ -0.8046379089355469,
2824
+ 0.14364495873451233,
2825
+ -0.5761286020278931,
2826
+ 3.2065799236297607
2827
+ ],
2828
+ [
2829
+ 1.7706258859107038e-07,
2830
+ -0.9702958464622498,
2831
+ -0.24192184209823608,
2832
+ 0.6186897158622742
2833
+ ],
2834
+ [
2835
+ 0.0,
2836
+ 0.0,
2837
+ 0.0,
2838
+ 1.0
2839
+ ]
2840
+ ],
2841
+ "intrinsics": {
2842
+ "fx": 416.0,
2843
+ "fy": 416.0,
2844
+ "cx": 415.5,
2845
+ "cy": 239.5
2846
+ }
2847
+ }
2848
+ ]
2849
+ }
blenderobj_eval/target/scene_000019__traj000__slowmo/extras/temporal_mapping.json ADDED
@@ -0,0 +1,350 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pattern": "slowmo",
3
+ "original_pattern": "slowmo",
4
+ "trajectory": {
5
+ "dir": "traj000",
6
+ "index": 0,
7
+ "id": "T0",
8
+ "name": "low_elevation_arc"
9
+ },
10
+ "source_fps": 30,
11
+ "playback_fps": 30,
12
+ "time_stride": 0.5,
13
+ "source_cam_idx": [
14
+ 0,
15
+ 1,
16
+ 2,
17
+ 3,
18
+ 4,
19
+ 5,
20
+ 6,
21
+ 7,
22
+ 8,
23
+ 9,
24
+ 10,
25
+ 11,
26
+ 12,
27
+ 13,
28
+ 14,
29
+ 15,
30
+ 16,
31
+ 17,
32
+ 18,
33
+ 19,
34
+ 20,
35
+ 21,
36
+ 22,
37
+ 23,
38
+ 24,
39
+ 25,
40
+ 26,
41
+ 27,
42
+ 28,
43
+ 29,
44
+ 30,
45
+ 31,
46
+ 32,
47
+ 33,
48
+ 34,
49
+ 35,
50
+ 36,
51
+ 37,
52
+ 38,
53
+ 39,
54
+ 40,
55
+ 41,
56
+ 42,
57
+ 43,
58
+ 44,
59
+ 45,
60
+ 46,
61
+ 47,
62
+ 48,
63
+ 49,
64
+ 50,
65
+ 51,
66
+ 52,
67
+ 53,
68
+ 54,
69
+ 55,
70
+ 56,
71
+ 57,
72
+ 58,
73
+ 59,
74
+ 60,
75
+ 61,
76
+ 62,
77
+ 63,
78
+ 64,
79
+ 65,
80
+ 66,
81
+ 67,
82
+ 68,
83
+ 69,
84
+ 70,
85
+ 71,
86
+ 72,
87
+ 73,
88
+ 74,
89
+ 75,
90
+ 76,
91
+ 77,
92
+ 78,
93
+ 79,
94
+ 80
95
+ ],
96
+ "source_motion_frame": [
97
+ 0,
98
+ 0,
99
+ 1,
100
+ 1,
101
+ 2,
102
+ 2,
103
+ 3,
104
+ 3,
105
+ 4,
106
+ 4,
107
+ 5,
108
+ 5,
109
+ 6,
110
+ 6,
111
+ 7,
112
+ 7,
113
+ 8,
114
+ 8,
115
+ 9,
116
+ 9,
117
+ 10,
118
+ 10,
119
+ 11,
120
+ 11,
121
+ 12,
122
+ 12,
123
+ 13,
124
+ 13,
125
+ 14,
126
+ 14,
127
+ 15,
128
+ 15,
129
+ 16,
130
+ 16,
131
+ 17,
132
+ 17,
133
+ 18,
134
+ 18,
135
+ 19,
136
+ 19,
137
+ 20,
138
+ 20,
139
+ 21,
140
+ 21,
141
+ 22,
142
+ 22,
143
+ 23,
144
+ 23,
145
+ 24,
146
+ 24,
147
+ 25,
148
+ 25,
149
+ 26,
150
+ 26,
151
+ 27,
152
+ 27,
153
+ 28,
154
+ 28,
155
+ 29,
156
+ 29,
157
+ 30,
158
+ 30,
159
+ 31,
160
+ 31,
161
+ 32,
162
+ 32,
163
+ 33,
164
+ 33,
165
+ 34,
166
+ 34,
167
+ 35,
168
+ 35,
169
+ 36,
170
+ 36,
171
+ 37,
172
+ 37,
173
+ 38,
174
+ 38,
175
+ 39,
176
+ 39,
177
+ 40
178
+ ],
179
+ "timestamps_seconds": [
180
+ 0.0,
181
+ 0.0,
182
+ 0.033333333,
183
+ 0.033333333,
184
+ 0.066666667,
185
+ 0.066666667,
186
+ 0.1,
187
+ 0.1,
188
+ 0.133333333,
189
+ 0.133333333,
190
+ 0.166666667,
191
+ 0.166666667,
192
+ 0.2,
193
+ 0.2,
194
+ 0.233333333,
195
+ 0.233333333,
196
+ 0.266666667,
197
+ 0.266666667,
198
+ 0.3,
199
+ 0.3,
200
+ 0.333333333,
201
+ 0.333333333,
202
+ 0.366666667,
203
+ 0.366666667,
204
+ 0.4,
205
+ 0.4,
206
+ 0.433333333,
207
+ 0.433333333,
208
+ 0.466666667,
209
+ 0.466666667,
210
+ 0.5,
211
+ 0.5,
212
+ 0.533333333,
213
+ 0.533333333,
214
+ 0.566666667,
215
+ 0.566666667,
216
+ 0.6,
217
+ 0.6,
218
+ 0.633333333,
219
+ 0.633333333,
220
+ 0.666666667,
221
+ 0.666666667,
222
+ 0.7,
223
+ 0.7,
224
+ 0.733333333,
225
+ 0.733333333,
226
+ 0.766666667,
227
+ 0.766666667,
228
+ 0.8,
229
+ 0.8,
230
+ 0.833333333,
231
+ 0.833333333,
232
+ 0.866666667,
233
+ 0.866666667,
234
+ 0.9,
235
+ 0.9,
236
+ 0.933333333,
237
+ 0.933333333,
238
+ 0.966666667,
239
+ 0.966666667,
240
+ 1.0,
241
+ 1.0,
242
+ 1.033333333,
243
+ 1.033333333,
244
+ 1.066666667,
245
+ 1.066666667,
246
+ 1.1,
247
+ 1.1,
248
+ 1.133333333,
249
+ 1.133333333,
250
+ 1.166666667,
251
+ 1.166666667,
252
+ 1.2,
253
+ 1.2,
254
+ 1.233333333,
255
+ 1.233333333,
256
+ 1.266666667,
257
+ 1.266666667,
258
+ 1.3,
259
+ 1.3,
260
+ 1.333333333
261
+ ],
262
+ "playback_timestamps_seconds": [
263
+ 0.0,
264
+ 0.033333333,
265
+ 0.066666667,
266
+ 0.1,
267
+ 0.133333333,
268
+ 0.166666667,
269
+ 0.2,
270
+ 0.233333333,
271
+ 0.266666667,
272
+ 0.3,
273
+ 0.333333333,
274
+ 0.366666667,
275
+ 0.4,
276
+ 0.433333333,
277
+ 0.466666667,
278
+ 0.5,
279
+ 0.533333333,
280
+ 0.566666667,
281
+ 0.6,
282
+ 0.633333333,
283
+ 0.666666667,
284
+ 0.7,
285
+ 0.733333333,
286
+ 0.766666667,
287
+ 0.8,
288
+ 0.833333333,
289
+ 0.866666667,
290
+ 0.9,
291
+ 0.933333333,
292
+ 0.966666667,
293
+ 1.0,
294
+ 1.033333333,
295
+ 1.066666667,
296
+ 1.1,
297
+ 1.133333333,
298
+ 1.166666667,
299
+ 1.2,
300
+ 1.233333333,
301
+ 1.266666667,
302
+ 1.3,
303
+ 1.333333333,
304
+ 1.366666667,
305
+ 1.4,
306
+ 1.433333333,
307
+ 1.466666667,
308
+ 1.5,
309
+ 1.533333333,
310
+ 1.566666667,
311
+ 1.6,
312
+ 1.633333333,
313
+ 1.666666667,
314
+ 1.7,
315
+ 1.733333333,
316
+ 1.766666667,
317
+ 1.8,
318
+ 1.833333333,
319
+ 1.866666667,
320
+ 1.9,
321
+ 1.933333333,
322
+ 1.966666667,
323
+ 2.0,
324
+ 2.033333333,
325
+ 2.066666667,
326
+ 2.1,
327
+ 2.133333333,
328
+ 2.166666667,
329
+ 2.2,
330
+ 2.233333333,
331
+ 2.266666667,
332
+ 2.3,
333
+ 2.333333333,
334
+ 2.366666667,
335
+ 2.4,
336
+ 2.433333333,
337
+ 2.466666667,
338
+ 2.5,
339
+ 2.533333333,
340
+ 2.566666667,
341
+ 2.6,
342
+ 2.633333333,
343
+ 2.666666667
344
+ ],
345
+ "scene_time_range_seconds": [
346
+ 0.0,
347
+ 1.333333333
348
+ ],
349
+ "metric_reference": "extras/rgb_lossless.mkv"
350
+ }
blenderobj_eval/target/scene_000025__traj001__forward/extras/blender_meta.json ADDED
@@ -0,0 +1,376 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "format_version": "blender6d-eval-video-v1",
3
+ "scene_name": "scene_000025",
4
+ "trajectory_index": 1,
5
+ "trajectory_id": "T2",
6
+ "trajectory_name": "high_polar_arc",
7
+ "pattern": "forward",
8
+ "pattern_params": {
9
+ "kind": "time_forward",
10
+ "stride": 1,
11
+ "cam_start": 0,
12
+ "src_frame_range": [
13
+ 0,
14
+ 80
15
+ ]
16
+ },
17
+ "frame_count": 81,
18
+ "resolution": [
19
+ 832,
20
+ 480
21
+ ],
22
+ "resolution_order": "width_height",
23
+ "files": {
24
+ "preview": {
25
+ "file": "rgb.mp4",
26
+ "encoding": "libx264 crf17 yuv420p (lossy, \uc5b4\ub514\uc11c\ub098 \uc7ac\uc0dd)"
27
+ },
28
+ "lossless": {
29
+ "file": "rgb_lossless.mkv",
30
+ "encoding": "ffv1 level3 gbrp (bit-exact, \uc9c0\ud45c \uce21\uc815\uc6a9)"
31
+ }
32
+ },
33
+ "metric_reference": "rgb_lossless.mkv",
34
+ "source_fps": 30,
35
+ "playback_fps": 30,
36
+ "time_stride": 1,
37
+ "timestamps": [
38
+ 0.0,
39
+ 0.033333333,
40
+ 0.066666667,
41
+ 0.1,
42
+ 0.133333333,
43
+ 0.166666667,
44
+ 0.2,
45
+ 0.233333333,
46
+ 0.266666667,
47
+ 0.3,
48
+ 0.333333333,
49
+ 0.366666667,
50
+ 0.4,
51
+ 0.433333333,
52
+ 0.466666667,
53
+ 0.5,
54
+ 0.533333333,
55
+ 0.566666667,
56
+ 0.6,
57
+ 0.633333333,
58
+ 0.666666667,
59
+ 0.7,
60
+ 0.733333333,
61
+ 0.766666667,
62
+ 0.8,
63
+ 0.833333333,
64
+ 0.866666667,
65
+ 0.9,
66
+ 0.933333333,
67
+ 0.966666667,
68
+ 1.0,
69
+ 1.033333333,
70
+ 1.066666667,
71
+ 1.1,
72
+ 1.133333333,
73
+ 1.166666667,
74
+ 1.2,
75
+ 1.233333333,
76
+ 1.266666667,
77
+ 1.3,
78
+ 1.333333333,
79
+ 1.366666667,
80
+ 1.4,
81
+ 1.433333333,
82
+ 1.466666667,
83
+ 1.5,
84
+ 1.533333333,
85
+ 1.566666667,
86
+ 1.6,
87
+ 1.633333333,
88
+ 1.666666667,
89
+ 1.7,
90
+ 1.733333333,
91
+ 1.766666667,
92
+ 1.8,
93
+ 1.833333333,
94
+ 1.866666667,
95
+ 1.9,
96
+ 1.933333333,
97
+ 1.966666667,
98
+ 2.0,
99
+ 2.033333333,
100
+ 2.066666667,
101
+ 2.1,
102
+ 2.133333333,
103
+ 2.166666667,
104
+ 2.2,
105
+ 2.233333333,
106
+ 2.266666667,
107
+ 2.3,
108
+ 2.333333333,
109
+ 2.366666667,
110
+ 2.4,
111
+ 2.433333333,
112
+ 2.466666667,
113
+ 2.5,
114
+ 2.533333333,
115
+ 2.566666667,
116
+ 2.6,
117
+ 2.633333333,
118
+ 2.666666667
119
+ ],
120
+ "timestamp_range": [
121
+ 0.0,
122
+ 2.666666667
123
+ ],
124
+ "scene_time_span_seconds": 2.666666667,
125
+ "playback_timestamps": [
126
+ 0.0,
127
+ 0.033333333,
128
+ 0.066666667,
129
+ 0.1,
130
+ 0.133333333,
131
+ 0.166666667,
132
+ 0.2,
133
+ 0.233333333,
134
+ 0.266666667,
135
+ 0.3,
136
+ 0.333333333,
137
+ 0.366666667,
138
+ 0.4,
139
+ 0.433333333,
140
+ 0.466666667,
141
+ 0.5,
142
+ 0.533333333,
143
+ 0.566666667,
144
+ 0.6,
145
+ 0.633333333,
146
+ 0.666666667,
147
+ 0.7,
148
+ 0.733333333,
149
+ 0.766666667,
150
+ 0.8,
151
+ 0.833333333,
152
+ 0.866666667,
153
+ 0.9,
154
+ 0.933333333,
155
+ 0.966666667,
156
+ 1.0,
157
+ 1.033333333,
158
+ 1.066666667,
159
+ 1.1,
160
+ 1.133333333,
161
+ 1.166666667,
162
+ 1.2,
163
+ 1.233333333,
164
+ 1.266666667,
165
+ 1.3,
166
+ 1.333333333,
167
+ 1.366666667,
168
+ 1.4,
169
+ 1.433333333,
170
+ 1.466666667,
171
+ 1.5,
172
+ 1.533333333,
173
+ 1.566666667,
174
+ 1.6,
175
+ 1.633333333,
176
+ 1.666666667,
177
+ 1.7,
178
+ 1.733333333,
179
+ 1.766666667,
180
+ 1.8,
181
+ 1.833333333,
182
+ 1.866666667,
183
+ 1.9,
184
+ 1.933333333,
185
+ 1.966666667,
186
+ 2.0,
187
+ 2.033333333,
188
+ 2.066666667,
189
+ 2.1,
190
+ 2.133333333,
191
+ 2.166666667,
192
+ 2.2,
193
+ 2.233333333,
194
+ 2.266666667,
195
+ 2.3,
196
+ 2.333333333,
197
+ 2.366666667,
198
+ 2.4,
199
+ 2.433333333,
200
+ 2.466666667,
201
+ 2.5,
202
+ 2.533333333,
203
+ 2.566666667,
204
+ 2.6,
205
+ 2.633333333,
206
+ 2.666666667
207
+ ],
208
+ "playback_duration_seconds": 2.7,
209
+ "source_cam_index": [
210
+ 0,
211
+ 1,
212
+ 2,
213
+ 3,
214
+ 4,
215
+ 5,
216
+ 6,
217
+ 7,
218
+ 8,
219
+ 9,
220
+ 10,
221
+ 11,
222
+ 12,
223
+ 13,
224
+ 14,
225
+ 15,
226
+ 16,
227
+ 17,
228
+ 18,
229
+ 19,
230
+ 20,
231
+ 21,
232
+ 22,
233
+ 23,
234
+ 24,
235
+ 25,
236
+ 26,
237
+ 27,
238
+ 28,
239
+ 29,
240
+ 30,
241
+ 31,
242
+ 32,
243
+ 33,
244
+ 34,
245
+ 35,
246
+ 36,
247
+ 37,
248
+ 38,
249
+ 39,
250
+ 40,
251
+ 41,
252
+ 42,
253
+ 43,
254
+ 44,
255
+ 45,
256
+ 46,
257
+ 47,
258
+ 48,
259
+ 49,
260
+ 50,
261
+ 51,
262
+ 52,
263
+ 53,
264
+ 54,
265
+ 55,
266
+ 56,
267
+ 57,
268
+ 58,
269
+ 59,
270
+ 60,
271
+ 61,
272
+ 62,
273
+ 63,
274
+ 64,
275
+ 65,
276
+ 66,
277
+ 67,
278
+ 68,
279
+ 69,
280
+ 70,
281
+ 71,
282
+ 72,
283
+ 73,
284
+ 74,
285
+ 75,
286
+ 76,
287
+ 77,
288
+ 78,
289
+ 79,
290
+ 80
291
+ ],
292
+ "source_frame_index": [
293
+ 0,
294
+ 1,
295
+ 2,
296
+ 3,
297
+ 4,
298
+ 5,
299
+ 6,
300
+ 7,
301
+ 8,
302
+ 9,
303
+ 10,
304
+ 11,
305
+ 12,
306
+ 13,
307
+ 14,
308
+ 15,
309
+ 16,
310
+ 17,
311
+ 18,
312
+ 19,
313
+ 20,
314
+ 21,
315
+ 22,
316
+ 23,
317
+ 24,
318
+ 25,
319
+ 26,
320
+ 27,
321
+ 28,
322
+ 29,
323
+ 30,
324
+ 31,
325
+ 32,
326
+ 33,
327
+ 34,
328
+ 35,
329
+ 36,
330
+ 37,
331
+ 38,
332
+ 39,
333
+ 40,
334
+ 41,
335
+ 42,
336
+ 43,
337
+ 44,
338
+ 45,
339
+ 46,
340
+ 47,
341
+ 48,
342
+ 49,
343
+ 50,
344
+ 51,
345
+ 52,
346
+ 53,
347
+ 54,
348
+ 55,
349
+ 56,
350
+ 57,
351
+ 58,
352
+ 59,
353
+ 60,
354
+ 61,
355
+ 62,
356
+ 63,
357
+ 64,
358
+ 65,
359
+ 66,
360
+ 67,
361
+ 68,
362
+ 69,
363
+ 70,
364
+ 71,
365
+ 72,
366
+ 73,
367
+ 74,
368
+ 75,
369
+ 76,
370
+ 77,
371
+ 78,
372
+ 79,
373
+ 80
374
+ ],
375
+ "written_at": "2026-09-17T14:34:26"
376
+ }
blenderobj_eval/target/scene_000025__traj001__forward/extras/temporal_mapping.json ADDED
@@ -0,0 +1,350 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pattern": "forward",
3
+ "original_pattern": "forward",
4
+ "trajectory": {
5
+ "dir": "traj001",
6
+ "index": 1,
7
+ "id": "T2",
8
+ "name": "high_polar_arc"
9
+ },
10
+ "source_fps": 30,
11
+ "playback_fps": 30,
12
+ "time_stride": 1,
13
+ "source_cam_idx": [
14
+ 0,
15
+ 1,
16
+ 2,
17
+ 3,
18
+ 4,
19
+ 5,
20
+ 6,
21
+ 7,
22
+ 8,
23
+ 9,
24
+ 10,
25
+ 11,
26
+ 12,
27
+ 13,
28
+ 14,
29
+ 15,
30
+ 16,
31
+ 17,
32
+ 18,
33
+ 19,
34
+ 20,
35
+ 21,
36
+ 22,
37
+ 23,
38
+ 24,
39
+ 25,
40
+ 26,
41
+ 27,
42
+ 28,
43
+ 29,
44
+ 30,
45
+ 31,
46
+ 32,
47
+ 33,
48
+ 34,
49
+ 35,
50
+ 36,
51
+ 37,
52
+ 38,
53
+ 39,
54
+ 40,
55
+ 41,
56
+ 42,
57
+ 43,
58
+ 44,
59
+ 45,
60
+ 46,
61
+ 47,
62
+ 48,
63
+ 49,
64
+ 50,
65
+ 51,
66
+ 52,
67
+ 53,
68
+ 54,
69
+ 55,
70
+ 56,
71
+ 57,
72
+ 58,
73
+ 59,
74
+ 60,
75
+ 61,
76
+ 62,
77
+ 63,
78
+ 64,
79
+ 65,
80
+ 66,
81
+ 67,
82
+ 68,
83
+ 69,
84
+ 70,
85
+ 71,
86
+ 72,
87
+ 73,
88
+ 74,
89
+ 75,
90
+ 76,
91
+ 77,
92
+ 78,
93
+ 79,
94
+ 80
95
+ ],
96
+ "source_motion_frame": [
97
+ 0,
98
+ 1,
99
+ 2,
100
+ 3,
101
+ 4,
102
+ 5,
103
+ 6,
104
+ 7,
105
+ 8,
106
+ 9,
107
+ 10,
108
+ 11,
109
+ 12,
110
+ 13,
111
+ 14,
112
+ 15,
113
+ 16,
114
+ 17,
115
+ 18,
116
+ 19,
117
+ 20,
118
+ 21,
119
+ 22,
120
+ 23,
121
+ 24,
122
+ 25,
123
+ 26,
124
+ 27,
125
+ 28,
126
+ 29,
127
+ 30,
128
+ 31,
129
+ 32,
130
+ 33,
131
+ 34,
132
+ 35,
133
+ 36,
134
+ 37,
135
+ 38,
136
+ 39,
137
+ 40,
138
+ 41,
139
+ 42,
140
+ 43,
141
+ 44,
142
+ 45,
143
+ 46,
144
+ 47,
145
+ 48,
146
+ 49,
147
+ 50,
148
+ 51,
149
+ 52,
150
+ 53,
151
+ 54,
152
+ 55,
153
+ 56,
154
+ 57,
155
+ 58,
156
+ 59,
157
+ 60,
158
+ 61,
159
+ 62,
160
+ 63,
161
+ 64,
162
+ 65,
163
+ 66,
164
+ 67,
165
+ 68,
166
+ 69,
167
+ 70,
168
+ 71,
169
+ 72,
170
+ 73,
171
+ 74,
172
+ 75,
173
+ 76,
174
+ 77,
175
+ 78,
176
+ 79,
177
+ 80
178
+ ],
179
+ "timestamps_seconds": [
180
+ 0.0,
181
+ 0.033333333,
182
+ 0.066666667,
183
+ 0.1,
184
+ 0.133333333,
185
+ 0.166666667,
186
+ 0.2,
187
+ 0.233333333,
188
+ 0.266666667,
189
+ 0.3,
190
+ 0.333333333,
191
+ 0.366666667,
192
+ 0.4,
193
+ 0.433333333,
194
+ 0.466666667,
195
+ 0.5,
196
+ 0.533333333,
197
+ 0.566666667,
198
+ 0.6,
199
+ 0.633333333,
200
+ 0.666666667,
201
+ 0.7,
202
+ 0.733333333,
203
+ 0.766666667,
204
+ 0.8,
205
+ 0.833333333,
206
+ 0.866666667,
207
+ 0.9,
208
+ 0.933333333,
209
+ 0.966666667,
210
+ 1.0,
211
+ 1.033333333,
212
+ 1.066666667,
213
+ 1.1,
214
+ 1.133333333,
215
+ 1.166666667,
216
+ 1.2,
217
+ 1.233333333,
218
+ 1.266666667,
219
+ 1.3,
220
+ 1.333333333,
221
+ 1.366666667,
222
+ 1.4,
223
+ 1.433333333,
224
+ 1.466666667,
225
+ 1.5,
226
+ 1.533333333,
227
+ 1.566666667,
228
+ 1.6,
229
+ 1.633333333,
230
+ 1.666666667,
231
+ 1.7,
232
+ 1.733333333,
233
+ 1.766666667,
234
+ 1.8,
235
+ 1.833333333,
236
+ 1.866666667,
237
+ 1.9,
238
+ 1.933333333,
239
+ 1.966666667,
240
+ 2.0,
241
+ 2.033333333,
242
+ 2.066666667,
243
+ 2.1,
244
+ 2.133333333,
245
+ 2.166666667,
246
+ 2.2,
247
+ 2.233333333,
248
+ 2.266666667,
249
+ 2.3,
250
+ 2.333333333,
251
+ 2.366666667,
252
+ 2.4,
253
+ 2.433333333,
254
+ 2.466666667,
255
+ 2.5,
256
+ 2.533333333,
257
+ 2.566666667,
258
+ 2.6,
259
+ 2.633333333,
260
+ 2.666666667
261
+ ],
262
+ "playback_timestamps_seconds": [
263
+ 0.0,
264
+ 0.033333333,
265
+ 0.066666667,
266
+ 0.1,
267
+ 0.133333333,
268
+ 0.166666667,
269
+ 0.2,
270
+ 0.233333333,
271
+ 0.266666667,
272
+ 0.3,
273
+ 0.333333333,
274
+ 0.366666667,
275
+ 0.4,
276
+ 0.433333333,
277
+ 0.466666667,
278
+ 0.5,
279
+ 0.533333333,
280
+ 0.566666667,
281
+ 0.6,
282
+ 0.633333333,
283
+ 0.666666667,
284
+ 0.7,
285
+ 0.733333333,
286
+ 0.766666667,
287
+ 0.8,
288
+ 0.833333333,
289
+ 0.866666667,
290
+ 0.9,
291
+ 0.933333333,
292
+ 0.966666667,
293
+ 1.0,
294
+ 1.033333333,
295
+ 1.066666667,
296
+ 1.1,
297
+ 1.133333333,
298
+ 1.166666667,
299
+ 1.2,
300
+ 1.233333333,
301
+ 1.266666667,
302
+ 1.3,
303
+ 1.333333333,
304
+ 1.366666667,
305
+ 1.4,
306
+ 1.433333333,
307
+ 1.466666667,
308
+ 1.5,
309
+ 1.533333333,
310
+ 1.566666667,
311
+ 1.6,
312
+ 1.633333333,
313
+ 1.666666667,
314
+ 1.7,
315
+ 1.733333333,
316
+ 1.766666667,
317
+ 1.8,
318
+ 1.833333333,
319
+ 1.866666667,
320
+ 1.9,
321
+ 1.933333333,
322
+ 1.966666667,
323
+ 2.0,
324
+ 2.033333333,
325
+ 2.066666667,
326
+ 2.1,
327
+ 2.133333333,
328
+ 2.166666667,
329
+ 2.2,
330
+ 2.233333333,
331
+ 2.266666667,
332
+ 2.3,
333
+ 2.333333333,
334
+ 2.366666667,
335
+ 2.4,
336
+ 2.433333333,
337
+ 2.466666667,
338
+ 2.5,
339
+ 2.533333333,
340
+ 2.566666667,
341
+ 2.6,
342
+ 2.633333333,
343
+ 2.666666667
344
+ ],
345
+ "scene_time_range_seconds": [
346
+ 0.0,
347
+ 2.666666667
348
+ ],
349
+ "metric_reference": "extras/rgb_lossless.mkv"
350
+ }
blenderobj_eval/target/scene_000025__traj001__forward/extras/traj_caption.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ A high orbital camera move. The camera tracks along a smooth arc at a steep elevation of 58°, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). It looks down on the objects from well above them, so the shot reads as a near-overhead orbit in which the supporting surface fills much of the frame and the objects turn beneath the camera.
blenderobj_eval/target/scene_000028__traj001__bullettime_early/transforms.json ADDED
@@ -0,0 +1,2849 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "format_version": "1.0",
3
+ "camera_model": "opencv_pinhole",
4
+ "pose_type": "c2w",
5
+ "coordinate_system": "opencv",
6
+ "world_frame": "blender_right_handed_z_up_meters",
7
+ "image_hw": [
8
+ 480,
9
+ 832
10
+ ],
11
+ "num_frames": 81,
12
+ "frames": [
13
+ {
14
+ "frame_index": 0,
15
+ "c2w": [
16
+ [
17
+ 0.7200562357902527,
18
+ 0.588473916053772,
19
+ -0.36771926283836365,
20
+ 1.3388069868087769
21
+ ],
22
+ [
23
+ 0.6939156651496887,
24
+ -0.6106423139572144,
25
+ 0.3815716505050659,
26
+ 1.0517996549606323
27
+ ],
28
+ [
29
+ 5.1303672421454394e-08,
30
+ -0.5299192070960999,
31
+ -0.8480480909347534,
32
+ -1.0408624410629272
33
+ ],
34
+ [
35
+ 0.0,
36
+ 0.0,
37
+ 0.0,
38
+ 1.0
39
+ ]
40
+ ],
41
+ "intrinsics": {
42
+ "fx": 416.0,
43
+ "fy": 416.0,
44
+ "cx": 415.5,
45
+ "cy": 239.5
46
+ }
47
+ },
48
+ {
49
+ "frame_index": 1,
50
+ "c2w": [
51
+ [
52
+ 0.7026969790458679,
53
+ 0.6033770442008972,
54
+ -0.3770318925380707,
55
+ 1.3518445491790771
56
+ ],
57
+ [
58
+ 0.7114892601966858,
59
+ -0.5959208607673645,
60
+ 0.37237265706062317,
61
+ 1.0646783113479614
62
+ ],
63
+ [
64
+ -5.0733369505451265e-08,
65
+ -0.5299192667007446,
66
+ -0.8480480909347534,
67
+ -1.0408624410629272
68
+ ],
69
+ [
70
+ 0.0,
71
+ 0.0,
72
+ 0.0,
73
+ 1.0
74
+ ]
75
+ ],
76
+ "intrinsics": {
77
+ "fx": 416.0,
78
+ "fy": 416.0,
79
+ "cx": 415.5,
80
+ "cy": 239.5
81
+ }
82
+ },
83
+ {
84
+ "frame_index": 2,
85
+ "c2w": [
86
+ [
87
+ 0.6849089860916138,
88
+ 0.6179121732711792,
89
+ -0.38611435890197754,
90
+ 1.3645601272583008
91
+ ],
92
+ [
93
+ 0.7286286950111389,
94
+ -0.58083575963974,
95
+ 0.362946480512619,
96
+ 1.0778748989105225
97
+ ],
98
+ [
99
+ -2.0170562109456114e-08,
100
+ -0.5299192667007446,
101
+ -0.8480480909347534,
102
+ -1.0408624410629272
103
+ ],
104
+ [
105
+ 0.0,
106
+ 0.0,
107
+ 0.0,
108
+ 1.0
109
+ ]
110
+ ],
111
+ "intrinsics": {
112
+ "fx": 416.0,
113
+ "fy": 416.0,
114
+ "cx": 415.5,
115
+ "cy": 239.5
116
+ }
117
+ },
118
+ {
119
+ "frame_index": 3,
120
+ "c2w": [
121
+ [
122
+ 0.6667031049728394,
123
+ 0.6320700645446777,
124
+ -0.3949612081050873,
125
+ 1.3769457340240479
126
+ ],
127
+ [
128
+ 0.7453233599662781,
129
+ -0.5653963088989258,
130
+ 0.3532988131046295,
131
+ 1.0913816690444946
132
+ ],
133
+ [
134
+ -9.031117187419113e-09,
135
+ -0.5299192667007446,
136
+ -0.8480480909347534,
137
+ -1.0408624410629272
138
+ ],
139
+ [
140
+ 0.0,
141
+ 0.0,
142
+ 0.0,
143
+ 1.0
144
+ ]
145
+ ],
146
+ "intrinsics": {
147
+ "fx": 416.0,
148
+ "fy": 416.0,
149
+ "cx": 415.5,
150
+ "cy": 239.5
151
+ }
152
+ },
153
+ {
154
+ "frame_index": 4,
155
+ "c2w": [
156
+ [
157
+ 0.6480903625488281,
158
+ 0.6458423733711243,
159
+ -0.40356722474098206,
160
+ 1.3889939785003662
161
+ ],
162
+ [
163
+ 0.7615634799003601,
164
+ -0.5496118068695068,
165
+ 0.3434356153011322,
166
+ 1.1051901578903198
167
+ ],
168
+ [
169
+ -6.387992357304029e-08,
170
+ -0.5299193859100342,
171
+ -0.8480480313301086,
172
+ -1.0408624410629272
173
+ ],
174
+ [
175
+ 0.0,
176
+ 0.0,
177
+ 0.0,
178
+ 1.0
179
+ ]
180
+ ],
181
+ "intrinsics": {
182
+ "fx": 416.0,
183
+ "fy": 416.0,
184
+ "cx": 415.5,
185
+ "cy": 239.5
186
+ }
187
+ },
188
+ {
189
+ "frame_index": 5,
190
+ "c2w": [
191
+ [
192
+ 0.6290822625160217,
193
+ 0.6592206358909607,
194
+ -0.4119267463684082,
195
+ 1.4006974697113037
196
+ ],
197
+ [
198
+ 0.7773387432098389,
199
+ -0.5334920883178711,
200
+ 0.33336275815963745,
201
+ 1.119292140007019
202
+ ],
203
+ [
204
+ -6.401181451565208e-08,
205
+ -0.5299192070960999,
206
+ -0.8480481505393982,
207
+ -1.0408624410629272
208
+ ],
209
+ [
210
+ 0.0,
211
+ 0.0,
212
+ 0.0,
213
+ 1.0
214
+ ]
215
+ ],
216
+ "intrinsics": {
217
+ "fx": 416.0,
218
+ "fy": 416.0,
219
+ "cx": 415.5,
220
+ "cy": 239.5
221
+ }
222
+ },
223
+ {
224
+ "frame_index": 6,
225
+ "c2w": [
226
+ [
227
+ 0.6096901893615723,
228
+ 0.6721966862678528,
229
+ -0.42003509402275085,
230
+ 1.4120491743087769
231
+ ],
232
+ [
233
+ 0.7926398515701294,
234
+ -0.5170465707778931,
235
+ 0.32308658957481384,
236
+ 1.1336787939071655
237
+ ],
238
+ [
239
+ 1.3784802632699211e-08,
240
+ -0.5299192667007446,
241
+ -0.8480480909347534,
242
+ -1.0408624410629272
243
+ ],
244
+ [
245
+ 0.0,
246
+ 0.0,
247
+ 0.0,
248
+ 1.0
249
+ ]
250
+ ],
251
+ "intrinsics": {
252
+ "fx": 416.0,
253
+ "fy": 416.0,
254
+ "cx": 415.5,
255
+ "cy": 239.5
256
+ }
257
+ },
258
+ {
259
+ "frame_index": 7,
260
+ "c2w": [
261
+ [
262
+ 0.5899262428283691,
263
+ 0.6847624778747559,
264
+ -0.4278871417045593,
265
+ 1.4230419397354126
266
+ ],
267
+ [
268
+ 0.8074571490287781,
269
+ -0.5002858638763428,
270
+ 0.31261327862739563,
271
+ 1.148341417312622
272
+ ],
273
+ [
274
+ -5.916707124242748e-08,
275
+ -0.5299193263053894,
276
+ -0.8480480909347534,
277
+ -1.0408624410629272
278
+ ],
279
+ [
280
+ 0.0,
281
+ 0.0,
282
+ 0.0,
283
+ 1.0
284
+ ]
285
+ ],
286
+ "intrinsics": {
287
+ "fx": 416.0,
288
+ "fy": 416.0,
289
+ "cx": 415.5,
290
+ "cy": 239.5
291
+ }
292
+ },
293
+ {
294
+ "frame_index": 8,
295
+ "c2w": [
296
+ [
297
+ 0.5698021650314331,
298
+ 0.696910560131073,
299
+ -0.4354780614376068,
300
+ 1.4336692094802856
301
+ ],
302
+ [
303
+ 0.8217819333076477,
304
+ -0.4832196533679962,
305
+ 0.3019491732120514,
306
+ 1.163271188735962
307
+ ],
308
+ [
309
+ 3.2605012023623203e-09,
310
+ -0.5299193263053894,
311
+ -0.8480480909347534,
312
+ -1.0408624410629272
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ],
321
+ "intrinsics": {
322
+ "fx": 416.0,
323
+ "fy": 416.0,
324
+ "cx": 415.5,
325
+ "cy": 239.5
326
+ }
327
+ },
328
+ {
329
+ "frame_index": 9,
330
+ "c2w": [
331
+ [
332
+ 0.5493305921554565,
333
+ 0.7086333632469177,
334
+ -0.4428032338619232,
335
+ 1.4439245462417603
336
+ ],
337
+ [
338
+ 0.8356051445007324,
339
+ -0.4658587574958801,
340
+ 0.2911008596420288,
341
+ 1.1784588098526
342
+ ],
343
+ [
344
+ -1.9824945240998204e-08,
345
+ -0.5299192667007446,
346
+ -0.8480480909347534,
347
+ -1.0408624410629272
348
+ ],
349
+ [
350
+ 0.0,
351
+ 0.0,
352
+ 0.0,
353
+ 1.0
354
+ ]
355
+ ],
356
+ "intrinsics": {
357
+ "fx": 416.0,
358
+ "fy": 416.0,
359
+ "cx": 415.5,
360
+ "cy": 239.5
361
+ }
362
+ },
363
+ {
364
+ "frame_index": 10,
365
+ "c2w": [
366
+ [
367
+ 0.5285237431526184,
368
+ 0.7199237942695618,
369
+ -0.44985830783843994,
370
+ 1.4538016319274902
371
+ ],
372
+ [
373
+ 0.8489185571670532,
374
+ -0.4482135474681854,
375
+ 0.2800748944282532,
376
+ 1.1938951015472412
377
+ ],
378
+ [
379
+ -2.4386279662280685e-08,
380
+ -0.5299192667007446,
381
+ -0.8480480909347534,
382
+ -1.0408624410629272
383
+ ],
384
+ [
385
+ 0.0,
386
+ 0.0,
387
+ 0.0,
388
+ 1.0
389
+ ]
390
+ ],
391
+ "intrinsics": {
392
+ "fx": 416.0,
393
+ "fy": 416.0,
394
+ "cx": 415.5,
395
+ "cy": 239.5
396
+ }
397
+ },
398
+ {
399
+ "frame_index": 11,
400
+ "c2w": [
401
+ [
402
+ 0.5073944330215454,
403
+ 0.7307747602462769,
404
+ -0.45663881301879883,
405
+ 1.4632943868637085
406
+ ],
407
+ [
408
+ 0.8617138266563416,
409
+ -0.43029484152793884,
410
+ 0.2688780426979065,
411
+ 1.2095706462860107
412
+ ],
413
+ [
414
+ 2.9531630474366466e-08,
415
+ -0.5299192667007446,
416
+ -0.8480480909347534,
417
+ -1.0408624410629272
418
+ ],
419
+ [
420
+ 0.0,
421
+ 0.0,
422
+ 0.0,
423
+ 1.0
424
+ ]
425
+ ],
426
+ "intrinsics": {
427
+ "fx": 416.0,
428
+ "fy": 416.0,
429
+ "cx": 415.5,
430
+ "cy": 239.5
431
+ }
432
+ },
433
+ {
434
+ "frame_index": 12,
435
+ "c2w": [
436
+ [
437
+ 0.48595544695854187,
438
+ 0.7411801218986511,
439
+ -0.4631407558917999,
440
+ 1.472396969795227
441
+ ],
442
+ [
443
+ 0.87398362159729,
444
+ -0.41211357712745667,
445
+ 0.2575172185897827,
446
+ 1.2254759073257446
447
+ ],
448
+ [
449
+ 1.484875689072851e-08,
450
+ -0.5299193263053894,
451
+ -0.8480480909347534,
452
+ -1.0408624410629272
453
+ ],
454
+ [
455
+ 0.0,
456
+ 0.0,
457
+ 0.0,
458
+ 1.0
459
+ ]
460
+ ],
461
+ "intrinsics": {
462
+ "fx": 416.0,
463
+ "fy": 416.0,
464
+ "cx": 415.5,
465
+ "cy": 239.5
466
+ }
467
+ },
468
+ {
469
+ "frame_index": 13,
470
+ "c2w": [
471
+ [
472
+ 0.4642201364040375,
473
+ 0.7511329650878906,
474
+ -0.46935999393463135,
475
+ 1.4811040163040161
476
+ ],
477
+ [
478
+ 0.8857197761535645,
479
+ -0.39368101954460144,
480
+ 0.24599912762641907,
481
+ 1.2416012287139893
482
+ ],
483
+ [
484
+ -1.8593091510865634e-08,
485
+ -0.5299192070960999,
486
+ -0.8480480909347534,
487
+ -1.0408624410629272
488
+ ],
489
+ [
490
+ 0.0,
491
+ 0.0,
492
+ 0.0,
493
+ 1.0
494
+ ]
495
+ ],
496
+ "intrinsics": {
497
+ "fx": 416.0,
498
+ "fy": 416.0,
499
+ "cx": 415.5,
500
+ "cy": 239.5
501
+ }
502
+ },
503
+ {
504
+ "frame_index": 14,
505
+ "c2w": [
506
+ [
507
+ 0.4422013461589813,
508
+ 0.7606277465820312,
509
+ -0.47529295086860657,
510
+ 1.489410161972046
511
+ ],
512
+ [
513
+ 0.8969157934188843,
514
+ -0.3750079870223999,
515
+ 0.23433101177215576,
516
+ 1.2579365968704224
517
+ ],
518
+ [
519
+ 3.0468907397107614e-08,
520
+ -0.5299192667007446,
521
+ -0.8480480909347534,
522
+ -1.0408624410629272
523
+ ],
524
+ [
525
+ 0.0,
526
+ 0.0,
527
+ 0.0,
528
+ 1.0
529
+ ]
530
+ ],
531
+ "intrinsics": {
532
+ "fx": 416.0,
533
+ "fy": 416.0,
534
+ "cx": 415.5,
535
+ "cy": 239.5
536
+ }
537
+ },
538
+ {
539
+ "frame_index": 15,
540
+ "c2w": [
541
+ [
542
+ 0.41991281509399414,
543
+ 0.7696583271026611,
544
+ -0.48093587160110474,
545
+ 1.4973102807998657
546
+ ],
547
+ [
548
+ 0.9075644612312317,
549
+ -0.3561062514781952,
550
+ 0.22251993417739868,
551
+ 1.2744721174240112
552
+ ],
553
+ [
554
+ 5.4059626108937664e-08,
555
+ -0.5299192667007446,
556
+ -0.8480480909347534,
557
+ -1.0408624410629272
558
+ ],
559
+ [
560
+ 0.0,
561
+ 0.0,
562
+ 0.0,
563
+ 1.0
564
+ ]
565
+ ],
566
+ "intrinsics": {
567
+ "fx": 416.0,
568
+ "fy": 416.0,
569
+ "cx": 415.5,
570
+ "cy": 239.5
571
+ }
572
+ },
573
+ {
574
+ "frame_index": 16,
575
+ "c2w": [
576
+ [
577
+ 0.39736804366111755,
578
+ 0.7782192230224609,
579
+ -0.48628532886505127,
580
+ 1.504799485206604
581
+ ],
582
+ [
583
+ 0.917659342288971,
584
+ -0.3369872570037842,
585
+ 0.21057292819023132,
586
+ 1.2911977767944336
587
+ ],
588
+ [
589
+ -5.571355998768013e-08,
590
+ -0.5299192070960999,
591
+ -0.8480480909347534,
592
+ -1.0408624410629272
593
+ ],
594
+ [
595
+ 0.0,
596
+ 0.0,
597
+ 0.0,
598
+ 1.0
599
+ ]
600
+ ],
601
+ "intrinsics": {
602
+ "fx": 416.0,
603
+ "fy": 416.0,
604
+ "cx": 415.5,
605
+ "cy": 239.5
606
+ }
607
+ },
608
+ {
609
+ "frame_index": 17,
610
+ "c2w": [
611
+ [
612
+ 0.3745810389518738,
613
+ 0.7863051891326904,
614
+ -0.4913380742073059,
615
+ 1.5118733644485474
616
+ ],
617
+ [
618
+ 0.9271941184997559,
619
+ -0.3176628053188324,
620
+ 0.19849762320518494,
621
+ 1.308103322982788
622
+ ],
623
+ [
624
+ -9.28611143535818e-08,
625
+ -0.5299192667007446,
626
+ -0.8480480909347534,
627
+ -1.0408624410629272
628
+ ],
629
+ [
630
+ 0.0,
631
+ 0.0,
632
+ 0.0,
633
+ 1.0
634
+ ]
635
+ ],
636
+ "intrinsics": {
637
+ "fx": 416.0,
638
+ "fy": 416.0,
639
+ "cx": 415.5,
640
+ "cy": 239.5
641
+ }
642
+ },
643
+ {
644
+ "frame_index": 18,
645
+ "c2w": [
646
+ [
647
+ 0.3515651226043701,
648
+ 0.7939116358757019,
649
+ -0.4960910677909851,
650
+ 1.5185273885726929
651
+ ],
652
+ [
653
+ 0.9361634850502014,
654
+ -0.29814413189888,
655
+ 0.18630117177963257,
656
+ 1.3251783847808838
657
+ ],
658
+ [
659
+ -2.5472984832575207e-11,
660
+ -0.5299193263053894,
661
+ -0.8480480909347534,
662
+ -1.0408624410629272
663
+ ],
664
+ [
665
+ 0.0,
666
+ 0.0,
667
+ 0.0,
668
+ 1.0
669
+ ]
670
+ ],
671
+ "intrinsics": {
672
+ "fx": 416.0,
673
+ "fy": 416.0,
674
+ "cx": 415.5,
675
+ "cy": 239.5
676
+ }
677
+ },
678
+ {
679
+ "frame_index": 19,
680
+ "c2w": [
681
+ [
682
+ 0.32833483815193176,
683
+ 0.8010334968566895,
684
+ -0.5005413293838501,
685
+ 1.524757742881775
686
+ ],
687
+ [
688
+ 0.9445614218711853,
689
+ -0.27844372391700745,
690
+ 0.17399096488952637,
691
+ 1.3424125909805298
692
+ ],
693
+ [
694
+ -2.2389444964687755e-08,
695
+ -0.5299193263053894,
696
+ -0.8480480909347534,
697
+ -1.0408624410629272
698
+ ],
699
+ [
700
+ 0.0,
701
+ 0.0,
702
+ 0.0,
703
+ 1.0
704
+ ]
705
+ ],
706
+ "intrinsics": {
707
+ "fx": 416.0,
708
+ "fy": 416.0,
709
+ "cx": 415.5,
710
+ "cy": 239.5
711
+ }
712
+ },
713
+ {
714
+ "frame_index": 20,
715
+ "c2w": [
716
+ [
717
+ 0.3049042522907257,
718
+ 0.807666540145874,
719
+ -0.5046861171722412,
720
+ 1.5305604934692383
721
+ ],
722
+ [
723
+ 0.9523829817771912,
724
+ -0.2585734724998474,
725
+ 0.16157463192939758,
726
+ 1.3597954511642456
727
+ ],
728
+ [
729
+ -2.360565631853717e-10,
730
+ -0.5299192667007446,
731
+ -0.8480480909347534,
732
+ -1.0408624410629272
733
+ ],
734
+ [
735
+ 0.0,
736
+ 0.0,
737
+ 0.0,
738
+ 1.0
739
+ ]
740
+ ],
741
+ "intrinsics": {
742
+ "fx": 416.0,
743
+ "fy": 416.0,
744
+ "cx": 415.5,
745
+ "cy": 239.5
746
+ }
747
+ },
748
+ {
749
+ "frame_index": 21,
750
+ "c2w": [
751
+ [
752
+ 0.28128746151924133,
753
+ 0.8138070106506348,
754
+ -0.5085229873657227,
755
+ 1.535932183265686
756
+ ],
757
+ [
758
+ 0.9596236348152161,
759
+ -0.2385452687740326,
760
+ 0.1490597128868103,
761
+ 1.3773163557052612
762
+ ],
763
+ [
764
+ 3.2398741467432046e-08,
765
+ -0.5299192667007446,
766
+ -0.8480480909347534,
767
+ -1.0408624410629272
768
+ ],
769
+ [
770
+ 0.0,
771
+ 0.0,
772
+ 0.0,
773
+ 1.0
774
+ ]
775
+ ],
776
+ "intrinsics": {
777
+ "fx": 416.0,
778
+ "fy": 416.0,
779
+ "cx": 415.5,
780
+ "cy": 239.5
781
+ }
782
+ },
783
+ {
784
+ "frame_index": 22,
785
+ "c2w": [
786
+ [
787
+ 0.25749945640563965,
788
+ 0.8194505572319031,
789
+ -0.5120495557785034,
790
+ 1.5408693552017212
791
+ ],
792
+ [
793
+ 0.9662784337997437,
794
+ -0.2183719277381897,
795
+ 0.13645388185977936,
796
+ 1.394964575767517
797
+ ],
798
+ [
799
+ -6.140767894180499e-09,
800
+ -0.5299192070960999,
801
+ -0.8480480909347534,
802
+ -1.0408624410629272
803
+ ],
804
+ [
805
+ 0.0,
806
+ 0.0,
807
+ 0.0,
808
+ 1.0
809
+ ]
810
+ ],
811
+ "intrinsics": {
812
+ "fx": 416.0,
813
+ "fy": 416.0,
814
+ "cx": 415.5,
815
+ "cy": 239.5
816
+ }
817
+ },
818
+ {
819
+ "frame_index": 23,
820
+ "c2w": [
821
+ [
822
+ 0.23355375230312347,
823
+ 0.8245944976806641,
824
+ -0.5152637958526611,
825
+ 1.545369267463684
826
+ ],
827
+ [
828
+ 0.9723440408706665,
829
+ -0.19806478917598724,
830
+ 0.12376472353935242,
831
+ 1.4127293825149536
832
+ ],
833
+ [
834
+ 2.2566936763723788e-08,
835
+ -0.5299193263053894,
836
+ -0.8480480909347534,
837
+ -1.0408624410629272
838
+ ],
839
+ [
840
+ 0.0,
841
+ 0.0,
842
+ 0.0,
843
+ 1.0
844
+ ]
845
+ ],
846
+ "intrinsics": {
847
+ "fx": 416.0,
848
+ "fy": 416.0,
849
+ "cx": 415.5,
850
+ "cy": 239.5
851
+ }
852
+ },
853
+ {
854
+ "frame_index": 24,
855
+ "c2w": [
856
+ [
857
+ 0.20946598052978516,
858
+ 0.8292349576950073,
859
+ -0.5181635618209839,
860
+ 1.549428939819336
861
+ ],
862
+ [
863
+ 0.9778159856796265,
864
+ -0.17763720452785492,
865
+ 0.11100011318922043,
866
+ 1.4305998086929321
867
+ ],
868
+ [
869
+ 1.5046182966216293e-08,
870
+ -0.5299193263053894,
871
+ -0.8480480909347534,
872
+ -1.0408624410629272
873
+ ],
874
+ [
875
+ 0.0,
876
+ 0.0,
877
+ 0.0,
878
+ 1.0
879
+ ]
880
+ ],
881
+ "intrinsics": {
882
+ "fx": 416.0,
883
+ "fy": 416.0,
884
+ "cx": 415.5,
885
+ "cy": 239.5
886
+ }
887
+ },
888
+ {
889
+ "frame_index": 25,
890
+ "c2w": [
891
+ [
892
+ 0.18525029718875885,
893
+ 0.8333695530891418,
894
+ -0.5207470655441284,
895
+ 1.5530458688735962
896
+ ],
897
+ [
898
+ 0.9826914072036743,
899
+ -0.15710119903087616,
900
+ 0.09816763550043106,
901
+ 1.4485652446746826
902
+ ],
903
+ [
904
+ -8.039155829919764e-08,
905
+ -0.5299192070960999,
906
+ -0.8480481505393982,
907
+ -1.0408624410629272
908
+ ],
909
+ [
910
+ 0.0,
911
+ 0.0,
912
+ 0.0,
913
+ 1.0
914
+ ]
915
+ ],
916
+ "intrinsics": {
917
+ "fx": 416.0,
918
+ "fy": 416.0,
919
+ "cx": 415.5,
920
+ "cy": 239.5
921
+ }
922
+ },
923
+ {
924
+ "frame_index": 26,
925
+ "c2w": [
926
+ [
927
+ 0.1609213948249817,
928
+ 0.8369956612586975,
929
+ -0.5230129361152649,
930
+ 1.556218147277832
931
+ ],
932
+ [
933
+ 0.9869672060012817,
934
+ -0.13646908104419708,
935
+ 0.08527535945177078,
936
+ 1.4666143655776978
937
+ ],
938
+ [
939
+ 1.4143724413884229e-08,
940
+ -0.5299192667007446,
941
+ -0.8480480909347534,
942
+ -1.0408624410629272
943
+ ],
944
+ [
945
+ 0.0,
946
+ 0.0,
947
+ 0.0,
948
+ 1.0
949
+ ]
950
+ ],
951
+ "intrinsics": {
952
+ "fx": 416.0,
953
+ "fy": 416.0,
954
+ "cx": 415.5,
955
+ "cy": 239.5
956
+ }
957
+ },
958
+ {
959
+ "frame_index": 27,
960
+ "c2w": [
961
+ [
962
+ 0.13649454712867737,
963
+ 0.8401110768318176,
964
+ -0.5249596238136292,
965
+ 1.558943510055542
966
+ ],
967
+ [
968
+ 0.9906408190727234,
969
+ -0.1157539039850235,
970
+ 0.07233113795518875,
971
+ 1.484736442565918
972
+ ],
973
+ [
974
+ 6.835766441781743e-08,
975
+ -0.5299192667007446,
976
+ -0.8480480909347534,
977
+ -1.0408624410629272
978
+ ],
979
+ [
980
+ 0.0,
981
+ 0.0,
982
+ 0.0,
983
+ 1.0
984
+ ]
985
+ ],
986
+ "intrinsics": {
987
+ "fx": 416.0,
988
+ "fy": 416.0,
989
+ "cx": 415.5,
990
+ "cy": 239.5
991
+ }
992
+ },
993
+ {
994
+ "frame_index": 28,
995
+ "c2w": [
996
+ [
997
+ 0.11198428273200989,
998
+ 0.8427138924598694,
999
+ -0.52658611536026,
1000
+ 1.5612205266952515
1001
+ ],
1002
+ [
1003
+ 0.9937100410461426,
1004
+ -0.09496807307004929,
1005
+ 0.059342626482248306,
1006
+ 1.5029202699661255
1007
+ ],
1008
+ [
1009
+ -3.8086497511358175e-08,
1010
+ -0.5299192667007446,
1011
+ -0.8480480909347534,
1012
+ -1.0408624410629272
1013
+ ],
1014
+ [
1015
+ 0.0,
1016
+ 0.0,
1017
+ 0.0,
1018
+ 1.0
1019
+ ]
1020
+ ],
1021
+ "intrinsics": {
1022
+ "fx": 416.0,
1023
+ "fy": 416.0,
1024
+ "cx": 415.5,
1025
+ "cy": 239.5
1026
+ }
1027
+ },
1028
+ {
1029
+ "frame_index": 29,
1030
+ "c2w": [
1031
+ [
1032
+ 0.08740568161010742,
1033
+ 0.8448025584220886,
1034
+ -0.5278911590576172,
1035
+ 1.5630476474761963
1036
+ ],
1037
+ [
1038
+ 0.9961728453636169,
1039
+ -0.07412423938512802,
1040
+ 0.04631795361638069,
1041
+ 1.521154761314392
1042
+ ],
1043
+ [
1044
+ -4.452262913900995e-08,
1045
+ -0.5299192667007446,
1046
+ -0.8480481505393982,
1047
+ -1.0408624410629272
1048
+ ],
1049
+ [
1050
+ 0.0,
1051
+ 0.0,
1052
+ 0.0,
1053
+ 1.0
1054
+ ]
1055
+ ],
1056
+ "intrinsics": {
1057
+ "fx": 416.0,
1058
+ "fy": 416.0,
1059
+ "cx": 415.5,
1060
+ "cy": 239.5
1061
+ }
1062
+ },
1063
+ {
1064
+ "frame_index": 30,
1065
+ "c2w": [
1066
+ [
1067
+ 0.06277407705783844,
1068
+ 0.8463755249977112,
1069
+ -0.5288741588592529,
1070
+ 1.5644237995147705
1071
+ ],
1072
+ [
1073
+ 0.9980277419090271,
1074
+ -0.05323544144630432,
1075
+ 0.033265188336372375,
1076
+ 1.5394288301467896
1077
+ ],
1078
+ [
1079
+ 3.6644021150777917e-09,
1080
+ -0.5299192667007446,
1081
+ -0.8480480909347534,
1082
+ -1.0408624410629272
1083
+ ],
1084
+ [
1085
+ 0.0,
1086
+ 0.0,
1087
+ 0.0,
1088
+ 1.0
1089
+ ]
1090
+ ],
1091
+ "intrinsics": {
1092
+ "fx": 416.0,
1093
+ "fy": 416.0,
1094
+ "cx": 415.5,
1095
+ "cy": 239.5
1096
+ }
1097
+ },
1098
+ {
1099
+ "frame_index": 31,
1100
+ "c2w": [
1101
+ [
1102
+ 0.038103826344013214,
1103
+ 0.8474321961402893,
1104
+ -0.5295344591140747,
1105
+ 1.5653481483459473
1106
+ ],
1107
+ [
1108
+ 0.9992737770080566,
1109
+ -0.03231387585401535,
1110
+ 0.020191943272948265,
1111
+ 1.5577312707901
1112
+ ],
1113
+ [
1114
+ 4.314133050797864e-09,
1115
+ -0.5299192667007446,
1116
+ -0.8480480909347534,
1117
+ -1.0408624410629272
1118
+ ],
1119
+ [
1120
+ 0.0,
1121
+ 0.0,
1122
+ 0.0,
1123
+ 1.0
1124
+ ]
1125
+ ],
1126
+ "intrinsics": {
1127
+ "fx": 416.0,
1128
+ "fy": 416.0,
1129
+ "cx": 415.5,
1130
+ "cy": 239.5
1131
+ }
1132
+ },
1133
+ {
1134
+ "frame_index": 32,
1135
+ "c2w": [
1136
+ [
1137
+ 0.013410456478595734,
1138
+ 0.8479717969894409,
1139
+ -0.5298715829849243,
1140
+ 1.5658202171325684
1141
+ ],
1142
+ [
1143
+ 0.9999099969863892,
1144
+ -0.011372744105756283,
1145
+ 0.007106390316039324,
1146
+ 1.576051115989685
1147
+ ],
1148
+ [
1149
+ -4.429857369814272e-08,
1150
+ -0.5299192667007446,
1151
+ -0.8480480909347534,
1152
+ -1.0408624410629272
1153
+ ],
1154
+ [
1155
+ 0.0,
1156
+ 0.0,
1157
+ 0.0,
1158
+ 1.0
1159
+ ]
1160
+ ],
1161
+ "intrinsics": {
1162
+ "fx": 416.0,
1163
+ "fy": 416.0,
1164
+ "cx": 415.5,
1165
+ "cy": 239.5
1166
+ }
1167
+ },
1168
+ {
1169
+ "frame_index": 33,
1170
+ "c2w": [
1171
+ [
1172
+ -0.011291230097413063,
1173
+ 0.8479939699172974,
1174
+ -0.529885470867157,
1175
+ 1.5658396482467651
1176
+ ],
1177
+ [
1178
+ 0.9999361634254456,
1179
+ 0.009575506672263145,
1180
+ -0.0059834616258740425,
1181
+ 1.5943769216537476
1182
+ ],
1183
+ [
1184
+ 2.2064741145300104e-08,
1185
+ -0.5299192667007446,
1186
+ -0.8480480909347534,
1187
+ -1.0408624410629272
1188
+ ],
1189
+ [
1190
+ 0.0,
1191
+ 0.0,
1192
+ 0.0,
1193
+ 1.0
1194
+ ]
1195
+ ],
1196
+ "intrinsics": {
1197
+ "fx": 416.0,
1198
+ "fy": 416.0,
1199
+ "cx": 415.5,
1200
+ "cy": 239.5
1201
+ }
1202
+ },
1203
+ {
1204
+ "frame_index": 34,
1205
+ "c2w": [
1206
+ [
1207
+ -0.03598611429333687,
1208
+ 0.8474988341331482,
1209
+ -0.5295760035514832,
1210
+ 1.5654064416885376
1211
+ ],
1212
+ [
1213
+ 0.9993522763252258,
1214
+ 0.03051793947815895,
1215
+ -0.019069766625761986,
1216
+ 1.6126976013183594
1217
+ ],
1218
+ [
1219
+ -3.271890847145187e-08,
1220
+ -0.5299192667007446,
1221
+ -0.8480480909347534,
1222
+ -1.0408624410629272
1223
+ ],
1224
+ [
1225
+ 0.0,
1226
+ 0.0,
1227
+ 0.0,
1228
+ 1.0
1229
+ ]
1230
+ ],
1231
+ "intrinsics": {
1232
+ "fx": 416.0,
1233
+ "fy": 416.0,
1234
+ "cx": 415.5,
1235
+ "cy": 239.5
1236
+ }
1237
+ },
1238
+ {
1239
+ "frame_index": 35,
1240
+ "c2w": [
1241
+ [
1242
+ -0.060658808797597885,
1243
+ 0.846486508846283,
1244
+ -0.5289434790611267,
1245
+ 1.5645208358764648
1246
+ ],
1247
+ [
1248
+ 0.9981586337089539,
1249
+ 0.05144156143069267,
1250
+ -0.032144296914339066,
1251
+ 1.6310019493103027
1252
+ ],
1253
+ [
1254
+ -5.8097459287864694e-08,
1255
+ -0.5299192667007446,
1256
+ -0.8480480909347534,
1257
+ -1.0408624410629272
1258
+ ],
1259
+ [
1260
+ 0.0,
1261
+ 0.0,
1262
+ 0.0,
1263
+ 1.0
1264
+ ]
1265
+ ],
1266
+ "intrinsics": {
1267
+ "fx": 416.0,
1268
+ "fy": 416.0,
1269
+ "cx": 415.5,
1270
+ "cy": 239.5
1271
+ }
1272
+ },
1273
+ {
1274
+ "frame_index": 36,
1275
+ "c2w": [
1276
+ [
1277
+ -0.08529461175203323,
1278
+ 0.8449575901031494,
1279
+ -0.5279881358146667,
1280
+ 1.563183307647705
1281
+ ],
1282
+ [
1283
+ 0.9963557720184326,
1284
+ 0.07233389467000961,
1285
+ -0.04519931226968765,
1286
+ 1.649278998374939
1287
+ ],
1288
+ [
1289
+ -6.330416368882652e-08,
1290
+ -0.5299193263053894,
1291
+ -0.8480480909347534,
1292
+ -1.0408624410629272
1293
+ ],
1294
+ [
1295
+ 0.0,
1296
+ 0.0,
1297
+ 0.0,
1298
+ 1.0
1299
+ ]
1300
+ ],
1301
+ "intrinsics": {
1302
+ "fx": 416.0,
1303
+ "fy": 416.0,
1304
+ "cx": 415.5,
1305
+ "cy": 239.5
1306
+ }
1307
+ },
1308
+ {
1309
+ "frame_index": 37,
1310
+ "c2w": [
1311
+ [
1312
+ -0.10987821966409683,
1313
+ 0.8429132103919983,
1314
+ -0.5267106294631958,
1315
+ 1.5613949298858643
1316
+ ],
1317
+ [
1318
+ 0.9939450621604919,
1319
+ 0.09318195283412933,
1320
+ -0.058226678520441055,
1321
+ 1.6675173044204712
1322
+ ],
1323
+ [
1324
+ -1.1721442660928005e-07,
1325
+ -0.5299192667007446,
1326
+ -0.8480480909347534,
1327
+ -1.0408624410629272
1328
+ ],
1329
+ [
1330
+ 0.0,
1331
+ 0.0,
1332
+ 0.0,
1333
+ 1.0
1334
+ ]
1335
+ ],
1336
+ "intrinsics": {
1337
+ "fx": 416.0,
1338
+ "fy": 416.0,
1339
+ "cx": 415.5,
1340
+ "cy": 239.5
1341
+ }
1342
+ },
1343
+ {
1344
+ "frame_index": 38,
1345
+ "c2w": [
1346
+ [
1347
+ -0.13439489901065826,
1348
+ 0.8403544425964355,
1349
+ -0.525111734867096,
1350
+ 1.5591564178466797
1351
+ ],
1352
+ [
1353
+ 0.9909278154373169,
1354
+ 0.11397329717874527,
1355
+ -0.07121852040290833,
1356
+ 1.6857059001922607
1357
+ ],
1358
+ [
1359
+ -6.424119902703751e-08,
1360
+ -0.5299192070960999,
1361
+ -0.8480480909347534,
1362
+ -1.0408624410629272
1363
+ ],
1364
+ [
1365
+ 0.0,
1366
+ 0.0,
1367
+ 0.0,
1368
+ 1.0
1369
+ ]
1370
+ ],
1371
+ "intrinsics": {
1372
+ "fx": 416.0,
1373
+ "fy": 416.0,
1374
+ "cx": 415.5,
1375
+ "cy": 239.5
1376
+ }
1377
+ },
1378
+ {
1379
+ "frame_index": 39,
1380
+ "c2w": [
1381
+ [
1382
+ -0.1588297188282013,
1383
+ 0.8372830152511597,
1384
+ -0.5231924653053284,
1385
+ 1.556469440460205
1386
+ ],
1387
+ [
1388
+ 0.9873059988021851,
1389
+ 0.13469524681568146,
1390
+ -0.08416693657636642,
1391
+ 1.7038336992263794
1392
+ ],
1393
+ [
1394
+ -1.9494406089393124e-08,
1395
+ -0.5299192667007446,
1396
+ -0.8480480909347534,
1397
+ -1.0408624410629272
1398
+ ],
1399
+ [
1400
+ 0.0,
1401
+ 0.0,
1402
+ 0.0,
1403
+ 1.0
1404
+ ]
1405
+ ],
1406
+ "intrinsics": {
1407
+ "fx": 416.0,
1408
+ "fy": 416.0,
1409
+ "cx": 415.5,
1410
+ "cy": 239.5
1411
+ }
1412
+ },
1413
+ {
1414
+ "frame_index": 40,
1415
+ "c2w": [
1416
+ [
1417
+ -0.1831674426794052,
1418
+ 0.8337005972862244,
1419
+ -0.5209540128707886,
1420
+ 1.5533355474472046
1421
+ ],
1422
+ [
1423
+ 0.9830817580223083,
1424
+ 0.15533478558063507,
1425
+ -0.09706398099660873,
1426
+ 1.7218894958496094
1427
+ ],
1428
+ [
1429
+ -2.8505795057753858e-08,
1430
+ -0.5299193263053894,
1431
+ -0.8480480909347534,
1432
+ -1.0408624410629272
1433
+ ],
1434
+ [
1435
+ 0.0,
1436
+ 0.0,
1437
+ 0.0,
1438
+ 1.0
1439
+ ]
1440
+ ],
1441
+ "intrinsics": {
1442
+ "fx": 416.0,
1443
+ "fy": 416.0,
1444
+ "cx": 415.5,
1445
+ "cy": 239.5
1446
+ }
1447
+ },
1448
+ {
1449
+ "frame_index": 41,
1450
+ "c2w": [
1451
+ [
1452
+ -0.2073935717344284,
1453
+ 0.8296096324920654,
1454
+ -0.5183975696563721,
1455
+ 1.5497565269470215
1456
+ ],
1457
+ [
1458
+ 0.9782577157020569,
1459
+ 0.17587973177433014,
1460
+ -0.1099018082022667,
1461
+ 1.7398624420166016
1462
+ ],
1463
+ [
1464
+ -2.8141382557578254e-08,
1465
+ -0.5299193263053894,
1466
+ -0.8480480909347534,
1467
+ -1.0408624410629272
1468
+ ],
1469
+ [
1470
+ 0.0,
1471
+ 0.0,
1472
+ 0.0,
1473
+ 1.0
1474
+ ]
1475
+ ],
1476
+ "intrinsics": {
1477
+ "fx": 416.0,
1478
+ "fy": 416.0,
1479
+ "cx": 415.5,
1480
+ "cy": 239.5
1481
+ }
1482
+ },
1483
+ {
1484
+ "frame_index": 42,
1485
+ "c2w": [
1486
+ [
1487
+ -0.23149290680885315,
1488
+ 0.82501220703125,
1489
+ -0.5155248641967773,
1490
+ 1.5457347631454468
1491
+ ],
1492
+ [
1493
+ 0.9728366136550903,
1494
+ 0.19631712138652802,
1495
+ -0.12267255783081055,
1496
+ 1.7577415704727173
1497
+ ],
1498
+ [
1499
+ -4.784055818163324e-09,
1500
+ -0.5299192667007446,
1501
+ -0.8480480909347534,
1502
+ -1.0408624410629272
1503
+ ],
1504
+ [
1505
+ 0.0,
1506
+ 0.0,
1507
+ 0.0,
1508
+ 1.0
1509
+ ]
1510
+ ],
1511
+ "intrinsics": {
1512
+ "fx": 416.0,
1513
+ "fy": 416.0,
1514
+ "cx": 415.5,
1515
+ "cy": 239.5
1516
+ }
1517
+ },
1518
+ {
1519
+ "frame_index": 43,
1520
+ "c2w": [
1521
+ [
1522
+ -0.25545090436935425,
1523
+ 0.8199114799499512,
1524
+ -0.5123375654220581,
1525
+ 1.5412726402282715
1526
+ ],
1527
+ [
1528
+ 0.9668219089508057,
1529
+ 0.216634601354599,
1530
+ -0.1353684812784195,
1531
+ 1.7755157947540283
1532
+ ],
1533
+ [
1534
+ -8.071049251157092e-08,
1535
+ -0.5299192070960999,
1536
+ -0.8480480909347534,
1537
+ -1.0408624410629272
1538
+ ],
1539
+ [
1540
+ 0.0,
1541
+ 0.0,
1542
+ 0.0,
1543
+ 1.0
1544
+ ]
1545
+ ],
1546
+ "intrinsics": {
1547
+ "fx": 416.0,
1548
+ "fy": 416.0,
1549
+ "cx": 415.5,
1550
+ "cy": 239.5
1551
+ }
1552
+ },
1553
+ {
1554
+ "frame_index": 44,
1555
+ "c2w": [
1556
+ [
1557
+ -0.27925342321395874,
1558
+ 0.8143105506896973,
1559
+ -0.5088376402854919,
1560
+ 1.5363727807998657
1561
+ ],
1562
+ [
1563
+ 0.9602173566818237,
1564
+ 0.2368203103542328,
1565
+ -0.14798179268836975,
1566
+ 1.7931745052337646
1567
+ ],
1568
+ [
1569
+ -1.5581761658722826e-08,
1570
+ -0.5299191474914551,
1571
+ -0.8480481505393982,
1572
+ -1.0408624410629272
1573
+ ],
1574
+ [
1575
+ 0.0,
1576
+ 0.0,
1577
+ 0.0,
1578
+ 1.0
1579
+ ]
1580
+ ],
1581
+ "intrinsics": {
1582
+ "fx": 416.0,
1583
+ "fy": 416.0,
1584
+ "cx": 415.5,
1585
+ "cy": 239.5
1586
+ }
1587
+ },
1588
+ {
1589
+ "frame_index": 45,
1590
+ "c2w": [
1591
+ [
1592
+ -0.3028853237628937,
1593
+ 0.8082125782966614,
1594
+ -0.5050272345542908,
1595
+ 1.5310382843017578
1596
+ ],
1597
+ [
1598
+ 0.9530268311500549,
1599
+ 0.25686126947402954,
1600
+ -0.16050487756729126,
1601
+ 1.8107067346572876
1602
+ ],
1603
+ [
1604
+ -5.88463109352233e-08,
1605
+ -0.5299192070960999,
1606
+ -0.8480481505393982,
1607
+ -1.0408624410629272
1608
+ ],
1609
+ [
1610
+ 0.0,
1611
+ 0.0,
1612
+ 0.0,
1613
+ 1.0
1614
+ ]
1615
+ ],
1616
+ "intrinsics": {
1617
+ "fx": 416.0,
1618
+ "fy": 416.0,
1619
+ "cx": 415.5,
1620
+ "cy": 239.5
1621
+ }
1622
+ },
1623
+ {
1624
+ "frame_index": 46,
1625
+ "c2w": [
1626
+ [
1627
+ -0.3263325095176697,
1628
+ 0.8016217947006226,
1629
+ -0.5009088516235352,
1630
+ 1.5252723693847656
1631
+ ],
1632
+ [
1633
+ 0.9452551007270813,
1634
+ 0.27674564719200134,
1635
+ -0.17292989790439606,
1636
+ 1.8281018733978271
1637
+ ],
1638
+ [
1639
+ -4.381105256356932e-08,
1640
+ -0.5299192667007446,
1641
+ -0.8480480909347534,
1642
+ -1.0408624410629272
1643
+ ],
1644
+ [
1645
+ 0.0,
1646
+ 0.0,
1647
+ 0.0,
1648
+ 1.0
1649
+ ]
1650
+ ],
1651
+ "intrinsics": {
1652
+ "fx": 416.0,
1653
+ "fy": 416.0,
1654
+ "cx": 415.5,
1655
+ "cy": 239.5
1656
+ }
1657
+ },
1658
+ {
1659
+ "frame_index": 47,
1660
+ "c2w": [
1661
+ [
1662
+ -0.34958067536354065,
1663
+ 0.7945416569709778,
1664
+ -0.4964846968650818,
1665
+ 1.5190786123275757
1666
+ ],
1667
+ [
1668
+ 0.9369063377380371,
1669
+ 0.29646122455596924,
1670
+ -0.18524955213069916,
1671
+ 1.8453491926193237
1672
+ ],
1673
+ [
1674
+ -7.120473100030722e-08,
1675
+ -0.5299192667007446,
1676
+ -0.8480480909347534,
1677
+ -1.0408624410629272
1678
+ ],
1679
+ [
1680
+ 0.0,
1681
+ 0.0,
1682
+ 0.0,
1683
+ 1.0
1684
+ ]
1685
+ ],
1686
+ "intrinsics": {
1687
+ "fx": 416.0,
1688
+ "fy": 416.0,
1689
+ "cx": 415.5,
1690
+ "cy": 239.5
1691
+ }
1692
+ },
1693
+ {
1694
+ "frame_index": 48,
1695
+ "c2w": [
1696
+ [
1697
+ -0.37261512875556946,
1698
+ 0.7869768142700195,
1699
+ -0.4917575716972351,
1700
+ 1.512460708618164
1701
+ ],
1702
+ [
1703
+ 0.9279860258102417,
1704
+ 0.3159955143928528,
1705
+ -0.1974559873342514,
1706
+ 1.862438440322876
1707
+ ],
1708
+ [
1709
+ -1.2115238234855497e-07,
1710
+ -0.5299192070960999,
1711
+ -0.8480481505393982,
1712
+ -1.0408624410629272
1713
+ ],
1714
+ [
1715
+ 0.0,
1716
+ 0.0,
1717
+ 0.0,
1718
+ 1.0
1719
+ ]
1720
+ ],
1721
+ "intrinsics": {
1722
+ "fx": 416.0,
1723
+ "fy": 416.0,
1724
+ "cx": 415.5,
1725
+ "cy": 239.5
1726
+ }
1727
+ },
1728
+ {
1729
+ "frame_index": 49,
1730
+ "c2w": [
1731
+ [
1732
+ -0.39542245864868164,
1733
+ 0.7789315581321716,
1734
+ -0.48673051595687866,
1735
+ 1.5054227113723755
1736
+ ],
1737
+ [
1738
+ 0.9184992909431458,
1739
+ 0.33533722162246704,
1740
+ -0.20954206585884094,
1741
+ 1.8793588876724243
1742
+ ],
1743
+ [
1744
+ -3.525494207679003e-08,
1745
+ -0.5299192667007446,
1746
+ -0.8480480909347534,
1747
+ -1.0408624410629272
1748
+ ],
1749
+ [
1750
+ 0.0,
1751
+ 0.0,
1752
+ 0.0,
1753
+ 1.0
1754
+ ]
1755
+ ],
1756
+ "intrinsics": {
1757
+ "fx": 416.0,
1758
+ "fy": 416.0,
1759
+ "cx": 415.5,
1760
+ "cy": 239.5
1761
+ }
1762
+ },
1763
+ {
1764
+ "frame_index": 50,
1765
+ "c2w": [
1766
+ [
1767
+ -0.417988657951355,
1768
+ 0.7704111933708191,
1769
+ -0.4814063310623169,
1770
+ 1.4979689121246338
1771
+ ],
1772
+ [
1773
+ 0.9084522724151611,
1774
+ 0.3544744849205017,
1775
+ -0.2215002328157425,
1776
+ 1.8961002826690674
1777
+ ],
1778
+ [
1779
+ -6.597471013947143e-09,
1780
+ -0.5299192070960999,
1781
+ -0.8480480909347534,
1782
+ -1.0408624410629272
1783
+ ],
1784
+ [
1785
+ 0.0,
1786
+ 0.0,
1787
+ 0.0,
1788
+ 1.0
1789
+ ]
1790
+ ],
1791
+ "intrinsics": {
1792
+ "fx": 416.0,
1793
+ "fy": 416.0,
1794
+ "cx": 415.5,
1795
+ "cy": 239.5
1796
+ }
1797
+ },
1798
+ {
1799
+ "frame_index": 51,
1800
+ "c2w": [
1801
+ [
1802
+ -0.44029977917671204,
1803
+ 0.7614207863807678,
1804
+ -0.47578850388526917,
1805
+ 1.490103840827942
1806
+ ],
1807
+ [
1808
+ 0.8978509306907654,
1809
+ 0.3733953833580017,
1810
+ -0.233323335647583,
1811
+ 1.912652611732483
1812
+ ],
1813
+ [
1814
+ -3.91659575882386e-08,
1815
+ -0.5299193263053894,
1816
+ -0.8480480909347534,
1817
+ -1.0408624410629272
1818
+ ],
1819
+ [
1820
+ 0.0,
1821
+ 0.0,
1822
+ 0.0,
1823
+ 1.0
1824
+ ]
1825
+ ],
1826
+ "intrinsics": {
1827
+ "fx": 416.0,
1828
+ "fy": 416.0,
1829
+ "cx": 415.5,
1830
+ "cy": 239.5
1831
+ }
1832
+ },
1833
+ {
1834
+ "frame_index": 52,
1835
+ "c2w": [
1836
+ [
1837
+ -0.46234214305877686,
1838
+ 0.7519656419754028,
1839
+ -0.46988025307655334,
1840
+ 1.4818323850631714
1841
+ ],
1842
+ [
1843
+ 0.8867016434669495,
1844
+ 0.3920884132385254,
1845
+ -0.24500398337841034,
1846
+ 1.92900550365448
1847
+ ],
1848
+ [
1849
+ 1.3458779868358306e-08,
1850
+ -0.5299192667007446,
1851
+ -0.8480480909347534,
1852
+ -1.0408624410629272
1853
+ ],
1854
+ [
1855
+ 0.0,
1856
+ 0.0,
1857
+ 0.0,
1858
+ 1.0
1859
+ ]
1860
+ ],
1861
+ "intrinsics": {
1862
+ "fx": 416.0,
1863
+ "fy": 416.0,
1864
+ "cx": 415.5,
1865
+ "cy": 239.5
1866
+ }
1867
+ },
1868
+ {
1869
+ "frame_index": 53,
1870
+ "c2w": [
1871
+ [
1872
+ -0.48410218954086304,
1873
+ 0.7420517802238464,
1874
+ -0.46368539333343506,
1875
+ 1.4731595516204834
1876
+ ],
1877
+ [
1878
+ 0.8750114440917969,
1879
+ 0.41054192185401917,
1880
+ -0.2565351128578186,
1881
+ 1.9451491832733154
1882
+ ],
1883
+ [
1884
+ -4.154803434630594e-08,
1885
+ -0.5299192070960999,
1886
+ -0.8480480909347534,
1887
+ -1.0408624410629272
1888
+ ],
1889
+ [
1890
+ 0.0,
1891
+ 0.0,
1892
+ 0.0,
1893
+ 1.0
1894
+ ]
1895
+ ],
1896
+ "intrinsics": {
1897
+ "fx": 416.0,
1898
+ "fy": 416.0,
1899
+ "cx": 415.5,
1900
+ "cy": 239.5
1901
+ }
1902
+ },
1903
+ {
1904
+ "frame_index": 54,
1905
+ "c2w": [
1906
+ [
1907
+ -0.5055670738220215,
1908
+ 0.7316849231719971,
1909
+ -0.4572075605392456,
1910
+ 1.4640905857086182
1911
+ ],
1912
+ [
1913
+ 0.862787127494812,
1914
+ 0.42874518036842346,
1915
+ -0.26790979504585266,
1916
+ 1.9610737562179565
1917
+ ],
1918
+ [
1919
+ 2.775368912466547e-08,
1920
+ -0.5299192667007446,
1921
+ -0.8480480909347534,
1922
+ -1.0408624410629272
1923
+ ],
1924
+ [
1925
+ 0.0,
1926
+ 0.0,
1927
+ 0.0,
1928
+ 1.0
1929
+ ]
1930
+ ],
1931
+ "intrinsics": {
1932
+ "fx": 416.0,
1933
+ "fy": 416.0,
1934
+ "cx": 415.5,
1935
+ "cy": 239.5
1936
+ }
1937
+ },
1938
+ {
1939
+ "frame_index": 55,
1940
+ "c2w": [
1941
+ [
1942
+ -0.5267238020896912,
1943
+ 0.7208719849586487,
1944
+ -0.45045074820518494,
1945
+ 1.4546310901641846
1946
+ ],
1947
+ [
1948
+ 0.8500366806983948,
1949
+ 0.44668713212013245,
1950
+ -0.2791210114955902,
1951
+ 1.9767693281173706
1952
+ ],
1953
+ [
1954
+ -5.8022582294370295e-09,
1955
+ -0.5299192667007446,
1956
+ -0.8480481505393982,
1957
+ -1.0408624410629272
1958
+ ],
1959
+ [
1960
+ 0.0,
1961
+ 0.0,
1962
+ 0.0,
1963
+ 1.0
1964
+ ]
1965
+ ],
1966
+ "intrinsics": {
1967
+ "fx": 416.0,
1968
+ "fy": 416.0,
1969
+ "cx": 415.5,
1970
+ "cy": 239.5
1971
+ }
1972
+ },
1973
+ {
1974
+ "frame_index": 56,
1975
+ "c2w": [
1976
+ [
1977
+ -0.547558605670929,
1978
+ 0.7096189260482788,
1979
+ -0.44341903924942017,
1980
+ 1.444786787033081
1981
+ ],
1982
+ [
1983
+ 0.8367672562599182,
1984
+ 0.46435603499412537,
1985
+ -0.2901619076728821,
1986
+ 1.9922266006469727
1987
+ ],
1988
+ [
1989
+ -4.750617677018454e-08,
1990
+ -0.5299192070960999,
1991
+ -0.8480480909347534,
1992
+ -1.0408624410629272
1993
+ ],
1994
+ [
1995
+ 0.0,
1996
+ 0.0,
1997
+ 0.0,
1998
+ 1.0
1999
+ ]
2000
+ ],
2001
+ "intrinsics": {
2002
+ "fx": 416.0,
2003
+ "fy": 416.0,
2004
+ "cx": 415.5,
2005
+ "cy": 239.5
2006
+ }
2007
+ },
2008
+ {
2009
+ "frame_index": 57,
2010
+ "c2w": [
2011
+ [
2012
+ -0.5680595636367798,
2013
+ 0.6979328989982605,
2014
+ -0.4361169636249542,
2015
+ 1.4345637559890747
2016
+ ],
2017
+ [
2018
+ 0.82298743724823,
2019
+ 0.48174184560775757,
2020
+ -0.3010256290435791,
2021
+ 2.0074360370635986
2022
+ ],
2023
+ [
2024
+ 1.28683538491714e-07,
2025
+ -0.5299192667007446,
2026
+ -0.8480480909347534,
2027
+ -1.0408624410629272
2028
+ ],
2029
+ [
2030
+ 0.0,
2031
+ 0.0,
2032
+ 0.0,
2033
+ 1.0
2034
+ ]
2035
+ ],
2036
+ "intrinsics": {
2037
+ "fx": 416.0,
2038
+ "fy": 416.0,
2039
+ "cx": 415.5,
2040
+ "cy": 239.5
2041
+ }
2042
+ },
2043
+ {
2044
+ "frame_index": 58,
2045
+ "c2w": [
2046
+ [
2047
+ -0.5882139801979065,
2048
+ 0.6858212351799011,
2049
+ -0.428548663854599,
2050
+ 1.4239680767059326
2051
+ ],
2052
+ [
2053
+ 0.8087055683135986,
2054
+ 0.4988337457180023,
2055
+ -0.31170588731765747,
2056
+ 2.022388219833374
2057
+ ],
2058
+ [
2059
+ -3.242406165782086e-08,
2060
+ -0.5299193263053894,
2061
+ -0.8480480909347534,
2062
+ -1.0408624410629272
2063
+ ],
2064
+ [
2065
+ 0.0,
2066
+ 0.0,
2067
+ 0.0,
2068
+ 1.0
2069
+ ]
2070
+ ],
2071
+ "intrinsics": {
2072
+ "fx": 416.0,
2073
+ "fy": 416.0,
2074
+ "cx": 415.5,
2075
+ "cy": 239.5
2076
+ }
2077
+ },
2078
+ {
2079
+ "frame_index": 59,
2080
+ "c2w": [
2081
+ [
2082
+ -0.6080089211463928,
2083
+ 0.6732907891273499,
2084
+ -0.42071884870529175,
2085
+ 1.41300630569458
2086
+ ],
2087
+ [
2088
+ 0.793929934501648,
2089
+ 0.515620768070221,
2090
+ -0.32219573855400085,
2091
+ 2.037074089050293
2092
+ ],
2093
+ [
2094
+ 1.198312471473173e-08,
2095
+ -0.5299192667007446,
2096
+ -0.8480480909347534,
2097
+ -1.0408624410629272
2098
+ ],
2099
+ [
2100
+ 0.0,
2101
+ 0.0,
2102
+ 0.0,
2103
+ 1.0
2104
+ ]
2105
+ ],
2106
+ "intrinsics": {
2107
+ "fx": 416.0,
2108
+ "fy": 416.0,
2109
+ "cx": 415.5,
2110
+ "cy": 239.5
2111
+ }
2112
+ },
2113
+ {
2114
+ "frame_index": 60,
2115
+ "c2w": [
2116
+ [
2117
+ -0.6274334788322449,
2118
+ 0.6603496670722961,
2119
+ -0.4126323163509369,
2120
+ 1.4016852378845215
2121
+ ],
2122
+ [
2123
+ 0.778670072555542,
2124
+ 0.5320937633514404,
2125
+ -0.3324890732765198,
2126
+ 2.0514848232269287
2127
+ ],
2128
+ [
2129
+ 4.725799840343825e-08,
2130
+ -0.5299192667007446,
2131
+ -0.8480480909347534,
2132
+ -1.0408624410629272
2133
+ ],
2134
+ [
2135
+ 0.0,
2136
+ 0.0,
2137
+ 0.0,
2138
+ 1.0
2139
+ ]
2140
+ ],
2141
+ "intrinsics": {
2142
+ "fx": 416.0,
2143
+ "fy": 416.0,
2144
+ "cx": 415.5,
2145
+ "cy": 239.5
2146
+ }
2147
+ },
2148
+ {
2149
+ "frame_index": 61,
2150
+ "c2w": [
2151
+ [
2152
+ -0.646475076675415,
2153
+ 0.6470056176185608,
2154
+ -0.4042940139770508,
2155
+ 1.3900116682052612
2156
+ ],
2157
+ [
2158
+ 0.7629350423812866,
2159
+ 0.548241913318634,
2160
+ -0.34257960319519043,
2161
+ 2.0656113624572754
2162
+ ],
2163
+ [
2164
+ 3.0630644687335007e-09,
2165
+ -0.5299192667007446,
2166
+ -0.8480480909347534,
2167
+ -1.0408624410629272
2168
+ ],
2169
+ [
2170
+ 0.0,
2171
+ 0.0,
2172
+ 0.0,
2173
+ 1.0
2174
+ ]
2175
+ ],
2176
+ "intrinsics": {
2177
+ "fx": 416.0,
2178
+ "fy": 416.0,
2179
+ "cx": 415.5,
2180
+ "cy": 239.5
2181
+ }
2182
+ },
2183
+ {
2184
+ "frame_index": 62,
2185
+ "c2w": [
2186
+ [
2187
+ -0.6651220321655273,
2188
+ 0.6332667469978333,
2189
+ -0.3957090377807617,
2190
+ 1.3779926300048828
2191
+ ],
2192
+ [
2193
+ 0.7467344999313354,
2194
+ 0.5640554428100586,
2195
+ -0.352461040019989,
2196
+ 2.0794453620910645
2197
+ ],
2198
+ [
2199
+ 9.096215336512614e-09,
2200
+ -0.5299192667007446,
2201
+ -0.8480480909347534,
2202
+ -1.0408624410629272
2203
+ ],
2204
+ [
2205
+ 0.0,
2206
+ 0.0,
2207
+ 0.0,
2208
+ 1.0
2209
+ ]
2210
+ ],
2211
+ "intrinsics": {
2212
+ "fx": 416.0,
2213
+ "fy": 416.0,
2214
+ "cx": 415.5,
2215
+ "cy": 239.5
2216
+ }
2217
+ },
2218
+ {
2219
+ "frame_index": 63,
2220
+ "c2w": [
2221
+ [
2222
+ -0.6833634972572327,
2223
+ 0.6191417574882507,
2224
+ -0.38688257336616516,
2225
+ 1.365635633468628
2226
+ ],
2227
+ [
2228
+ 0.7300785183906555,
2229
+ 0.5795251131057739,
2230
+ -0.362127423286438,
2231
+ 2.0929784774780273
2232
+ ],
2233
+ [
2234
+ -5.9267030394494213e-08,
2235
+ -0.5299192667007446,
2236
+ -0.8480481505393982,
2237
+ -1.0408624410629272
2238
+ ],
2239
+ [
2240
+ 0.0,
2241
+ 0.0,
2242
+ 0.0,
2243
+ 1.0
2244
+ ]
2245
+ ],
2246
+ "intrinsics": {
2247
+ "fx": 416.0,
2248
+ "fy": 416.0,
2249
+ "cx": 415.5,
2250
+ "cy": 239.5
2251
+ }
2252
+ },
2253
+ {
2254
+ "frame_index": 64,
2255
+ "c2w": [
2256
+ [
2257
+ -0.7011876106262207,
2258
+ 0.6046386361122131,
2259
+ -0.37782013416290283,
2260
+ 1.3529481887817383
2261
+ ],
2262
+ [
2263
+ 0.7129768133163452,
2264
+ 0.5946407914161682,
2265
+ -0.3715728521347046,
2266
+ 2.1062018871307373
2267
+ ],
2268
+ [
2269
+ -2.2840946911628635e-08,
2270
+ -0.5299192667007446,
2271
+ -0.8480480909347534,
2272
+ -1.0408624410629272
2273
+ ],
2274
+ [
2275
+ 0.0,
2276
+ 0.0,
2277
+ 0.0,
2278
+ 1.0
2279
+ ]
2280
+ ],
2281
+ "intrinsics": {
2282
+ "fx": 416.0,
2283
+ "fy": 416.0,
2284
+ "cx": 415.5,
2285
+ "cy": 239.5
2286
+ }
2287
+ },
2288
+ {
2289
+ "frame_index": 65,
2290
+ "c2w": [
2291
+ [
2292
+ -0.7185840606689453,
2293
+ 0.5897666215896606,
2294
+ -0.3685270845890045,
2295
+ 1.3399379253387451
2296
+ ],
2297
+ [
2298
+ 0.6954400539398193,
2299
+ 0.609393835067749,
2300
+ -0.3807915449142456,
2301
+ 2.119108200073242
2302
+ ],
2303
+ [
2304
+ 1.1581304804053616e-08,
2305
+ -0.5299192667007446,
2306
+ -0.8480480909347534,
2307
+ -1.0408624410629272
2308
+ ],
2309
+ [
2310
+ 0.0,
2311
+ 0.0,
2312
+ 0.0,
2313
+ 1.0
2314
+ ]
2315
+ ],
2316
+ "intrinsics": {
2317
+ "fx": 416.0,
2318
+ "fy": 416.0,
2319
+ "cx": 415.5,
2320
+ "cy": 239.5
2321
+ }
2322
+ },
2323
+ {
2324
+ "frame_index": 66,
2325
+ "c2w": [
2326
+ [
2327
+ -0.7355417609214783,
2328
+ 0.5745347738265991,
2329
+ -0.35900917649269104,
2330
+ 1.3266128301620483
2331
+ ],
2332
+ [
2333
+ 0.6774790287017822,
2334
+ 0.6237747669219971,
2335
+ -0.38977789878845215,
2336
+ 2.1316890716552734
2337
+ ],
2338
+ [
2339
+ -5.590246132669563e-08,
2340
+ -0.5299192667007446,
2341
+ -0.8480480909347534,
2342
+ -1.0408624410629272
2343
+ ],
2344
+ [
2345
+ 0.0,
2346
+ 0.0,
2347
+ 0.0,
2348
+ 1.0
2349
+ ]
2350
+ ],
2351
+ "intrinsics": {
2352
+ "fx": 416.0,
2353
+ "fy": 416.0,
2354
+ "cx": 415.5,
2355
+ "cy": 239.5
2356
+ }
2357
+ },
2358
+ {
2359
+ "frame_index": 67,
2360
+ "c2w": [
2361
+ [
2362
+ -0.7520514726638794,
2363
+ 0.5589523911476135,
2364
+ -0.3492721915245056,
2365
+ 1.312981128692627
2366
+ ],
2367
+ [
2368
+ 0.659104585647583,
2369
+ 0.6377758383750916,
2370
+ -0.39852645993232727,
2371
+ 2.143937110900879
2372
+ ],
2373
+ [
2374
+ 2.8129971241241947e-08,
2375
+ -0.5299192667007446,
2376
+ -0.8480480909347534,
2377
+ -1.0408624410629272
2378
+ ],
2379
+ [
2380
+ 0.0,
2381
+ 0.0,
2382
+ 0.0,
2383
+ 1.0
2384
+ ]
2385
+ ],
2386
+ "intrinsics": {
2387
+ "fx": 416.0,
2388
+ "fy": 416.0,
2389
+ "cx": 415.5,
2390
+ "cy": 239.5
2391
+ }
2392
+ },
2393
+ {
2394
+ "frame_index": 68,
2395
+ "c2w": [
2396
+ [
2397
+ -0.7681015729904175,
2398
+ 0.5430291295051575,
2399
+ -0.33932217955589294,
2400
+ 1.29905104637146
2401
+ ],
2402
+ [
2403
+ 0.6403282284736633,
2404
+ 0.651387095451355,
2405
+ -0.4070318043231964,
2406
+ 2.1558444499969482
2407
+ ],
2408
+ [
2409
+ -7.036281601813243e-08,
2410
+ -0.5299192667007446,
2411
+ -0.8480480909347534,
2412
+ -1.0408624410629272
2413
+ ],
2414
+ [
2415
+ 0.0,
2416
+ 0.0,
2417
+ 0.0,
2418
+ 1.0
2419
+ ]
2420
+ ],
2421
+ "intrinsics": {
2422
+ "fx": 416.0,
2423
+ "fy": 416.0,
2424
+ "cx": 415.5,
2425
+ "cy": 239.5
2426
+ }
2427
+ },
2428
+ {
2429
+ "frame_index": 69,
2430
+ "c2w": [
2431
+ [
2432
+ -0.7836830615997314,
2433
+ 0.5267741084098816,
2434
+ -0.3291650414466858,
2435
+ 1.2848310470581055
2436
+ ],
2437
+ [
2438
+ 0.6211606860160828,
2439
+ 0.6646009087562561,
2440
+ -0.4152887463569641,
2441
+ 2.1674044132232666
2442
+ ],
2443
+ [
2444
+ 7.029799320434904e-08,
2445
+ -0.5299192070960999,
2446
+ -0.8480480909347534,
2447
+ -1.0408624410629272
2448
+ ],
2449
+ [
2450
+ 0.0,
2451
+ 0.0,
2452
+ 0.0,
2453
+ 1.0
2454
+ ]
2455
+ ],
2456
+ "intrinsics": {
2457
+ "fx": 416.0,
2458
+ "fy": 416.0,
2459
+ "cx": 415.5,
2460
+ "cy": 239.5
2461
+ }
2462
+ },
2463
+ {
2464
+ "frame_index": 70,
2465
+ "c2w": [
2466
+ [
2467
+ -0.7987866401672363,
2468
+ 0.5101981163024902,
2469
+ -0.31880712509155273,
2470
+ 1.2703299522399902
2471
+ ],
2472
+ [
2473
+ 0.6016145944595337,
2474
+ 0.6774095296859741,
2475
+ -0.4232923984527588,
2476
+ 2.1786093711853027
2477
+ ],
2478
+ [
2479
+ -2.0532734623657234e-08,
2480
+ -0.5299192667007446,
2481
+ -0.8480480909347534,
2482
+ -1.0408624410629272
2483
+ ],
2484
+ [
2485
+ 0.0,
2486
+ 0.0,
2487
+ 0.0,
2488
+ 1.0
2489
+ ]
2490
+ ],
2491
+ "intrinsics": {
2492
+ "fx": 416.0,
2493
+ "fy": 416.0,
2494
+ "cx": 415.5,
2495
+ "cy": 239.5
2496
+ }
2497
+ },
2498
+ {
2499
+ "frame_index": 71,
2500
+ "c2w": [
2501
+ [
2502
+ -0.8134026527404785,
2503
+ 0.49331051111221313,
2504
+ -0.308254599571228,
2505
+ 1.2555564641952515
2506
+ ],
2507
+ [
2508
+ 0.5817010998725891,
2509
+ 0.6898045539855957,
2510
+ -0.4310377538204193,
2511
+ 2.189452886581421
2512
+ ],
2513
+ [
2514
+ -2.526608255948304e-08,
2515
+ -0.5299192667007446,
2516
+ -0.8480480909347534,
2517
+ -1.0408624410629272
2518
+ ],
2519
+ [
2520
+ 0.0,
2521
+ 0.0,
2522
+ 0.0,
2523
+ 1.0
2524
+ ]
2525
+ ],
2526
+ "intrinsics": {
2527
+ "fx": 416.0,
2528
+ "fy": 416.0,
2529
+ "cx": 415.5,
2530
+ "cy": 239.5
2531
+ }
2532
+ },
2533
+ {
2534
+ "frame_index": 72,
2535
+ "c2w": [
2536
+ [
2537
+ -0.8275219798088074,
2538
+ 0.4761219918727875,
2539
+ -0.29751402139663696,
2540
+ 1.240519642829895
2541
+ ],
2542
+ [
2543
+ 0.5614327788352966,
2544
+ 0.7017784118652344,
2545
+ -0.4385198950767517,
2546
+ 2.199928045272827
2547
+ ],
2548
+ [
2549
+ 2.2404751831572867e-08,
2550
+ -0.5299191474914551,
2551
+ -0.8480481505393982,
2552
+ -1.0408624410629272
2553
+ ],
2554
+ [
2555
+ 0.0,
2556
+ 0.0,
2557
+ 0.0,
2558
+ 1.0
2559
+ ]
2560
+ ],
2561
+ "intrinsics": {
2562
+ "fx": 416.0,
2563
+ "fy": 416.0,
2564
+ "cx": 415.5,
2565
+ "cy": 239.5
2566
+ }
2567
+ },
2568
+ {
2569
+ "frame_index": 73,
2570
+ "c2w": [
2571
+ [
2572
+ -0.8411368131637573,
2573
+ 0.4586428999900818,
2574
+ -0.28659188747406006,
2575
+ 1.2252287864685059
2576
+ ],
2577
+ [
2578
+ 0.5408217906951904,
2579
+ 0.7133244872093201,
2580
+ -0.4457347095012665,
2581
+ 2.210028648376465
2582
+ ],
2583
+ [
2584
+ -4.218840388148237e-09,
2585
+ -0.5299191474914551,
2586
+ -0.8480481505393982,
2587
+ -1.0408624410629272
2588
+ ],
2589
+ [
2590
+ 0.0,
2591
+ 0.0,
2592
+ 0.0,
2593
+ 1.0
2594
+ ]
2595
+ ],
2596
+ "intrinsics": {
2597
+ "fx": 416.0,
2598
+ "fy": 416.0,
2599
+ "cx": 415.5,
2600
+ "cy": 239.5
2601
+ }
2602
+ },
2603
+ {
2604
+ "frame_index": 74,
2605
+ "c2w": [
2606
+ [
2607
+ -0.854238748550415,
2608
+ 0.4408841133117676,
2609
+ -0.2754949629306793,
2610
+ 1.2096929550170898
2611
+ ],
2612
+ [
2613
+ 0.519881010055542,
2614
+ 0.724435567855835,
2615
+ -0.452677458524704,
2616
+ 2.2197484970092773
2617
+ ],
2618
+ [
2619
+ 5.016671877910994e-08,
2620
+ -0.5299192070960999,
2621
+ -0.8480481505393982,
2622
+ -1.0408624410629272
2623
+ ],
2624
+ [
2625
+ 0.0,
2626
+ 0.0,
2627
+ 0.0,
2628
+ 1.0
2629
+ ]
2630
+ ],
2631
+ "intrinsics": {
2632
+ "fx": 416.0,
2633
+ "fy": 416.0,
2634
+ "cx": 415.5,
2635
+ "cy": 239.5
2636
+ }
2637
+ },
2638
+ {
2639
+ "frame_index": 75,
2640
+ "c2w": [
2641
+ [
2642
+ -0.8668189644813538,
2643
+ 0.4228561520576477,
2644
+ -0.26422983407974243,
2645
+ 1.1939219236373901
2646
+ ],
2647
+ [
2648
+ 0.4986228346824646,
2649
+ 0.7351042032241821,
2650
+ -0.4593440294265747,
2651
+ 2.229081630706787
2652
+ ],
2653
+ [
2654
+ 3.032031870020546e-08,
2655
+ -0.5299192070960999,
2656
+ -0.8480481505393982,
2657
+ -1.0408624410629272
2658
+ ],
2659
+ [
2660
+ 0.0,
2661
+ 0.0,
2662
+ 0.0,
2663
+ 1.0
2664
+ ]
2665
+ ],
2666
+ "intrinsics": {
2667
+ "fx": 416.0,
2668
+ "fy": 416.0,
2669
+ "cx": 415.5,
2670
+ "cy": 239.5
2671
+ }
2672
+ },
2673
+ {
2674
+ "frame_index": 76,
2675
+ "c2w": [
2676
+ [
2677
+ -0.8788705468177795,
2678
+ 0.40457040071487427,
2679
+ -0.25280359387397766,
2680
+ 1.1779249906539917
2681
+ ],
2682
+ [
2683
+ 0.4770606458187103,
2684
+ 0.745324432849884,
2685
+ -0.4657304286956787,
2686
+ 2.238022565841675
2687
+ ],
2688
+ [
2689
+ -4.66596787873641e-08,
2690
+ -0.5299193263053894,
2691
+ -0.8480480909347534,
2692
+ -1.0408624410629272
2693
+ ],
2694
+ [
2695
+ 0.0,
2696
+ 0.0,
2697
+ 0.0,
2698
+ 1.0
2699
+ ]
2700
+ ],
2701
+ "intrinsics": {
2702
+ "fx": 416.0,
2703
+ "fy": 416.0,
2704
+ "cx": 415.5,
2705
+ "cy": 239.5
2706
+ }
2707
+ },
2708
+ {
2709
+ "frame_index": 77,
2710
+ "c2w": [
2711
+ [
2712
+ -0.8903853893280029,
2713
+ 0.38603755831718445,
2714
+ -0.24122297763824463,
2715
+ 1.1617122888565063
2716
+ ],
2717
+ [
2718
+ 0.45520713925361633,
2719
+ 0.7550896406173706,
2720
+ -0.47183242440223694,
2721
+ 2.246565341949463
2722
+ ],
2723
+ [
2724
+ -5.782521483865821e-08,
2725
+ -0.5299192070960999,
2726
+ -0.8480481505393982,
2727
+ -1.0408624410629272
2728
+ ],
2729
+ [
2730
+ 0.0,
2731
+ 0.0,
2732
+ 0.0,
2733
+ 1.0
2734
+ ]
2735
+ ],
2736
+ "intrinsics": {
2737
+ "fx": 416.0,
2738
+ "fy": 416.0,
2739
+ "cx": 415.5,
2740
+ "cy": 239.5
2741
+ }
2742
+ },
2743
+ {
2744
+ "frame_index": 78,
2745
+ "c2w": [
2746
+ [
2747
+ -0.9013574123382568,
2748
+ 0.36726927757263184,
2749
+ -0.2294953167438507,
2750
+ 1.1452934741973877
2751
+ ],
2752
+ [
2753
+ 0.43307599425315857,
2754
+ 0.7643944621086121,
2755
+ -0.4776466488838196,
2756
+ 2.2547054290771484
2757
+ ],
2758
+ [
2759
+ -1.0906653358233598e-10,
2760
+ -0.5299192667007446,
2761
+ -0.8480480909347534,
2762
+ -1.0408624410629272
2763
+ ],
2764
+ [
2765
+ 0.0,
2766
+ 0.0,
2767
+ 0.0,
2768
+ 1.0
2769
+ ]
2770
+ ],
2771
+ "intrinsics": {
2772
+ "fx": 416.0,
2773
+ "fy": 416.0,
2774
+ "cx": 415.5,
2775
+ "cy": 239.5
2776
+ }
2777
+ },
2778
+ {
2779
+ "frame_index": 79,
2780
+ "c2w": [
2781
+ [
2782
+ -0.9117794632911682,
2783
+ 0.348276823759079,
2784
+ -0.21762758493423462,
2785
+ 1.128678560256958
2786
+ ],
2787
+ [
2788
+ 0.4106805622577667,
2789
+ 0.7732328176498413,
2790
+ -0.48316946625709534,
2791
+ 2.262437105178833
2792
+ ],
2793
+ [
2794
+ 4.52388277949467e-08,
2795
+ -0.5299193263053894,
2796
+ -0.8480480909347534,
2797
+ -1.0408624410629272
2798
+ ],
2799
+ [
2800
+ 0.0,
2801
+ 0.0,
2802
+ 0.0,
2803
+ 1.0
2804
+ ]
2805
+ ],
2806
+ "intrinsics": {
2807
+ "fx": 416.0,
2808
+ "fy": 416.0,
2809
+ "cx": 415.5,
2810
+ "cy": 239.5
2811
+ }
2812
+ },
2813
+ {
2814
+ "frame_index": 80,
2815
+ "c2w": [
2816
+ [
2817
+ -0.9216447472572327,
2818
+ 0.3290718197822571,
2819
+ -0.205626979470253,
2820
+ 1.1118777990341187
2821
+ ],
2822
+ [
2823
+ 0.3880344331264496,
2824
+ 0.7815990447998047,
2825
+ -0.48839738965034485,
2826
+ 2.269756317138672
2827
+ ],
2828
+ [
2829
+ 4.493625738177798e-08,
2830
+ -0.5299193263053894,
2831
+ -0.8480480313301086,
2832
+ -1.0408624410629272
2833
+ ],
2834
+ [
2835
+ 0.0,
2836
+ 0.0,
2837
+ 0.0,
2838
+ 1.0
2839
+ ]
2840
+ ],
2841
+ "intrinsics": {
2842
+ "fx": 416.0,
2843
+ "fy": 416.0,
2844
+ "cx": 415.5,
2845
+ "cy": 239.5
2846
+ }
2847
+ }
2848
+ ]
2849
+ }
blenderobj_eval/target/scene_000031__traj001__backward/caption.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ Various household items, including a green vase, a blue box, a white chair, and other assorted objects, are seen falling from above and scattering across a wooden floor in a room with a shoji screen wall, eventually coming to rest in a disorganized pile. A high orbital camera move. The camera tracks along a smooth arc at a steep elevation of 58°, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). It looks down on the objects from well above them, so the shot reads as a near-overhead orbit in which the supporting surface fills much of the frame and the objects turn beneath the camera. The motion of the scene is reversed, playing backward so the objects rise back up from where they landed.
blenderobj_eval/target/scene_000031__traj001__backward/extras/blender_meta.json ADDED
@@ -0,0 +1,376 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "format_version": "blender6d-eval-video-v1",
3
+ "scene_name": "scene_000031",
4
+ "trajectory_index": 1,
5
+ "trajectory_id": "T2",
6
+ "trajectory_name": "high_polar_arc",
7
+ "pattern": "backward",
8
+ "pattern_params": {
9
+ "kind": "time_backward",
10
+ "stride": -1,
11
+ "cam_start": 0,
12
+ "src_frame_range": [
13
+ 0,
14
+ 80
15
+ ]
16
+ },
17
+ "frame_count": 81,
18
+ "resolution": [
19
+ 832,
20
+ 480
21
+ ],
22
+ "resolution_order": "width_height",
23
+ "files": {
24
+ "preview": {
25
+ "file": "rgb.mp4",
26
+ "encoding": "libx264 crf17 yuv420p (lossy, \uc5b4\ub514\uc11c\ub098 \uc7ac\uc0dd)"
27
+ },
28
+ "lossless": {
29
+ "file": "rgb_lossless.mkv",
30
+ "encoding": "ffv1 level3 gbrp (bit-exact, \uc9c0\ud45c \uce21\uc815\uc6a9)"
31
+ }
32
+ },
33
+ "metric_reference": "rgb_lossless.mkv",
34
+ "source_fps": 30,
35
+ "playback_fps": 30,
36
+ "time_stride": -1,
37
+ "timestamps": [
38
+ 2.666666667,
39
+ 2.633333333,
40
+ 2.6,
41
+ 2.566666667,
42
+ 2.533333333,
43
+ 2.5,
44
+ 2.466666667,
45
+ 2.433333333,
46
+ 2.4,
47
+ 2.366666667,
48
+ 2.333333333,
49
+ 2.3,
50
+ 2.266666667,
51
+ 2.233333333,
52
+ 2.2,
53
+ 2.166666667,
54
+ 2.133333333,
55
+ 2.1,
56
+ 2.066666667,
57
+ 2.033333333,
58
+ 2.0,
59
+ 1.966666667,
60
+ 1.933333333,
61
+ 1.9,
62
+ 1.866666667,
63
+ 1.833333333,
64
+ 1.8,
65
+ 1.766666667,
66
+ 1.733333333,
67
+ 1.7,
68
+ 1.666666667,
69
+ 1.633333333,
70
+ 1.6,
71
+ 1.566666667,
72
+ 1.533333333,
73
+ 1.5,
74
+ 1.466666667,
75
+ 1.433333333,
76
+ 1.4,
77
+ 1.366666667,
78
+ 1.333333333,
79
+ 1.3,
80
+ 1.266666667,
81
+ 1.233333333,
82
+ 1.2,
83
+ 1.166666667,
84
+ 1.133333333,
85
+ 1.1,
86
+ 1.066666667,
87
+ 1.033333333,
88
+ 1.0,
89
+ 0.966666667,
90
+ 0.933333333,
91
+ 0.9,
92
+ 0.866666667,
93
+ 0.833333333,
94
+ 0.8,
95
+ 0.766666667,
96
+ 0.733333333,
97
+ 0.7,
98
+ 0.666666667,
99
+ 0.633333333,
100
+ 0.6,
101
+ 0.566666667,
102
+ 0.533333333,
103
+ 0.5,
104
+ 0.466666667,
105
+ 0.433333333,
106
+ 0.4,
107
+ 0.366666667,
108
+ 0.333333333,
109
+ 0.3,
110
+ 0.266666667,
111
+ 0.233333333,
112
+ 0.2,
113
+ 0.166666667,
114
+ 0.133333333,
115
+ 0.1,
116
+ 0.066666667,
117
+ 0.033333333,
118
+ 0.0
119
+ ],
120
+ "timestamp_range": [
121
+ 0.0,
122
+ 2.666666667
123
+ ],
124
+ "scene_time_span_seconds": 2.666666667,
125
+ "playback_timestamps": [
126
+ 0.0,
127
+ 0.033333333,
128
+ 0.066666667,
129
+ 0.1,
130
+ 0.133333333,
131
+ 0.166666667,
132
+ 0.2,
133
+ 0.233333333,
134
+ 0.266666667,
135
+ 0.3,
136
+ 0.333333333,
137
+ 0.366666667,
138
+ 0.4,
139
+ 0.433333333,
140
+ 0.466666667,
141
+ 0.5,
142
+ 0.533333333,
143
+ 0.566666667,
144
+ 0.6,
145
+ 0.633333333,
146
+ 0.666666667,
147
+ 0.7,
148
+ 0.733333333,
149
+ 0.766666667,
150
+ 0.8,
151
+ 0.833333333,
152
+ 0.866666667,
153
+ 0.9,
154
+ 0.933333333,
155
+ 0.966666667,
156
+ 1.0,
157
+ 1.033333333,
158
+ 1.066666667,
159
+ 1.1,
160
+ 1.133333333,
161
+ 1.166666667,
162
+ 1.2,
163
+ 1.233333333,
164
+ 1.266666667,
165
+ 1.3,
166
+ 1.333333333,
167
+ 1.366666667,
168
+ 1.4,
169
+ 1.433333333,
170
+ 1.466666667,
171
+ 1.5,
172
+ 1.533333333,
173
+ 1.566666667,
174
+ 1.6,
175
+ 1.633333333,
176
+ 1.666666667,
177
+ 1.7,
178
+ 1.733333333,
179
+ 1.766666667,
180
+ 1.8,
181
+ 1.833333333,
182
+ 1.866666667,
183
+ 1.9,
184
+ 1.933333333,
185
+ 1.966666667,
186
+ 2.0,
187
+ 2.033333333,
188
+ 2.066666667,
189
+ 2.1,
190
+ 2.133333333,
191
+ 2.166666667,
192
+ 2.2,
193
+ 2.233333333,
194
+ 2.266666667,
195
+ 2.3,
196
+ 2.333333333,
197
+ 2.366666667,
198
+ 2.4,
199
+ 2.433333333,
200
+ 2.466666667,
201
+ 2.5,
202
+ 2.533333333,
203
+ 2.566666667,
204
+ 2.6,
205
+ 2.633333333,
206
+ 2.666666667
207
+ ],
208
+ "playback_duration_seconds": 2.7,
209
+ "source_cam_index": [
210
+ 0,
211
+ 1,
212
+ 2,
213
+ 3,
214
+ 4,
215
+ 5,
216
+ 6,
217
+ 7,
218
+ 8,
219
+ 9,
220
+ 10,
221
+ 11,
222
+ 12,
223
+ 13,
224
+ 14,
225
+ 15,
226
+ 16,
227
+ 17,
228
+ 18,
229
+ 19,
230
+ 20,
231
+ 21,
232
+ 22,
233
+ 23,
234
+ 24,
235
+ 25,
236
+ 26,
237
+ 27,
238
+ 28,
239
+ 29,
240
+ 30,
241
+ 31,
242
+ 32,
243
+ 33,
244
+ 34,
245
+ 35,
246
+ 36,
247
+ 37,
248
+ 38,
249
+ 39,
250
+ 40,
251
+ 41,
252
+ 42,
253
+ 43,
254
+ 44,
255
+ 45,
256
+ 46,
257
+ 47,
258
+ 48,
259
+ 49,
260
+ 50,
261
+ 51,
262
+ 52,
263
+ 53,
264
+ 54,
265
+ 55,
266
+ 56,
267
+ 57,
268
+ 58,
269
+ 59,
270
+ 60,
271
+ 61,
272
+ 62,
273
+ 63,
274
+ 64,
275
+ 65,
276
+ 66,
277
+ 67,
278
+ 68,
279
+ 69,
280
+ 70,
281
+ 71,
282
+ 72,
283
+ 73,
284
+ 74,
285
+ 75,
286
+ 76,
287
+ 77,
288
+ 78,
289
+ 79,
290
+ 80
291
+ ],
292
+ "source_frame_index": [
293
+ 80,
294
+ 79,
295
+ 78,
296
+ 77,
297
+ 76,
298
+ 75,
299
+ 74,
300
+ 73,
301
+ 72,
302
+ 71,
303
+ 70,
304
+ 69,
305
+ 68,
306
+ 67,
307
+ 66,
308
+ 65,
309
+ 64,
310
+ 63,
311
+ 62,
312
+ 61,
313
+ 60,
314
+ 59,
315
+ 58,
316
+ 57,
317
+ 56,
318
+ 55,
319
+ 54,
320
+ 53,
321
+ 52,
322
+ 51,
323
+ 50,
324
+ 49,
325
+ 48,
326
+ 47,
327
+ 46,
328
+ 45,
329
+ 44,
330
+ 43,
331
+ 42,
332
+ 41,
333
+ 40,
334
+ 39,
335
+ 38,
336
+ 37,
337
+ 36,
338
+ 35,
339
+ 34,
340
+ 33,
341
+ 32,
342
+ 31,
343
+ 30,
344
+ 29,
345
+ 28,
346
+ 27,
347
+ 26,
348
+ 25,
349
+ 24,
350
+ 23,
351
+ 22,
352
+ 21,
353
+ 20,
354
+ 19,
355
+ 18,
356
+ 17,
357
+ 16,
358
+ 15,
359
+ 14,
360
+ 13,
361
+ 12,
362
+ 11,
363
+ 10,
364
+ 9,
365
+ 8,
366
+ 7,
367
+ 6,
368
+ 5,
369
+ 4,
370
+ 3,
371
+ 2,
372
+ 1,
373
+ 0
374
+ ],
375
+ "written_at": "2026-09-17T14:34:26"
376
+ }
blenderobj_eval/target/scene_000031__traj001__backward/extras/temporal_mapping.json ADDED
@@ -0,0 +1,350 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pattern": "backward",
3
+ "original_pattern": "backward",
4
+ "trajectory": {
5
+ "dir": "traj001",
6
+ "index": 1,
7
+ "id": "T2",
8
+ "name": "high_polar_arc"
9
+ },
10
+ "source_fps": 30,
11
+ "playback_fps": 30,
12
+ "time_stride": -1,
13
+ "source_cam_idx": [
14
+ 0,
15
+ 1,
16
+ 2,
17
+ 3,
18
+ 4,
19
+ 5,
20
+ 6,
21
+ 7,
22
+ 8,
23
+ 9,
24
+ 10,
25
+ 11,
26
+ 12,
27
+ 13,
28
+ 14,
29
+ 15,
30
+ 16,
31
+ 17,
32
+ 18,
33
+ 19,
34
+ 20,
35
+ 21,
36
+ 22,
37
+ 23,
38
+ 24,
39
+ 25,
40
+ 26,
41
+ 27,
42
+ 28,
43
+ 29,
44
+ 30,
45
+ 31,
46
+ 32,
47
+ 33,
48
+ 34,
49
+ 35,
50
+ 36,
51
+ 37,
52
+ 38,
53
+ 39,
54
+ 40,
55
+ 41,
56
+ 42,
57
+ 43,
58
+ 44,
59
+ 45,
60
+ 46,
61
+ 47,
62
+ 48,
63
+ 49,
64
+ 50,
65
+ 51,
66
+ 52,
67
+ 53,
68
+ 54,
69
+ 55,
70
+ 56,
71
+ 57,
72
+ 58,
73
+ 59,
74
+ 60,
75
+ 61,
76
+ 62,
77
+ 63,
78
+ 64,
79
+ 65,
80
+ 66,
81
+ 67,
82
+ 68,
83
+ 69,
84
+ 70,
85
+ 71,
86
+ 72,
87
+ 73,
88
+ 74,
89
+ 75,
90
+ 76,
91
+ 77,
92
+ 78,
93
+ 79,
94
+ 80
95
+ ],
96
+ "source_motion_frame": [
97
+ 80,
98
+ 79,
99
+ 78,
100
+ 77,
101
+ 76,
102
+ 75,
103
+ 74,
104
+ 73,
105
+ 72,
106
+ 71,
107
+ 70,
108
+ 69,
109
+ 68,
110
+ 67,
111
+ 66,
112
+ 65,
113
+ 64,
114
+ 63,
115
+ 62,
116
+ 61,
117
+ 60,
118
+ 59,
119
+ 58,
120
+ 57,
121
+ 56,
122
+ 55,
123
+ 54,
124
+ 53,
125
+ 52,
126
+ 51,
127
+ 50,
128
+ 49,
129
+ 48,
130
+ 47,
131
+ 46,
132
+ 45,
133
+ 44,
134
+ 43,
135
+ 42,
136
+ 41,
137
+ 40,
138
+ 39,
139
+ 38,
140
+ 37,
141
+ 36,
142
+ 35,
143
+ 34,
144
+ 33,
145
+ 32,
146
+ 31,
147
+ 30,
148
+ 29,
149
+ 28,
150
+ 27,
151
+ 26,
152
+ 25,
153
+ 24,
154
+ 23,
155
+ 22,
156
+ 21,
157
+ 20,
158
+ 19,
159
+ 18,
160
+ 17,
161
+ 16,
162
+ 15,
163
+ 14,
164
+ 13,
165
+ 12,
166
+ 11,
167
+ 10,
168
+ 9,
169
+ 8,
170
+ 7,
171
+ 6,
172
+ 5,
173
+ 4,
174
+ 3,
175
+ 2,
176
+ 1,
177
+ 0
178
+ ],
179
+ "timestamps_seconds": [
180
+ 2.666666667,
181
+ 2.633333333,
182
+ 2.6,
183
+ 2.566666667,
184
+ 2.533333333,
185
+ 2.5,
186
+ 2.466666667,
187
+ 2.433333333,
188
+ 2.4,
189
+ 2.366666667,
190
+ 2.333333333,
191
+ 2.3,
192
+ 2.266666667,
193
+ 2.233333333,
194
+ 2.2,
195
+ 2.166666667,
196
+ 2.133333333,
197
+ 2.1,
198
+ 2.066666667,
199
+ 2.033333333,
200
+ 2.0,
201
+ 1.966666667,
202
+ 1.933333333,
203
+ 1.9,
204
+ 1.866666667,
205
+ 1.833333333,
206
+ 1.8,
207
+ 1.766666667,
208
+ 1.733333333,
209
+ 1.7,
210
+ 1.666666667,
211
+ 1.633333333,
212
+ 1.6,
213
+ 1.566666667,
214
+ 1.533333333,
215
+ 1.5,
216
+ 1.466666667,
217
+ 1.433333333,
218
+ 1.4,
219
+ 1.366666667,
220
+ 1.333333333,
221
+ 1.3,
222
+ 1.266666667,
223
+ 1.233333333,
224
+ 1.2,
225
+ 1.166666667,
226
+ 1.133333333,
227
+ 1.1,
228
+ 1.066666667,
229
+ 1.033333333,
230
+ 1.0,
231
+ 0.966666667,
232
+ 0.933333333,
233
+ 0.9,
234
+ 0.866666667,
235
+ 0.833333333,
236
+ 0.8,
237
+ 0.766666667,
238
+ 0.733333333,
239
+ 0.7,
240
+ 0.666666667,
241
+ 0.633333333,
242
+ 0.6,
243
+ 0.566666667,
244
+ 0.533333333,
245
+ 0.5,
246
+ 0.466666667,
247
+ 0.433333333,
248
+ 0.4,
249
+ 0.366666667,
250
+ 0.333333333,
251
+ 0.3,
252
+ 0.266666667,
253
+ 0.233333333,
254
+ 0.2,
255
+ 0.166666667,
256
+ 0.133333333,
257
+ 0.1,
258
+ 0.066666667,
259
+ 0.033333333,
260
+ 0.0
261
+ ],
262
+ "playback_timestamps_seconds": [
263
+ 0.0,
264
+ 0.033333333,
265
+ 0.066666667,
266
+ 0.1,
267
+ 0.133333333,
268
+ 0.166666667,
269
+ 0.2,
270
+ 0.233333333,
271
+ 0.266666667,
272
+ 0.3,
273
+ 0.333333333,
274
+ 0.366666667,
275
+ 0.4,
276
+ 0.433333333,
277
+ 0.466666667,
278
+ 0.5,
279
+ 0.533333333,
280
+ 0.566666667,
281
+ 0.6,
282
+ 0.633333333,
283
+ 0.666666667,
284
+ 0.7,
285
+ 0.733333333,
286
+ 0.766666667,
287
+ 0.8,
288
+ 0.833333333,
289
+ 0.866666667,
290
+ 0.9,
291
+ 0.933333333,
292
+ 0.966666667,
293
+ 1.0,
294
+ 1.033333333,
295
+ 1.066666667,
296
+ 1.1,
297
+ 1.133333333,
298
+ 1.166666667,
299
+ 1.2,
300
+ 1.233333333,
301
+ 1.266666667,
302
+ 1.3,
303
+ 1.333333333,
304
+ 1.366666667,
305
+ 1.4,
306
+ 1.433333333,
307
+ 1.466666667,
308
+ 1.5,
309
+ 1.533333333,
310
+ 1.566666667,
311
+ 1.6,
312
+ 1.633333333,
313
+ 1.666666667,
314
+ 1.7,
315
+ 1.733333333,
316
+ 1.766666667,
317
+ 1.8,
318
+ 1.833333333,
319
+ 1.866666667,
320
+ 1.9,
321
+ 1.933333333,
322
+ 1.966666667,
323
+ 2.0,
324
+ 2.033333333,
325
+ 2.066666667,
326
+ 2.1,
327
+ 2.133333333,
328
+ 2.166666667,
329
+ 2.2,
330
+ 2.233333333,
331
+ 2.266666667,
332
+ 2.3,
333
+ 2.333333333,
334
+ 2.366666667,
335
+ 2.4,
336
+ 2.433333333,
337
+ 2.466666667,
338
+ 2.5,
339
+ 2.533333333,
340
+ 2.566666667,
341
+ 2.6,
342
+ 2.633333333,
343
+ 2.666666667
344
+ ],
345
+ "scene_time_range_seconds": [
346
+ 0.0,
347
+ 2.666666667
348
+ ],
349
+ "metric_reference": "extras/rgb_lossless.mkv"
350
+ }
blenderobj_eval/target/scene_000031__traj001__backward/extras/traj_caption.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ A high orbital camera move. The camera tracks along a smooth arc at a steep elevation of 58°, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). It looks down on the objects from well above them, so the shot reads as a near-overhead orbit in which the supporting surface fills much of the frame and the objects turn beneath the camera.
blenderobj_eval/target/scene_000031__traj001__backward/transforms.json ADDED
@@ -0,0 +1,2849 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "format_version": "1.0",
3
+ "camera_model": "opencv_pinhole",
4
+ "pose_type": "c2w",
5
+ "coordinate_system": "opencv",
6
+ "world_frame": "blender_right_handed_z_up_meters",
7
+ "image_hw": [
8
+ 480,
9
+ 832
10
+ ],
11
+ "num_frames": 81,
12
+ "frames": [
13
+ {
14
+ "frame_index": 0,
15
+ "c2w": [
16
+ [
17
+ -0.9609764814376831,
18
+ 0.23459479212760925,
19
+ -0.14659109711647034,
20
+ 0.9572275280952454
21
+ ],
22
+ [
23
+ 0.27662912011146545,
24
+ 0.8149542212486267,
25
+ -0.5092400312423706,
26
+ 4.211935997009277
27
+ ],
28
+ [
29
+ 3.36789796051562e-09,
30
+ -0.5299192070960999,
31
+ -0.8480480909347534,
32
+ 1.4672683477401733
33
+ ],
34
+ [
35
+ 0.0,
36
+ 0.0,
37
+ 0.0,
38
+ 1.0
39
+ ]
40
+ ],
41
+ "intrinsics": {
42
+ "fx": 416.0,
43
+ "fy": 416.0,
44
+ "cx": 415.5,
45
+ "cy": 239.5
46
+ }
47
+ },
48
+ {
49
+ "frame_index": 1,
50
+ "c2w": [
51
+ [
52
+ -0.9675166606903076,
53
+ 0.21439403295516968,
54
+ -0.1339682936668396,
55
+ 0.9395555853843689
56
+ ],
57
+ [
58
+ 0.2528088390827179,
59
+ 0.8205007314682007,
60
+ -0.5127055644989014,
61
+ 4.216787815093994
62
+ ],
63
+ [
64
+ 3.84417226939604e-08,
65
+ -0.5299193263053894,
66
+ -0.8480480909347534,
67
+ 1.4672683477401733
68
+ ],
69
+ [
70
+ 0.0,
71
+ 0.0,
72
+ 0.0,
73
+ 1.0
74
+ ]
75
+ ],
76
+ "intrinsics": {
77
+ "fx": 416.0,
78
+ "fy": 416.0,
79
+ "cx": 415.5,
80
+ "cy": 239.5
81
+ }
82
+ },
83
+ {
84
+ "frame_index": 2,
85
+ "c2w": [
86
+ [
87
+ -0.9734651446342468,
88
+ 0.19406238198280334,
89
+ -0.12126368284225464,
90
+ 0.9217692017555237
91
+ ],
92
+ [
93
+ 0.22883419692516327,
94
+ 0.8255452513694763,
95
+ -0.515857994556427,
96
+ 4.221201419830322
97
+ ],
98
+ [
99
+ 3.8334672325390784e-08,
100
+ -0.5299192070960999,
101
+ -0.8480480909347534,
102
+ 1.4672683477401733
103
+ ],
104
+ [
105
+ 0.0,
106
+ 0.0,
107
+ 0.0,
108
+ 1.0
109
+ ]
110
+ ],
111
+ "intrinsics": {
112
+ "fx": 416.0,
113
+ "fy": 416.0,
114
+ "cx": 415.5,
115
+ "cy": 239.5
116
+ }
117
+ },
118
+ {
119
+ "frame_index": 3,
120
+ "c2w": [
121
+ [
122
+ -0.9788205623626709,
123
+ 0.17361260950565338,
124
+ -0.10848511010408401,
125
+ 0.9038791656494141
126
+ ],
127
+ [
128
+ 0.20472018420696259,
129
+ 0.830086886882782,
130
+ -0.5186958312988281,
131
+ 4.225174427032471
132
+ ],
133
+ [
134
+ -7.160296888741868e-08,
135
+ -0.5299192667007446,
136
+ -0.8480480909347534,
137
+ 1.4672683477401733
138
+ ],
139
+ [
140
+ 0.0,
141
+ 0.0,
142
+ 0.0,
143
+ 1.0
144
+ ]
145
+ ],
146
+ "intrinsics": {
147
+ "fx": 416.0,
148
+ "fy": 416.0,
149
+ "cx": 415.5,
150
+ "cy": 239.5
151
+ }
152
+ },
153
+ {
154
+ "frame_index": 4,
155
+ "c2w": [
156
+ [
157
+ -0.9835784435272217,
158
+ 0.15305665135383606,
159
+ -0.09564036875963211,
160
+ 0.8858965039253235
161
+ ],
162
+ [
163
+ 0.18048107624053955,
164
+ 0.8341218829154968,
165
+ -0.5212171673774719,
166
+ 4.22870397567749
167
+ ],
168
+ [
169
+ -3.262145398252869e-08,
170
+ -0.5299192070960999,
171
+ -0.8480480909347534,
172
+ 1.4672683477401733
173
+ ],
174
+ [
175
+ 0.0,
176
+ 0.0,
177
+ 0.0,
178
+ 1.0
179
+ ]
180
+ ],
181
+ "intrinsics": {
182
+ "fx": 416.0,
183
+ "fy": 416.0,
184
+ "cx": 415.5,
185
+ "cy": 239.5
186
+ }
187
+ },
188
+ {
189
+ "frame_index": 5,
190
+ "c2w": [
191
+ [
192
+ -0.9877363443374634,
193
+ 0.1324073076248169,
194
+ -0.0827372670173645,
195
+ 0.8678321838378906
196
+ ],
197
+ [
198
+ 0.1561318337917328,
199
+ 0.8376479148864746,
200
+ -0.523420512676239,
201
+ 4.231788635253906
202
+ ],
203
+ [
204
+ -9.782699983418297e-09,
205
+ -0.5299193263053894,
206
+ -0.8480480313301086,
207
+ 1.4672683477401733
208
+ ],
209
+ [
210
+ 0.0,
211
+ 0.0,
212
+ 0.0,
213
+ 1.0
214
+ ]
215
+ ],
216
+ "intrinsics": {
217
+ "fx": 416.0,
218
+ "fy": 416.0,
219
+ "cx": 415.5,
220
+ "cy": 239.5
221
+ }
222
+ },
223
+ {
224
+ "frame_index": 6,
225
+ "c2w": [
226
+ [
227
+ -0.9912911057472229,
228
+ 0.11167716979980469,
229
+ -0.06978365778923035,
230
+ 0.8496971130371094
231
+ ],
232
+ [
233
+ 0.13168731331825256,
234
+ 0.8406624794006348,
235
+ -0.52530437707901,
236
+ 4.234426021575928
237
+ ],
238
+ [
239
+ 5.004282765952439e-09,
240
+ -0.5299192667007446,
241
+ -0.8480480909347534,
242
+ 1.4672683477401733
243
+ ],
244
+ [
245
+ 0.0,
246
+ 0.0,
247
+ 0.0,
248
+ 1.0
249
+ ]
250
+ ],
251
+ "intrinsics": {
252
+ "fx": 416.0,
253
+ "fy": 416.0,
254
+ "cx": 415.5,
255
+ "cy": 239.5
256
+ }
257
+ },
258
+ {
259
+ "frame_index": 7,
260
+ "c2w": [
261
+ [
262
+ -0.9942417144775391,
263
+ 0.09087889641523361,
264
+ -0.05678747594356537,
265
+ 0.8315024971961975
266
+ ],
267
+ [
268
+ 0.10716245323419571,
269
+ 0.8431648015975952,
270
+ -0.5268678069114685,
271
+ 4.23661470413208
272
+ ],
273
+ [
274
+ 3.166061901538342e-08,
275
+ -0.5299193263053894,
276
+ -0.8480480909347534,
277
+ 1.4672683477401733
278
+ ],
279
+ [
280
+ 0.0,
281
+ 0.0,
282
+ 0.0,
283
+ 1.0
284
+ ]
285
+ ],
286
+ "intrinsics": {
287
+ "fx": 416.0,
288
+ "fy": 416.0,
289
+ "cx": 415.5,
290
+ "cy": 239.5
291
+ }
292
+ },
293
+ {
294
+ "frame_index": 8,
295
+ "c2w": [
296
+ [
297
+ -0.996584951877594,
298
+ 0.07002516835927963,
299
+ -0.043756648898124695,
300
+ 0.8132593035697937
301
+ ],
302
+ [
303
+ 0.08257219940423965,
304
+ 0.8451519012451172,
305
+ -0.5281096696853638,
306
+ 4.238353252410889
307
+ ],
308
+ [
309
+ 4.870696557190968e-08,
310
+ -0.5299193263053894,
311
+ -0.8480480313301086,
312
+ 1.4672683477401733
313
+ ],
314
+ [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ]
320
+ ],
321
+ "intrinsics": {
322
+ "fx": 416.0,
323
+ "fy": 416.0,
324
+ "cx": 415.5,
325
+ "cy": 239.5
326
+ }
327
+ },
328
+ {
329
+ "frame_index": 9,
330
+ "c2w": [
331
+ [
332
+ -0.9983204007148743,
333
+ 0.049128953367471695,
334
+ -0.0306991096585989,
335
+ 0.7949787378311157
336
+ ],
337
+ [
338
+ 0.05793176591396332,
339
+ 0.8466237187385559,
340
+ -0.5290291905403137,
341
+ 4.239641189575195
342
+ ],
343
+ [
344
+ -5.350313259100403e-08,
345
+ -0.5299191474914551,
346
+ -0.8480481505393982,
347
+ 1.4672683477401733
348
+ ],
349
+ [
350
+ 0.0,
351
+ 0.0,
352
+ 0.0,
353
+ 1.0
354
+ ]
355
+ ],
356
+ "intrinsics": {
357
+ "fx": 416.0,
358
+ "fy": 416.0,
359
+ "cx": 415.5,
360
+ "cy": 239.5
361
+ }
362
+ },
363
+ {
364
+ "frame_index": 10,
365
+ "c2w": [
366
+ [
367
+ -0.9994468688964844,
368
+ 0.028202522546052933,
369
+ -0.01762285642325878,
370
+ 0.7766720056533813
371
+ ],
372
+ [
373
+ 0.03325578570365906,
374
+ 0.8475790619850159,
375
+ -0.5296260714530945,
376
+ 4.240476608276367
377
+ ],
378
+ [
379
+ -2.572702584302533e-08,
380
+ -0.5299191474914551,
381
+ -0.8480481505393982,
382
+ 1.4672683477401733
383
+ ],
384
+ [
385
+ 0.0,
386
+ 0.0,
387
+ 0.0,
388
+ 1.0
389
+ ]
390
+ ],
391
+ "intrinsics": {
392
+ "fx": 416.0,
393
+ "fy": 416.0,
394
+ "cx": 415.5,
395
+ "cy": 239.5
396
+ }
397
+ },
398
+ {
399
+ "frame_index": 11,
400
+ "c2w": [
401
+ [
402
+ -0.9999632239341736,
403
+ 0.007258879952132702,
404
+ -0.004535840358585119,
405
+ 0.7583501935005188
406
+ ],
407
+ [
408
+ 0.008559508249163628,
409
+ 0.8480169177055359,
410
+ -0.5298997163772583,
411
+ 4.2408599853515625
412
+ ],
413
+ [
414
+ -8.417668340143791e-09,
415
+ -0.5299191474914551,
416
+ -0.8480481505393982,
417
+ 1.4672683477401733
418
+ ],
419
+ [
420
+ 0.0,
421
+ 0.0,
422
+ 0.0,
423
+ 1.0
424
+ ]
425
+ ],
426
+ "intrinsics": {
427
+ "fx": 416.0,
428
+ "fy": 416.0,
429
+ "cx": 415.5,
430
+ "cy": 239.5
431
+ }
432
+ },
433
+ {
434
+ "frame_index": 12,
435
+ "c2w": [
436
+ [
437
+ -0.9998700618743896,
438
+ -0.0136892544105649,
439
+ 0.008553942665457726,
440
+ 0.7400245070457458
441
+ ],
442
+ [
443
+ -0.016142044216394424,
444
+ 0.8479378819465637,
445
+ -0.529850423336029,
446
+ 4.240790367126465
447
+ ],
448
+ [
449
+ 4.582499713023935e-08,
450
+ -0.529919445514679,
451
+ -0.8480480313301086,
452
+ 1.4672683477401733
453
+ ],
454
+ [
455
+ 0.0,
456
+ 0.0,
457
+ 0.0,
458
+ 1.0
459
+ ]
460
+ ],
461
+ "intrinsics": {
462
+ "fx": 416.0,
463
+ "fy": 416.0,
464
+ "cx": 415.5,
465
+ "cy": 239.5
466
+ }
467
+ },
468
+ {
469
+ "frame_index": 13,
470
+ "c2w": [
471
+ [
472
+ -0.9991658926010132,
473
+ -0.0346287377178669,
474
+ 0.021638499572873116,
475
+ 0.7217060923576355
476
+ ],
477
+ [
478
+ -0.0408334918320179,
479
+ 0.8473407626152039,
480
+ -0.5294771790504456,
481
+ 4.240268230438232
482
+ ],
483
+ [
484
+ -5.862118968025243e-08,
485
+ -0.5299191474914551,
486
+ -0.8480481505393982,
487
+ 1.4672683477401733
488
+ ],
489
+ [
490
+ 0.0,
491
+ 0.0,
492
+ 0.0,
493
+ 1.0
494
+ ]
495
+ ],
496
+ "intrinsics": {
497
+ "fx": 416.0,
498
+ "fy": 416.0,
499
+ "cx": 415.5,
500
+ "cy": 239.5
501
+ }
502
+ },
503
+ {
504
+ "frame_index": 14,
505
+ "c2w": [
506
+ [
507
+ -0.9978528022766113,
508
+ -0.0555473230779171,
509
+ 0.034709855914115906,
510
+ 0.7034062147140503
511
+ ],
512
+ [
513
+ -0.06550022214651108,
514
+ 0.8462272882461548,
515
+ -0.5287812352180481,
516
+ 4.239293575286865
517
+ ],
518
+ [
519
+ -4.3863547460887276e-08,
520
+ -0.5299192070960999,
521
+ -0.8480481505393982,
522
+ 1.4672683477401733
523
+ ],
524
+ [
525
+ 0.0,
526
+ 0.0,
527
+ 0.0,
528
+ 1.0
529
+ ]
530
+ ],
531
+ "intrinsics": {
532
+ "fx": 416.0,
533
+ "fy": 416.0,
534
+ "cx": 415.5,
535
+ "cy": 239.5
536
+ }
537
+ },
538
+ {
539
+ "frame_index": 15,
540
+ "c2w": [
541
+ [
542
+ -0.9959301948547363,
543
+ -0.0764320120215416,
544
+ 0.04776003956794739,
545
+ 0.6851359605789185
546
+ ],
547
+ [
548
+ -0.09012699127197266,
549
+ 0.8445966839790344,
550
+ -0.5277626514434814,
551
+ 4.237867832183838
552
+ ],
553
+ [
554
+ -1.1681868805624163e-08,
555
+ -0.5299192667007446,
556
+ -0.8480480909347534,
557
+ 1.4672683477401733
558
+ ],
559
+ [
560
+ 0.0,
561
+ 0.0,
562
+ 0.0,
563
+ 1.0
564
+ ]
565
+ ],
566
+ "intrinsics": {
567
+ "fx": 416.0,
568
+ "fy": 416.0,
569
+ "cx": 415.5,
570
+ "cy": 239.5
571
+ }
572
+ },
573
+ {
574
+ "frame_index": 16,
575
+ "c2w": [
576
+ [
577
+ -0.9934003949165344,
578
+ -0.09727008640766144,
579
+ 0.06078106164932251,
580
+ 0.666906476020813
581
+ ],
582
+ [
583
+ -0.11469876766204834,
584
+ 0.8424513936042786,
585
+ -0.526421844959259,
586
+ 4.235990524291992
587
+ ],
588
+ [
589
+ 1.0194749933134517e-08,
590
+ -0.5299191474914551,
591
+ -0.8480481505393982,
592
+ 1.4672683477401733
593
+ ],
594
+ [
595
+ 0.0,
596
+ 0.0,
597
+ 0.0,
598
+ 1.0
599
+ ]
600
+ ],
601
+ "intrinsics": {
602
+ "fx": 416.0,
603
+ "fy": 416.0,
604
+ "cx": 415.5,
605
+ "cy": 239.5
606
+ }
607
+ },
608
+ {
609
+ "frame_index": 17,
610
+ "c2w": [
611
+ [
612
+ -0.990264356136322,
613
+ -0.11804879456758499,
614
+ 0.07376502454280853,
615
+ 0.6487289667129517
616
+ ],
617
+ [
618
+ -0.13920056819915771,
619
+ 0.8397918343544006,
620
+ -0.5247600674629211,
621
+ 4.233664035797119
622
+ ],
623
+ [
624
+ 3.861600106347396e-08,
625
+ -0.5299192667007446,
626
+ -0.8480480909347534,
627
+ 1.4672683477401733
628
+ ],
629
+ [
630
+ 0.0,
631
+ 0.0,
632
+ 0.0,
633
+ 1.0
634
+ ]
635
+ ],
636
+ "intrinsics": {
637
+ "fx": 416.0,
638
+ "fy": 416.0,
639
+ "cx": 415.5,
640
+ "cy": 239.5
641
+ }
642
+ },
643
+ {
644
+ "frame_index": 18,
645
+ "c2w": [
646
+ [
647
+ -0.9865238666534424,
648
+ -0.1387554407119751,
649
+ 0.08670395612716675,
650
+ 0.6306144595146179
651
+ ],
652
+ [
653
+ -0.16361738741397858,
654
+ 0.8366197347640991,
655
+ -0.5227779746055603,
656
+ 4.230889320373535
657
+ ],
658
+ [
659
+ 5.629031463172396e-08,
660
+ -0.5299192070960999,
661
+ -0.8480480909347534,
662
+ 1.4672683477401733
663
+ ],
664
+ [
665
+ 0.0,
666
+ 0.0,
667
+ 0.0,
668
+ 1.0
669
+ ]
670
+ ],
671
+ "intrinsics": {
672
+ "fx": 416.0,
673
+ "fy": 416.0,
674
+ "cx": 415.5,
675
+ "cy": 239.5
676
+ }
677
+ },
678
+ {
679
+ "frame_index": 19,
680
+ "c2w": [
681
+ [
682
+ -0.9821814298629761,
683
+ -0.15937721729278564,
684
+ 0.0995900109410286,
685
+ 0.6125739812850952
686
+ ],
687
+ [
688
+ -0.18793420493602753,
689
+ 0.8329370617866516,
690
+ -0.5204768776893616,
691
+ 4.227667808532715
692
+ ],
693
+ [
694
+ -6.907774263709143e-08,
695
+ -0.5299192070960999,
696
+ -0.8480480909347534,
697
+ 1.4672683477401733
698
+ ],
699
+ [
700
+ 0.0,
701
+ 0.0,
702
+ 0.0,
703
+ 1.0
704
+ ]
705
+ ],
706
+ "intrinsics": {
707
+ "fx": 416.0,
708
+ "fy": 416.0,
709
+ "cx": 415.5,
710
+ "cy": 239.5
711
+ }
712
+ },
713
+ {
714
+ "frame_index": 20,
715
+ "c2w": [
716
+ [
717
+ -0.9772402048110962,
718
+ -0.17990203201770782,
719
+ 0.11241527646780014,
720
+ 0.5946186184883118
721
+ ],
722
+ [
723
+ -0.21213659644126892,
724
+ 0.8287466764450073,
725
+ -0.5178583860397339,
726
+ 4.224001407623291
727
+ ],
728
+ [
729
+ -1.2286229811309113e-08,
730
+ -0.5299193263053894,
731
+ -0.8480480909347534,
732
+ 1.4672683477401733
733
+ ],
734
+ [
735
+ 0.0,
736
+ 0.0,
737
+ 0.0,
738
+ 1.0
739
+ ]
740
+ ],
741
+ "intrinsics": {
742
+ "fx": 416.0,
743
+ "fy": 416.0,
744
+ "cx": 415.5,
745
+ "cy": 239.5
746
+ }
747
+ },
748
+ {
749
+ "frame_index": 21,
750
+ "c2w": [
751
+ [
752
+ -0.9717020392417908,
753
+ -0.20031696557998657,
754
+ 0.125171959400177,
755
+ 0.5767592787742615
756
+ ],
757
+ [
758
+ -0.2362094521522522,
759
+ 0.8240500092506409,
760
+ -0.5149236917495728,
761
+ 4.219892978668213
762
+ ],
763
+ [
764
+ -5.7747815418451864e-09,
765
+ -0.5299192667007446,
766
+ -0.8480480909347534,
767
+ 1.4672683477401733
768
+ ],
769
+ [
770
+ 0.0,
771
+ 0.0,
772
+ 0.0,
773
+ 1.0
774
+ ]
775
+ ],
776
+ "intrinsics": {
777
+ "fx": 416.0,
778
+ "fy": 416.0,
779
+ "cx": 415.5,
780
+ "cy": 239.5
781
+ }
782
+ },
783
+ {
784
+ "frame_index": 22,
785
+ "c2w": [
786
+ [
787
+ -0.9655712842941284,
788
+ -0.22060976922512054,
789
+ 0.1378522664308548,
790
+ 0.5590068101882935
791
+ ],
792
+ [
793
+ -0.26013827323913574,
794
+ 0.8188508749008179,
795
+ -0.5116748213768005,
796
+ 4.2153449058532715
797
+ ],
798
+ [
799
+ -4.6331525282994335e-09,
800
+ -0.5299192070960999,
801
+ -0.8480481505393982,
802
+ 1.4672683477401733
803
+ ],
804
+ [
805
+ 0.0,
806
+ 0.0,
807
+ 0.0,
808
+ 1.0
809
+ ]
810
+ ],
811
+ "intrinsics": {
812
+ "fx": 416.0,
813
+ "fy": 416.0,
814
+ "cx": 415.5,
815
+ "cy": 239.5
816
+ }
817
+ },
818
+ {
819
+ "frame_index": 23,
820
+ "c2w": [
821
+ [
822
+ -0.958851158618927,
823
+ -0.24076789617538452,
824
+ 0.15044844150543213,
825
+ 0.5413721799850464
826
+ ],
827
+ [
828
+ -0.28390827775001526,
829
+ 0.8131518959999084,
830
+ -0.5081138014793396,
831
+ 4.210359573364258
832
+ ],
833
+ [
834
+ 3.46863657796348e-08,
835
+ -0.5299192070960999,
836
+ -0.8480480909347534,
837
+ 1.4672683477401733
838
+ ],
839
+ [
840
+ 0.0,
841
+ 0.0,
842
+ 0.0,
843
+ 1.0
844
+ ]
845
+ ],
846
+ "intrinsics": {
847
+ "fx": 416.0,
848
+ "fy": 416.0,
849
+ "cx": 415.5,
850
+ "cy": 239.5
851
+ }
852
+ },
853
+ {
854
+ "frame_index": 24,
855
+ "c2w": [
856
+ [
857
+ -0.9515461325645447,
858
+ -0.26077914237976074,
859
+ 0.16295282542705536,
860
+ 0.5238659977912903
861
+ ],
862
+ [
863
+ -0.3075051009654999,
864
+ 0.8069568872451782,
865
+ -0.5042427182197571,
866
+ 4.204939842224121
867
+ ],
868
+ [
869
+ 5.3966122237625314e-08,
870
+ -0.5299191474914551,
871
+ -0.8480481505393982,
872
+ 1.4672683477401733
873
+ ],
874
+ [
875
+ 0.0,
876
+ 0.0,
877
+ 0.0,
878
+ 1.0
879
+ ]
880
+ ],
881
+ "intrinsics": {
882
+ "fx": 416.0,
883
+ "fy": 416.0,
884
+ "cx": 415.5,
885
+ "cy": 239.5
886
+ }
887
+ },
888
+ {
889
+ "frame_index": 25,
890
+ "c2w": [
891
+ [
892
+ -0.9436606168746948,
893
+ -0.2806312143802643,
894
+ 0.17535777390003204,
895
+ 0.5064990520477295
896
+ ],
897
+ [
898
+ -0.3309142291545868,
899
+ 0.8002695441246033,
900
+ -0.5000640153884888,
901
+ 4.199089527130127
902
+ ],
903
+ [
904
+ 7.075548325019554e-08,
905
+ -0.5299192070960999,
906
+ -0.8480480909347534,
907
+ 1.4672683477401733
908
+ ],
909
+ [
910
+ 0.0,
911
+ 0.0,
912
+ 0.0,
913
+ 1.0
914
+ ]
915
+ ],
916
+ "intrinsics": {
917
+ "fx": 416.0,
918
+ "fy": 416.0,
919
+ "cx": 415.5,
920
+ "cy": 239.5
921
+ }
922
+ },
923
+ {
924
+ "frame_index": 26,
925
+ "c2w": [
926
+ [
927
+ -0.9351993203163147,
928
+ -0.30031195282936096,
929
+ 0.1876557320356369,
930
+ 0.48928192257881165
931
+ ],
932
+ [
933
+ -0.3541213572025299,
934
+ 0.7930940389633179,
935
+ -0.49558016657829285,
936
+ 4.192812442779541
937
+ ],
938
+ [
939
+ -5.070465824985604e-09,
940
+ -0.5299192070960999,
941
+ -0.8480480909347534,
942
+ 1.4672683477401733
943
+ ],
944
+ [
945
+ 0.0,
946
+ 0.0,
947
+ 0.0,
948
+ 1.0
949
+ ]
950
+ ],
951
+ "intrinsics": {
952
+ "fx": 416.0,
953
+ "fy": 416.0,
954
+ "cx": 415.5,
955
+ "cy": 239.5
956
+ }
957
+ },
958
+ {
959
+ "frame_index": 27,
960
+ "c2w": [
961
+ [
962
+ -0.9261674284934998,
963
+ -0.31980958580970764,
964
+ 0.199839249253273,
965
+ 0.4722250699996948
966
+ ],
967
+ [
968
+ -0.37711256742477417,
969
+ 0.7854345440864563,
970
+ -0.49079397320747375,
971
+ 4.1861114501953125
972
+ ],
973
+ [
974
+ -2.682788036167949e-08,
975
+ -0.5299192667007446,
976
+ -0.8480480909347534,
977
+ 1.4672683477401733
978
+ ],
979
+ [
980
+ 0.0,
981
+ 0.0,
982
+ 0.0,
983
+ 1.0
984
+ ]
985
+ ],
986
+ "intrinsics": {
987
+ "fx": 416.0,
988
+ "fy": 416.0,
989
+ "cx": 415.5,
990
+ "cy": 239.5
991
+ }
992
+ },
993
+ {
994
+ "frame_index": 28,
995
+ "c2w": [
996
+ [
997
+ -0.916570246219635,
998
+ -0.33911213278770447,
999
+ 0.2119007408618927,
1000
+ 0.4553389549255371
1001
+ ],
1002
+ [
1003
+ -0.39987367391586304,
1004
+ 0.7772956490516663,
1005
+ -0.4857082664966583,
1006
+ 4.178991317749023
1007
+ ],
1008
+ [
1009
+ 3.727609865222803e-08,
1010
+ -0.5299192667007446,
1011
+ -0.8480480909347534,
1012
+ 1.4672683477401733
1013
+ ],
1014
+ [
1015
+ 0.0,
1016
+ 0.0,
1017
+ 0.0,
1018
+ 1.0
1019
+ ]
1020
+ ],
1021
+ "intrinsics": {
1022
+ "fx": 416.0,
1023
+ "fy": 416.0,
1024
+ "cx": 415.5,
1025
+ "cy": 239.5
1026
+ }
1027
+ },
1028
+ {
1029
+ "frame_index": 29,
1030
+ "c2w": [
1031
+ [
1032
+ -0.9064138531684875,
1033
+ -0.35820767283439636,
1034
+ 0.22383294999599457,
1035
+ 0.43863382935523987
1036
+ ],
1037
+ [
1038
+ -0.42239072918891907,
1039
+ 0.768682599067688,
1040
+ -0.4803261458873749,
1041
+ 4.171456813812256
1042
+ ],
1043
+ [
1044
+ 3.45857138484007e-08,
1045
+ -0.5299192667007446,
1046
+ -0.8480480909347534,
1047
+ 1.4672683477401733
1048
+ ],
1049
+ [
1050
+ 0.0,
1051
+ 0.0,
1052
+ 0.0,
1053
+ 1.0
1054
+ ]
1055
+ ],
1056
+ "intrinsics": {
1057
+ "fx": 416.0,
1058
+ "fy": 416.0,
1059
+ "cx": 415.5,
1060
+ "cy": 239.5
1061
+ }
1062
+ },
1063
+ {
1064
+ "frame_index": 30,
1065
+ "c2w": [
1066
+ [
1067
+ -0.895704448223114,
1068
+ -0.3770847022533417,
1069
+ 0.2356286346912384,
1070
+ 0.4221199154853821
1071
+ ],
1072
+ [
1073
+ -0.4446501135826111,
1074
+ 0.7596004605293274,
1075
+ -0.474651038646698,
1076
+ 4.163511276245117
1077
+ ],
1078
+ [
1079
+ 3.938302839401331e-08,
1080
+ -0.5299193263053894,
1081
+ -0.8480480909347534,
1082
+ 1.4672683477401733
1083
+ ],
1084
+ [
1085
+ 0.0,
1086
+ 0.0,
1087
+ 0.0,
1088
+ 1.0
1089
+ ]
1090
+ ],
1091
+ "intrinsics": {
1092
+ "fx": 416.0,
1093
+ "fy": 416.0,
1094
+ "cx": 415.5,
1095
+ "cy": 239.5
1096
+ }
1097
+ },
1098
+ {
1099
+ "frame_index": 31,
1100
+ "c2w": [
1101
+ [
1102
+ -0.8844482898712158,
1103
+ -0.3957314193248749,
1104
+ 0.2472805231809616,
1105
+ 0.4058072865009308
1106
+ ],
1107
+ [
1108
+ -0.4666379988193512,
1109
+ 0.750054657459259,
1110
+ -0.4686862528324127,
1111
+ 4.155160903930664
1112
+ ],
1113
+ [
1114
+ -4.603305114869727e-08,
1115
+ -0.5299193263053894,
1116
+ -0.8480480313301086,
1117
+ 1.4672683477401733
1118
+ ],
1119
+ [
1120
+ 0.0,
1121
+ 0.0,
1122
+ 0.0,
1123
+ 1.0
1124
+ ]
1125
+ ],
1126
+ "intrinsics": {
1127
+ "fx": 416.0,
1128
+ "fy": 416.0,
1129
+ "cx": 415.5,
1130
+ "cy": 239.5
1131
+ }
1132
+ },
1133
+ {
1134
+ "frame_index": 32,
1135
+ "c2w": [
1136
+ [
1137
+ -0.8726524710655212,
1138
+ -0.41413694620132446,
1139
+ 0.2587814927101135,
1140
+ 0.3897058963775635
1141
+ ],
1142
+ [
1143
+ -0.4883413314819336,
1144
+ 0.7400512099266052,
1145
+ -0.46243542432785034,
1146
+ 4.146409511566162
1147
+ ],
1148
+ [
1149
+ 4.941899334198752e-09,
1150
+ -0.5299192070960999,
1151
+ -0.8480480909347534,
1152
+ 1.4672683477401733
1153
+ ],
1154
+ [
1155
+ 0.0,
1156
+ 0.0,
1157
+ 0.0,
1158
+ 1.0
1159
+ ]
1160
+ ],
1161
+ "intrinsics": {
1162
+ "fx": 416.0,
1163
+ "fy": 416.0,
1164
+ "cx": 415.5,
1165
+ "cy": 239.5
1166
+ }
1167
+ },
1168
+ {
1169
+ "frame_index": 33,
1170
+ "c2w": [
1171
+ [
1172
+ -0.8603247404098511,
1173
+ -0.43228965997695923,
1174
+ 0.27012455463409424,
1175
+ 0.3738255798816681
1176
+ ],
1177
+ [
1178
+ -0.5097466111183167,
1179
+ 0.7295967936515808,
1180
+ -0.4559025466442108,
1181
+ 4.137263774871826
1182
+ ],
1183
+ [
1184
+ -2.5172370854420478e-08,
1185
+ -0.5299192667007446,
1186
+ -0.8480481505393982,
1187
+ 1.4672683477401733
1188
+ ],
1189
+ [
1190
+ 0.0,
1191
+ 0.0,
1192
+ 0.0,
1193
+ 1.0
1194
+ ]
1195
+ ],
1196
+ "intrinsics": {
1197
+ "fx": 416.0,
1198
+ "fy": 416.0,
1199
+ "cx": 415.5,
1200
+ "cy": 239.5
1201
+ }
1202
+ },
1203
+ {
1204
+ "frame_index": 34,
1205
+ "c2w": [
1206
+ [
1207
+ -0.8474715948104858,
1208
+ -0.45017874240875244,
1209
+ 0.2813028395175934,
1210
+ 0.35817599296569824
1211
+ ],
1212
+ [
1213
+ -0.5308409929275513,
1214
+ 0.7186967134475708,
1215
+ -0.44909143447875977,
1216
+ 4.12772798538208
1217
+ ],
1218
+ [
1219
+ 6.981099254232959e-09,
1220
+ -0.5299192667007446,
1221
+ -0.8480481505393982,
1222
+ 1.4672683477401733
1223
+ ],
1224
+ [
1225
+ 0.0,
1226
+ 0.0,
1227
+ 0.0,
1228
+ 1.0
1229
+ ]
1230
+ ],
1231
+ "intrinsics": {
1232
+ "fx": 416.0,
1233
+ "fy": 416.0,
1234
+ "cx": 415.5,
1235
+ "cy": 239.5
1236
+ }
1237
+ },
1238
+ {
1239
+ "frame_index": 35,
1240
+ "c2w": [
1241
+ [
1242
+ -0.8341012597084045,
1243
+ -0.4677930474281311,
1244
+ 0.2923094630241394,
1245
+ 0.3427667021751404
1246
+ ],
1247
+ [
1248
+ -0.5516114234924316,
1249
+ 0.7073580026626587,
1250
+ -0.44200628995895386,
1251
+ 4.117808818817139
1252
+ ],
1253
+ [
1254
+ 3.187490449363395e-08,
1255
+ -0.5299192070960999,
1256
+ -0.8480481505393982,
1257
+ 1.4672683477401733
1258
+ ],
1259
+ [
1260
+ 0.0,
1261
+ 0.0,
1262
+ 0.0,
1263
+ 1.0
1264
+ ]
1265
+ ],
1266
+ "intrinsics": {
1267
+ "fx": 416.0,
1268
+ "fy": 416.0,
1269
+ "cx": 415.5,
1270
+ "cy": 239.5
1271
+ }
1272
+ },
1273
+ {
1274
+ "frame_index": 36,
1275
+ "c2w": [
1276
+ [
1277
+ -0.8202223181724548,
1278
+ -0.4851217567920685,
1279
+ 0.30313774943351746,
1280
+ 0.327607125043869
1281
+ ],
1282
+ [
1283
+ -0.572045087814331,
1284
+ 0.6955881118774414,
1285
+ -0.4346514344215393,
1286
+ 4.1075119972229
1287
+ ],
1288
+ [
1289
+ -1.2558339790302853e-07,
1290
+ -0.5299192070960999,
1291
+ -0.8480481505393982,
1292
+ 1.4672683477401733
1293
+ ],
1294
+ [
1295
+ 0.0,
1296
+ 0.0,
1297
+ 0.0,
1298
+ 1.0
1299
+ ]
1300
+ ],
1301
+ "intrinsics": {
1302
+ "fx": 416.0,
1303
+ "fy": 416.0,
1304
+ "cx": 415.5,
1305
+ "cy": 239.5
1306
+ }
1307
+ },
1308
+ {
1309
+ "frame_index": 37,
1310
+ "c2w": [
1311
+ [
1312
+ -0.8058425784111023,
1313
+ -0.5021546483039856,
1314
+ 0.3137810528278351,
1315
+ 0.31270650029182434
1316
+ ],
1317
+ [
1318
+ -0.5921298861503601,
1319
+ 0.6833932995796204,
1320
+ -0.4270314574241638,
1321
+ 4.09684419631958
1322
+ ],
1323
+ [
1324
+ -5.415583714807326e-08,
1325
+ -0.5299192667007446,
1326
+ -0.8480480909347534,
1327
+ 1.4672683477401733
1328
+ ],
1329
+ [
1330
+ 0.0,
1331
+ 0.0,
1332
+ 0.0,
1333
+ 1.0
1334
+ ]
1335
+ ],
1336
+ "intrinsics": {
1337
+ "fx": 416.0,
1338
+ "fy": 416.0,
1339
+ "cx": 415.5,
1340
+ "cy": 239.5
1341
+ }
1342
+ },
1343
+ {
1344
+ "frame_index": 38,
1345
+ "c2w": [
1346
+ [
1347
+ -0.7909712791442871,
1348
+ -0.5188810229301453,
1349
+ 0.3242328464984894,
1350
+ 0.2980739176273346
1351
+ ],
1352
+ [
1353
+ -0.611853301525116,
1354
+ 0.670781672000885,
1355
+ -0.41915085911750793,
1356
+ 4.085811138153076
1357
+ ],
1358
+ [
1359
+ -2.177709745865286e-08,
1360
+ -0.5299192070960999,
1361
+ -0.8480481505393982,
1362
+ 1.4672683477401733
1363
+ ],
1364
+ [
1365
+ 0.0,
1366
+ 0.0,
1367
+ 0.0,
1368
+ 1.0
1369
+ ]
1370
+ ],
1371
+ "intrinsics": {
1372
+ "fx": 416.0,
1373
+ "fy": 416.0,
1374
+ "cx": 415.5,
1375
+ "cy": 239.5
1376
+ }
1377
+ },
1378
+ {
1379
+ "frame_index": 39,
1380
+ "c2w": [
1381
+ [
1382
+ -0.7756171226501465,
1383
+ -0.5352909564971924,
1384
+ 0.3344869017601013,
1385
+ 0.2837183177471161
1386
+ ],
1387
+ [
1388
+ -0.6312035322189331,
1389
+ 0.6577606201171875,
1390
+ -0.41101446747779846,
1391
+ 4.07442045211792
1392
+ ],
1393
+ [
1394
+ -2.325034031969153e-08,
1395
+ -0.5299192070960999,
1396
+ -0.8480480909347534,
1397
+ 1.4672683477401733
1398
+ ],
1399
+ [
1400
+ 0.0,
1401
+ 0.0,
1402
+ 0.0,
1403
+ 1.0
1404
+ ]
1405
+ ],
1406
+ "intrinsics": {
1407
+ "fx": 416.0,
1408
+ "fy": 416.0,
1409
+ "cx": 415.5,
1410
+ "cy": 239.5
1411
+ }
1412
+ },
1413
+ {
1414
+ "frame_index": 40,
1415
+ "c2w": [
1416
+ [
1417
+ -0.7597899436950684,
1418
+ -0.5513741970062256,
1419
+ 0.3445369005203247,
1420
+ 0.2696484327316284
1421
+ ],
1422
+ [
1423
+ -0.6501685380935669,
1424
+ 0.6443384289741516,
1425
+ -0.4026273787021637,
1426
+ 4.062678337097168
1427
+ ],
1428
+ [
1429
+ -2.6980673695220503e-08,
1430
+ -0.5299193263053894,
1431
+ -0.8480480909347534,
1432
+ 1.4672683477401733
1433
+ ],
1434
+ [
1435
+ 0.0,
1436
+ 0.0,
1437
+ 0.0,
1438
+ 1.0
1439
+ ]
1440
+ ],
1441
+ "intrinsics": {
1442
+ "fx": 416.0,
1443
+ "fy": 416.0,
1444
+ "cx": 415.5,
1445
+ "cy": 239.5
1446
+ }
1447
+ },
1448
+ {
1449
+ "frame_index": 41,
1450
+ "c2w": [
1451
+ [
1452
+ -0.7434993386268616,
1453
+ -0.5671208500862122,
1454
+ 0.35437649488449097,
1455
+ 0.2558728754520416
1456
+ ],
1457
+ [
1458
+ -0.6687366962432861,
1459
+ 0.6305232048034668,
1460
+ -0.39399453997612,
1461
+ 4.050592422485352
1462
+ ],
1463
+ [
1464
+ -9.200478245929844e-08,
1465
+ -0.5299192667007446,
1466
+ -0.8480480909347534,
1467
+ 1.4672683477401733
1468
+ ],
1469
+ [
1470
+ 0.0,
1471
+ 0.0,
1472
+ 0.0,
1473
+ 1.0
1474
+ ]
1475
+ ],
1476
+ "intrinsics": {
1477
+ "fx": 416.0,
1478
+ "fy": 416.0,
1479
+ "cx": 415.5,
1480
+ "cy": 239.5
1481
+ }
1482
+ },
1483
+ {
1484
+ "frame_index": 42,
1485
+ "c2w": [
1486
+ [
1487
+ -0.7267546057701111,
1488
+ -0.5825217962265015,
1489
+ 0.3639999330043793,
1490
+ 0.24240003526210785
1491
+ ],
1492
+ [
1493
+ -0.6868970990180969,
1494
+ 0.6163228750228882,
1495
+ -0.38512131571769714,
1496
+ 4.038169860839844
1497
+ ],
1498
+ [
1499
+ 6.668759056083218e-08,
1500
+ -0.5299192070960999,
1501
+ -0.8480480909347534,
1502
+ 1.4672683477401733
1503
+ ],
1504
+ [
1505
+ 0.0,
1506
+ 0.0,
1507
+ 0.0,
1508
+ 1.0
1509
+ ]
1510
+ ],
1511
+ "intrinsics": {
1512
+ "fx": 416.0,
1513
+ "fy": 416.0,
1514
+ "cx": 415.5,
1515
+ "cy": 239.5
1516
+ }
1517
+ },
1518
+ {
1519
+ "frame_index": 43,
1520
+ "c2w": [
1521
+ [
1522
+ -0.7095670700073242,
1523
+ -0.5975670218467712,
1524
+ 0.3734012544155121,
1525
+ 0.22923815250396729
1526
+ ],
1527
+ [
1528
+ -0.7046381235122681,
1529
+ 0.6017470955848694,
1530
+ -0.3760131895542145,
1531
+ 4.025418281555176
1532
+ ],
1533
+ [
1534
+ -3.149525085177629e-09,
1535
+ -0.5299192667007446,
1536
+ -0.8480480909347534,
1537
+ 1.4672683477401733
1538
+ ],
1539
+ [
1540
+ 0.0,
1541
+ 0.0,
1542
+ 0.0,
1543
+ 1.0
1544
+ ]
1545
+ ],
1546
+ "intrinsics": {
1547
+ "fx": 416.0,
1548
+ "fy": 416.0,
1549
+ "cx": 415.5,
1550
+ "cy": 239.5
1551
+ }
1552
+ },
1553
+ {
1554
+ "frame_index": 44,
1555
+ "c2w": [
1556
+ [
1557
+ -0.6919459104537964,
1558
+ -0.61224764585495,
1559
+ 0.38257482647895813,
1560
+ 0.21639522910118103
1561
+ ],
1562
+ [
1563
+ -0.7219492197036743,
1564
+ 0.5868033766746521,
1565
+ -0.3666754961013794,
1566
+ 4.012345790863037
1567
+ ],
1568
+ [
1569
+ -3.4659890957300377e-08,
1570
+ -0.5299192667007446,
1571
+ -0.8480480909347534,
1572
+ 1.4672683477401733
1573
+ ],
1574
+ [
1575
+ 0.0,
1576
+ 0.0,
1577
+ 0.0,
1578
+ 1.0
1579
+ ]
1580
+ ],
1581
+ "intrinsics": {
1582
+ "fx": 416.0,
1583
+ "fy": 416.0,
1584
+ "cx": 415.5,
1585
+ "cy": 239.5
1586
+ }
1587
+ },
1588
+ {
1589
+ "frame_index": 45,
1590
+ "c2w": [
1591
+ [
1592
+ -0.6739031076431274,
1593
+ -0.6265548467636108,
1594
+ 0.39151495695114136,
1595
+ 0.20387911796569824
1596
+ ],
1597
+ [
1598
+ -0.73881995677948,
1599
+ 0.5715022683143616,
1600
+ -0.35711416602134705,
1601
+ 3.99895977973938
1602
+ ],
1603
+ [
1604
+ -5.113593104510983e-08,
1605
+ -0.5299193263053894,
1606
+ -0.8480480909347534,
1607
+ 1.4672683477401733
1608
+ ],
1609
+ [
1610
+ 0.0,
1611
+ 0.0,
1612
+ 0.0,
1613
+ 1.0
1614
+ ]
1615
+ ],
1616
+ "intrinsics": {
1617
+ "fx": 416.0,
1618
+ "fy": 416.0,
1619
+ "cx": 415.5,
1620
+ "cy": 239.5
1621
+ }
1622
+ },
1623
+ {
1624
+ "frame_index": 46,
1625
+ "c2w": [
1626
+ [
1627
+ -0.6554486155509949,
1628
+ -0.6404796838760376,
1629
+ 0.40021607279777527,
1630
+ 0.19169746339321136
1631
+ ],
1632
+ [
1633
+ -0.7552397847175598,
1634
+ 0.555851936340332,
1635
+ -0.3473348915576935,
1636
+ 3.9852688312530518
1637
+ ],
1638
+ [
1639
+ 7.40288399470046e-08,
1640
+ -0.5299192667007446,
1641
+ -0.8480480909347534,
1642
+ 1.4672683477401733
1643
+ ],
1644
+ [
1645
+ 0.0,
1646
+ 0.0,
1647
+ 0.0,
1648
+ 1.0
1649
+ ]
1650
+ ],
1651
+ "intrinsics": {
1652
+ "fx": 416.0,
1653
+ "fy": 416.0,
1654
+ "cx": 415.5,
1655
+ "cy": 239.5
1656
+ }
1657
+ },
1658
+ {
1659
+ "frame_index": 47,
1660
+ "c2w": [
1661
+ [
1662
+ -0.6365944147109985,
1663
+ -0.6540136933326721,
1664
+ 0.4086730480194092,
1665
+ 0.17985767126083374
1666
+ ],
1667
+ [
1668
+ -0.7711988091468811,
1669
+ 0.5398626923561096,
1670
+ -0.33734366297721863,
1671
+ 3.971281051635742
1672
+ ],
1673
+ [
1674
+ 5.154747029223472e-08,
1675
+ -0.5299192667007446,
1676
+ -0.8480480909347534,
1677
+ 1.4672683477401733
1678
+ ],
1679
+ [
1680
+ 0.0,
1681
+ 0.0,
1682
+ 0.0,
1683
+ 1.0
1684
+ ]
1685
+ ],
1686
+ "intrinsics": {
1687
+ "fx": 416.0,
1688
+ "fy": 416.0,
1689
+ "cx": 415.5,
1690
+ "cy": 239.5
1691
+ }
1692
+ },
1693
+ {
1694
+ "frame_index": 48,
1695
+ "c2w": [
1696
+ [
1697
+ -0.6173519492149353,
1698
+ -0.6671485304832458,
1699
+ 0.41688069701194763,
1700
+ 0.16836699843406677
1701
+ ],
1702
+ [
1703
+ -0.7866871356964111,
1704
+ 0.523544192314148,
1705
+ -0.32714661955833435,
1706
+ 3.957005262374878
1707
+ ],
1708
+ [
1709
+ -5.682181125621355e-08,
1710
+ -0.5299192667007446,
1711
+ -0.8480480909347534,
1712
+ 1.4672683477401733
1713
+ ],
1714
+ [
1715
+ 0.0,
1716
+ 0.0,
1717
+ 0.0,
1718
+ 1.0
1719
+ ]
1720
+ ],
1721
+ "intrinsics": {
1722
+ "fx": 416.0,
1723
+ "fy": 416.0,
1724
+ "cx": 415.5,
1725
+ "cy": 239.5
1726
+ }
1727
+ },
1728
+ {
1729
+ "frame_index": 49,
1730
+ "c2w": [
1731
+ [
1732
+ -0.5977320075035095,
1733
+ -0.6798765063285828,
1734
+ 0.42483392357826233,
1735
+ 0.15723243355751038
1736
+ ],
1737
+ [
1738
+ -0.8016956448554993,
1739
+ 0.5069054365158081,
1740
+ -0.3167498707771301,
1741
+ 3.9424498081207275
1742
+ ],
1743
+ [
1744
+ 1.0997625565778435e-07,
1745
+ -0.5299192070960999,
1746
+ -0.8480480909347534,
1747
+ 1.4672683477401733
1748
+ ],
1749
+ [
1750
+ 0.0,
1751
+ 0.0,
1752
+ 0.0,
1753
+ 1.0
1754
+ ]
1755
+ ],
1756
+ "intrinsics": {
1757
+ "fx": 416.0,
1758
+ "fy": 416.0,
1759
+ "cx": 415.5,
1760
+ "cy": 239.5
1761
+ }
1762
+ },
1763
+ {
1764
+ "frame_index": 50,
1765
+ "c2w": [
1766
+ [
1767
+ -0.5777483582496643,
1768
+ -0.6921894550323486,
1769
+ 0.432528018951416,
1770
+ 0.14646078646183014
1771
+ ],
1772
+ [
1773
+ -0.8162148594856262,
1774
+ 0.48995840549468994,
1775
+ -0.306160032749176,
1776
+ 3.927623987197876
1777
+ ],
1778
+ [
1779
+ -5.663068236572144e-09,
1780
+ -0.5299192667007446,
1781
+ -0.8480480909347534,
1782
+ 1.4672683477401733
1783
+ ],
1784
+ [
1785
+ 0.0,
1786
+ 0.0,
1787
+ 0.0,
1788
+ 1.0
1789
+ ]
1790
+ ],
1791
+ "intrinsics": {
1792
+ "fx": 416.0,
1793
+ "fy": 416.0,
1794
+ "cx": 415.5,
1795
+ "cy": 239.5
1796
+ }
1797
+ },
1798
+ {
1799
+ "frame_index": 51,
1800
+ "c2w": [
1801
+ [
1802
+ -0.5574116110801697,
1803
+ -0.7040801048278809,
1804
+ 0.4399580955505371,
1805
+ 0.13605861365795135
1806
+ ],
1807
+ [
1808
+ -0.83023601770401,
1809
+ 0.47271180152893066,
1810
+ -0.2953832447528839,
1811
+ 3.91253662109375
1812
+ ],
1813
+ [
1814
+ 1.8160401182854002e-08,
1815
+ -0.5299192667007446,
1816
+ -0.8480480909347534,
1817
+ 1.4672683477401733
1818
+ ],
1819
+ [
1820
+ 0.0,
1821
+ 0.0,
1822
+ 0.0,
1823
+ 1.0
1824
+ ]
1825
+ ],
1826
+ "intrinsics": {
1827
+ "fx": 416.0,
1828
+ "fy": 416.0,
1829
+ "cx": 415.5,
1830
+ "cy": 239.5
1831
+ }
1832
+ },
1833
+ {
1834
+ "frame_index": 52,
1835
+ "c2w": [
1836
+ [
1837
+ -0.536734938621521,
1838
+ -0.7155411839485168,
1839
+ 0.44711968302726746,
1840
+ 0.1260322779417038
1841
+ ],
1842
+ [
1843
+ -0.8437506556510925,
1844
+ 0.45517697930336,
1845
+ -0.28442633152008057,
1846
+ 3.8971967697143555
1847
+ ],
1848
+ [
1849
+ 8.735769085888023e-08,
1850
+ -0.5299192070960999,
1851
+ -0.8480480909347534,
1852
+ 1.4672683477401733
1853
+ ],
1854
+ [
1855
+ 0.0,
1856
+ 0.0,
1857
+ 0.0,
1858
+ 1.0
1859
+ ]
1860
+ ],
1861
+ "intrinsics": {
1862
+ "fx": 416.0,
1863
+ "fy": 416.0,
1864
+ "cx": 415.5,
1865
+ "cy": 239.5
1866
+ }
1867
+ },
1868
+ {
1869
+ "frame_index": 53,
1870
+ "c2w": [
1871
+ [
1872
+ -0.5157310366630554,
1873
+ -0.7265656590461731,
1874
+ 0.4540086090564728,
1875
+ 0.11638788878917694
1876
+ ],
1877
+ [
1878
+ -0.8567505478858948,
1879
+ 0.43736475706100464,
1880
+ -0.2732957601547241,
1881
+ 3.8816139698028564
1882
+ ],
1883
+ [
1884
+ -5.502901245790781e-08,
1885
+ -0.5299192667007446,
1886
+ -0.8480480909347534,
1887
+ 1.4672683477401733
1888
+ ],
1889
+ [
1890
+ 0.0,
1891
+ 0.0,
1892
+ 0.0,
1893
+ 1.0
1894
+ ]
1895
+ ],
1896
+ "intrinsics": {
1897
+ "fx": 416.0,
1898
+ "fy": 416.0,
1899
+ "cx": 415.5,
1900
+ "cy": 239.5
1901
+ }
1902
+ },
1903
+ {
1904
+ "frame_index": 54,
1905
+ "c2w": [
1906
+ [
1907
+ -0.49441206455230713,
1908
+ -0.7371470332145691,
1909
+ 0.4606204628944397,
1910
+ 0.10713133215904236
1911
+ ],
1912
+ [
1913
+ -0.8692277669906616,
1914
+ 0.4192851781845093,
1915
+ -0.2619985044002533,
1916
+ 3.865797758102417
1917
+ ],
1918
+ [
1919
+ 1.3816489286000433e-07,
1920
+ -0.5299192667007446,
1921
+ -0.8480480909347534,
1922
+ 1.4672683477401733
1923
+ ],
1924
+ [
1925
+ 0.0,
1926
+ 0.0,
1927
+ 0.0,
1928
+ 1.0
1929
+ ]
1930
+ ],
1931
+ "intrinsics": {
1932
+ "fx": 416.0,
1933
+ "fy": 416.0,
1934
+ "cx": 415.5,
1935
+ "cy": 239.5
1936
+ }
1937
+ },
1938
+ {
1939
+ "frame_index": 55,
1940
+ "c2w": [
1941
+ [
1942
+ -0.4727916717529297,
1943
+ -0.747278094291687,
1944
+ 0.4669512212276459,
1945
+ 0.09826825559139252
1946
+ ],
1947
+ [
1948
+ -0.8811742067337036,
1949
+ 0.4009501338005066,
1950
+ -0.2505413293838501,
1951
+ 3.8497579097747803
1952
+ ],
1953
+ [
1954
+ -9.980628590255947e-08,
1955
+ -0.5299192667007446,
1956
+ -0.8480480909347534,
1957
+ 1.4672683477401733
1958
+ ],
1959
+ [
1960
+ 0.0,
1961
+ 0.0,
1962
+ 0.0,
1963
+ 1.0
1964
+ ]
1965
+ ],
1966
+ "intrinsics": {
1967
+ "fx": 416.0,
1968
+ "fy": 416.0,
1969
+ "cx": 415.5,
1970
+ "cy": 239.5
1971
+ }
1972
+ },
1973
+ {
1974
+ "frame_index": 56,
1975
+ "c2w": [
1976
+ [
1977
+ -0.45088231563568115,
1978
+ -0.7569537162780762,
1979
+ 0.47299709916114807,
1980
+ 0.08980406075716019
1981
+ ],
1982
+ [
1983
+ -0.892583429813385,
1984
+ 0.3823698163032532,
1985
+ -0.2389313280582428,
1986
+ 3.8335037231445312
1987
+ ],
1988
+ [
1989
+ 1.5110390449990518e-07,
1990
+ -0.5299192667007446,
1991
+ -0.8480480909347534,
1992
+ 1.4672683477401733
1993
+ ],
1994
+ [
1995
+ 0.0,
1996
+ 0.0,
1997
+ 0.0,
1998
+ 1.0
1999
+ ]
2000
+ ],
2001
+ "intrinsics": {
2002
+ "fx": 416.0,
2003
+ "fy": 416.0,
2004
+ "cx": 415.5,
2005
+ "cy": 239.5
2006
+ }
2007
+ },
2008
+ {
2009
+ "frame_index": 57,
2010
+ "c2w": [
2011
+ [
2012
+ -0.42869842052459717,
2013
+ -0.7661670446395874,
2014
+ 0.47875434160232544,
2015
+ 0.08174392580986023
2016
+ ],
2017
+ [
2018
+ -0.903447687625885,
2019
+ 0.3635569214820862,
2020
+ -0.2271755039691925,
2021
+ 3.8170456886291504
2022
+ ],
2023
+ [
2024
+ -6.162409249554912e-08,
2025
+ -0.5299192667007446,
2026
+ -0.8480480909347534,
2027
+ 1.4672683477401733
2028
+ ],
2029
+ [
2030
+ 0.0,
2031
+ 0.0,
2032
+ 0.0,
2033
+ 1.0
2034
+ ]
2035
+ ],
2036
+ "intrinsics": {
2037
+ "fx": 416.0,
2038
+ "fy": 416.0,
2039
+ "cx": 415.5,
2040
+ "cy": 239.5
2041
+ }
2042
+ },
2043
+ {
2044
+ "frame_index": 58,
2045
+ "c2w": [
2046
+ [
2047
+ -0.40625250339508057,
2048
+ -0.7749131321907043,
2049
+ 0.48421937227249146,
2050
+ 0.07409276068210602
2051
+ ],
2052
+ [
2053
+ -0.913760781288147,
2054
+ 0.3445216119289398,
2055
+ -0.21528111398220062,
2056
+ 3.800393581390381
2057
+ ],
2058
+ [
2059
+ 8.779080928889016e-08,
2060
+ -0.5299192070960999,
2061
+ -0.8480480909347534,
2062
+ 1.4672683477401733
2063
+ ],
2064
+ [
2065
+ 0.0,
2066
+ 0.0,
2067
+ 0.0,
2068
+ 1.0
2069
+ ]
2070
+ ],
2071
+ "intrinsics": {
2072
+ "fx": 416.0,
2073
+ "fy": 416.0,
2074
+ "cx": 415.5,
2075
+ "cy": 239.5
2076
+ }
2077
+ },
2078
+ {
2079
+ "frame_index": 59,
2080
+ "c2w": [
2081
+ [
2082
+ -0.3835590183734894,
2083
+ -0.7831863760948181,
2084
+ 0.4893890917301178,
2085
+ 0.06685522943735123
2086
+ ],
2087
+ [
2088
+ -0.9235163927078247,
2089
+ 0.3252764940261841,
2090
+ -0.2032553106546402,
2091
+ 3.783557415008545
2092
+ ],
2093
+ [
2094
+ 2.6520728724221954e-08,
2095
+ -0.5299192667007446,
2096
+ -0.8480480909347534,
2097
+ 1.4672683477401733
2098
+ ],
2099
+ [
2100
+ 0.0,
2101
+ 0.0,
2102
+ 0.0,
2103
+ 1.0
2104
+ ]
2105
+ ],
2106
+ "intrinsics": {
2107
+ "fx": 416.0,
2108
+ "fy": 416.0,
2109
+ "cx": 415.5,
2110
+ "cy": 239.5
2111
+ }
2112
+ },
2113
+ {
2114
+ "frame_index": 60,
2115
+ "c2w": [
2116
+ [
2117
+ -0.36063140630722046,
2118
+ -0.790981650352478,
2119
+ 0.4942602217197418,
2120
+ 0.06003576144576073
2121
+ ],
2122
+ [
2123
+ -0.9327085018157959,
2124
+ 0.30583280324935913,
2125
+ -0.19110547006130219,
2126
+ 3.766547679901123
2127
+ ],
2128
+ [
2129
+ -4.699517219819427e-08,
2130
+ -0.5299192667007446,
2131
+ -0.8480480909347534,
2132
+ 1.4672683477401733
2133
+ ],
2134
+ [
2135
+ 0.0,
2136
+ 0.0,
2137
+ 0.0,
2138
+ 1.0
2139
+ ]
2140
+ ],
2141
+ "intrinsics": {
2142
+ "fx": 416.0,
2143
+ "fy": 416.0,
2144
+ "cx": 415.5,
2145
+ "cy": 239.5
2146
+ }
2147
+ },
2148
+ {
2149
+ "frame_index": 61,
2150
+ "c2w": [
2151
+ [
2152
+ -0.3374837338924408,
2153
+ -0.7982942461967468,
2154
+ 0.49882957339286804,
2155
+ 0.053638506680727005
2156
+ ],
2157
+ [
2158
+ -0.9413313269615173,
2159
+ 0.28620246052742004,
2160
+ -0.17883913218975067,
2161
+ 3.7493746280670166
2162
+ ],
2163
+ [
2164
+ -5.472038822063041e-09,
2165
+ -0.5299192070960999,
2166
+ -0.8480481505393982,
2167
+ 1.4672683477401733
2168
+ ],
2169
+ [
2170
+ 0.0,
2171
+ 0.0,
2172
+ 0.0,
2173
+ 1.0
2174
+ ]
2175
+ ],
2176
+ "intrinsics": {
2177
+ "fx": 416.0,
2178
+ "fy": 416.0,
2179
+ "cx": 415.5,
2180
+ "cy": 239.5
2181
+ }
2182
+ },
2183
+ {
2184
+ "frame_index": 62,
2185
+ "c2w": [
2186
+ [
2187
+ -0.31413018703460693,
2188
+ -0.8051199913024902,
2189
+ 0.5030947923660278,
2190
+ 0.04766737297177315
2191
+ ],
2192
+ [
2193
+ -0.949380099773407,
2194
+ 0.26639747619628906,
2195
+ -0.1664636731147766,
2196
+ 3.732048988342285
2197
+ ],
2198
+ [
2199
+ 1.212966651564784e-07,
2200
+ -0.5299193263053894,
2201
+ -0.8480480909347534,
2202
+ 1.4672683477401733
2203
+ ],
2204
+ [
2205
+ 0.0,
2206
+ 0.0,
2207
+ 0.0,
2208
+ 1.0
2209
+ ]
2210
+ ],
2211
+ "intrinsics": {
2212
+ "fx": 416.0,
2213
+ "fy": 416.0,
2214
+ "cx": 415.5,
2215
+ "cy": 239.5
2216
+ }
2217
+ },
2218
+ {
2219
+ "frame_index": 63,
2220
+ "c2w": [
2221
+ [
2222
+ -0.290584534406662,
2223
+ -0.8114541172981262,
2224
+ 0.5070527791976929,
2225
+ 0.04212599992752075
2226
+ ],
2227
+ [
2228
+ -0.9568491578102112,
2229
+ 0.24642963707447052,
2230
+ -0.15398643910884857,
2231
+ 3.71458101272583
2232
+ ],
2233
+ [
2234
+ 3.265495962523346e-08,
2235
+ -0.5299192070960999,
2236
+ -0.8480480909347534,
2237
+ 1.4672683477401733
2238
+ ],
2239
+ [
2240
+ 0.0,
2241
+ 0.0,
2242
+ 0.0,
2243
+ 1.0
2244
+ ]
2245
+ ],
2246
+ "intrinsics": {
2247
+ "fx": 416.0,
2248
+ "fy": 416.0,
2249
+ "cx": 415.5,
2250
+ "cy": 239.5
2251
+ }
2252
+ },
2253
+ {
2254
+ "frame_index": 64,
2255
+ "c2w": [
2256
+ [
2257
+ -0.2668619155883789,
2258
+ -0.8172933459281921,
2259
+ 0.5107016563415527,
2260
+ 0.03701777383685112
2261
+ ],
2262
+ [
2263
+ -0.9637346863746643,
2264
+ 0.22631168365478516,
2265
+ -0.14141535758972168,
2266
+ 3.696981430053711
2267
+ ],
2268
+ [
2269
+ 4.058686542407486e-08,
2270
+ -0.5299193263053894,
2271
+ -0.8480480313301086,
2272
+ 1.4672683477401733
2273
+ ],
2274
+ [
2275
+ 0.0,
2276
+ 0.0,
2277
+ 0.0,
2278
+ 1.0
2279
+ ]
2280
+ ],
2281
+ "intrinsics": {
2282
+ "fx": 416.0,
2283
+ "fy": 416.0,
2284
+ "cx": 415.5,
2285
+ "cy": 239.5
2286
+ }
2287
+ },
2288
+ {
2289
+ "frame_index": 65,
2290
+ "c2w": [
2291
+ [
2292
+ -0.24297676980495453,
2293
+ -0.8226339221000671,
2294
+ 0.5140387415885925,
2295
+ 0.032345809042453766
2296
+ ],
2297
+ [
2298
+ -0.9700321555137634,
2299
+ 0.20605598390102386,
2300
+ -0.12875807285308838,
2301
+ 3.6792612075805664
2302
+ ],
2303
+ [
2304
+ 1.8077304986263698e-08,
2305
+ -0.5299192667007446,
2306
+ -0.8480480909347534,
2307
+ 1.4672683477401733
2308
+ ],
2309
+ [
2310
+ 0.0,
2311
+ 0.0,
2312
+ 0.0,
2313
+ 1.0
2314
+ ]
2315
+ ],
2316
+ "intrinsics": {
2317
+ "fx": 416.0,
2318
+ "fy": 416.0,
2319
+ "cx": 415.5,
2320
+ "cy": 239.5
2321
+ }
2322
+ },
2323
+ {
2324
+ "frame_index": 66,
2325
+ "c2w": [
2326
+ [
2327
+ -0.21894294023513794,
2328
+ -0.827472448348999,
2329
+ 0.5170621871948242,
2330
+ 0.028112953528761864
2331
+ ],
2332
+ [
2333
+ -0.9757376909255981,
2334
+ 0.18567410111427307,
2335
+ -0.11602213233709335,
2336
+ 3.661431074142456
2337
+ ],
2338
+ [
2339
+ 6.762331850040937e-08,
2340
+ -0.5299192667007446,
2341
+ -0.8480480909347534,
2342
+ 1.4672683477401733
2343
+ ],
2344
+ [
2345
+ 0.0,
2346
+ 0.0,
2347
+ 0.0,
2348
+ 1.0
2349
+ ]
2350
+ ],
2351
+ "intrinsics": {
2352
+ "fx": 416.0,
2353
+ "fy": 416.0,
2354
+ "cx": 415.5,
2355
+ "cy": 239.5
2356
+ }
2357
+ },
2358
+ {
2359
+ "frame_index": 67,
2360
+ "c2w": [
2361
+ [
2362
+ -0.19477558135986328,
2363
+ -0.8318060636520386,
2364
+ 0.519770085811615,
2365
+ 0.024321796372532845
2366
+ ],
2367
+ [
2368
+ -0.9808477163314819,
2369
+ 0.1651790291070938,
2370
+ -0.10321540385484695,
2371
+ 3.6435015201568604
2372
+ ],
2373
+ [
2374
+ 4.4084409012157266e-08,
2375
+ -0.5299192070960999,
2376
+ -0.8480481505393982,
2377
+ 1.4672683477401733
2378
+ ],
2379
+ [
2380
+ 0.0,
2381
+ 0.0,
2382
+ 0.0,
2383
+ 1.0
2384
+ ]
2385
+ ],
2386
+ "intrinsics": {
2387
+ "fx": 416.0,
2388
+ "fy": 416.0,
2389
+ "cx": 415.5,
2390
+ "cy": 239.5
2391
+ }
2392
+ },
2393
+ {
2394
+ "frame_index": 68,
2395
+ "c2w": [
2396
+ [
2397
+ -0.17048950493335724,
2398
+ -0.8356321454048157,
2399
+ 0.5221608877182007,
2400
+ 0.020974645391106606
2401
+ ],
2402
+ [
2403
+ -0.9853593707084656,
2404
+ 0.14458328485488892,
2405
+ -0.09034570306539536,
2406
+ 3.625483989715576
2407
+ ],
2408
+ [
2409
+ -8.399062778607913e-09,
2410
+ -0.5299192070960999,
2411
+ -0.8480481505393982,
2412
+ 1.4672683477401733
2413
+ ],
2414
+ [
2415
+ 0.0,
2416
+ 0.0,
2417
+ 0.0,
2418
+ 1.0
2419
+ ]
2420
+ ],
2421
+ "intrinsics": {
2422
+ "fx": 416.0,
2423
+ "fy": 416.0,
2424
+ "cx": 415.5,
2425
+ "cy": 239.5
2426
+ }
2427
+ },
2428
+ {
2429
+ "frame_index": 69,
2430
+ "c2w": [
2431
+ [
2432
+ -0.14609943330287933,
2433
+ -0.8389484286308289,
2434
+ 0.5242331027984619,
2435
+ 0.018073545768857002
2436
+ ],
2437
+ [
2438
+ -0.9892698526382446,
2439
+ 0.12389932572841644,
2440
+ -0.07742094993591309,
2441
+ 3.607389211654663
2442
+ ],
2443
+ [
2444
+ 1.7063834789610155e-08,
2445
+ -0.5299192070960999,
2446
+ -0.8480480909347534,
2447
+ 1.4672683477401733
2448
+ ],
2449
+ [
2450
+ 0.0,
2451
+ 0.0,
2452
+ 0.0,
2453
+ 1.0
2454
+ ]
2455
+ ],
2456
+ "intrinsics": {
2457
+ "fx": 416.0,
2458
+ "fy": 416.0,
2459
+ "cx": 415.5,
2460
+ "cy": 239.5
2461
+ }
2462
+ },
2463
+ {
2464
+ "frame_index": 70,
2465
+ "c2w": [
2466
+ [
2467
+ -0.12162009626626968,
2468
+ -0.8417527675628662,
2469
+ 0.5259854793548584,
2470
+ 0.015620267949998379
2471
+ ],
2472
+ [
2473
+ -0.9925766587257385,
2474
+ 0.10313965380191803,
2475
+ -0.06444890797138214,
2476
+ 3.589228391647339
2477
+ ],
2478
+ [
2479
+ 5.414685944060693e-08,
2480
+ -0.5299192667007446,
2481
+ -0.8480480909347534,
2482
+ 1.4672683477401733
2483
+ ],
2484
+ [
2485
+ 0.0,
2486
+ 0.0,
2487
+ 0.0,
2488
+ 1.0
2489
+ ]
2490
+ ],
2491
+ "intrinsics": {
2492
+ "fx": 416.0,
2493
+ "fy": 416.0,
2494
+ "cx": 415.5,
2495
+ "cy": 239.5
2496
+ }
2497
+ },
2498
+ {
2499
+ "frame_index": 71,
2500
+ "c2w": [
2501
+ [
2502
+ -0.09706674516201019,
2503
+ -0.8440435528755188,
2504
+ 0.5274168848991394,
2505
+ 0.013616306707262993
2506
+ ],
2507
+ [
2508
+ -0.9952778816223145,
2509
+ 0.0823173001408577,
2510
+ -0.051437485963106155,
2511
+ 3.571012496948242
2512
+ ],
2513
+ [
2514
+ -4.876741499515447e-08,
2515
+ -0.5299192667007446,
2516
+ -0.8480480909347534,
2517
+ 1.4672683477401733
2518
+ ],
2519
+ [
2520
+ 0.0,
2521
+ 0.0,
2522
+ 0.0,
2523
+ 1.0
2524
+ ]
2525
+ ],
2526
+ "intrinsics": {
2527
+ "fx": 416.0,
2528
+ "fy": 416.0,
2529
+ "cx": 415.5,
2530
+ "cy": 239.5
2531
+ }
2532
+ },
2533
+ {
2534
+ "frame_index": 72,
2535
+ "c2w": [
2536
+ [
2537
+ -0.07245390862226486,
2538
+ -0.8458192944526672,
2539
+ 0.5285264253616333,
2540
+ 0.01206288579851389
2541
+ ],
2542
+ [
2543
+ -0.9973717927932739,
2544
+ 0.06144433841109276,
2545
+ -0.038394808769226074,
2546
+ 3.552752733230591
2547
+ ],
2548
+ [
2549
+ 1.1521817100401677e-07,
2550
+ -0.5299192070960999,
2551
+ -0.8480481505393982,
2552
+ 1.4672683477401733
2553
+ ],
2554
+ [
2555
+ 0.0,
2556
+ 0.0,
2557
+ 0.0,
2558
+ 1.0
2559
+ ]
2560
+ ],
2561
+ "intrinsics": {
2562
+ "fx": 416.0,
2563
+ "fy": 416.0,
2564
+ "cx": 415.5,
2565
+ "cy": 239.5
2566
+ }
2567
+ },
2568
+ {
2569
+ "frame_index": 73,
2570
+ "c2w": [
2571
+ [
2572
+ -0.04779692739248276,
2573
+ -0.8470788598060608,
2574
+ 0.5293135643005371,
2575
+ 0.010960953310132027
2576
+ ],
2577
+ [
2578
+ -0.9988570809364319,
2579
+ 0.04053403064608574,
2580
+ -0.025328608229756355,
2581
+ 3.5344598293304443
2582
+ ],
2583
+ [
2584
+ 1.2267574334146047e-07,
2585
+ -0.5299192667007446,
2586
+ -0.8480480909347534,
2587
+ 1.4672683477401733
2588
+ ],
2589
+ [
2590
+ 0.0,
2591
+ 0.0,
2592
+ 0.0,
2593
+ 1.0
2594
+ ]
2595
+ ],
2596
+ "intrinsics": {
2597
+ "fx": 416.0,
2598
+ "fy": 416.0,
2599
+ "cx": 415.5,
2600
+ "cy": 239.5
2601
+ }
2602
+ },
2603
+ {
2604
+ "frame_index": 74,
2605
+ "c2w": [
2606
+ [
2607
+ -0.023110870271921158,
2608
+ -0.8478215932846069,
2609
+ 0.5297776460647583,
2610
+ 0.010311181657016277
2611
+ ],
2612
+ [
2613
+ -0.9997328519821167,
2614
+ 0.01959909498691559,
2615
+ -0.012246966361999512,
2616
+ 3.516145706176758
2617
+ ],
2618
+ [
2619
+ 4.861670532818607e-08,
2620
+ -0.5299192070960999,
2621
+ -0.8480481505393982,
2622
+ 1.4672683477401733
2623
+ ],
2624
+ [
2625
+ 0.0,
2626
+ 0.0,
2627
+ 0.0,
2628
+ 1.0
2629
+ ]
2630
+ ],
2631
+ "intrinsics": {
2632
+ "fx": 416.0,
2633
+ "fy": 416.0,
2634
+ "cx": 415.5,
2635
+ "cy": 239.5
2636
+ }
2637
+ },
2638
+ {
2639
+ "frame_index": 75,
2640
+ "c2w": [
2641
+ [
2642
+ 0.001589314779266715,
2643
+ -0.8480469584465027,
2644
+ 0.5299186706542969,
2645
+ 0.010113966651260853
2646
+ ],
2647
+ [
2648
+ -0.9999987483024597,
2649
+ -0.0013478038599714637,
2650
+ 0.0008422260289080441,
2651
+ 3.4978208541870117
2652
+ ],
2653
+ [
2654
+ -2.23591634096465e-08,
2655
+ -0.5299193263053894,
2656
+ -0.8480480313301086,
2657
+ 1.4672683477401733
2658
+ ],
2659
+ [
2660
+ 0.0,
2661
+ 0.0,
2662
+ 0.0,
2663
+ 1.0
2664
+ ]
2665
+ ],
2666
+ "intrinsics": {
2667
+ "fx": 416.0,
2668
+ "fy": 416.0,
2669
+ "cx": 415.5,
2670
+ "cy": 239.5
2671
+ }
2672
+ },
2673
+ {
2674
+ "frame_index": 76,
2675
+ "c2w": [
2676
+ [
2677
+ 0.02628851868212223,
2678
+ -0.8477550745010376,
2679
+ 0.5297361612319946,
2680
+ 0.010369429364800453
2681
+ ],
2682
+ [
2683
+ -0.9996544718742371,
2684
+ -0.02229391410946846,
2685
+ 0.013930846005678177,
2686
+ 3.479496717453003
2687
+ ],
2688
+ [
2689
+ 2.473285576343187e-09,
2690
+ -0.5299193263053894,
2691
+ -0.8480480909347534,
2692
+ 1.4672683477401733
2693
+ ],
2694
+ [
2695
+ 0.0,
2696
+ 0.0,
2697
+ 0.0,
2698
+ 1.0
2699
+ ]
2700
+ ],
2701
+ "intrinsics": {
2702
+ "fx": 416.0,
2703
+ "fy": 416.0,
2704
+ "cx": 415.5,
2705
+ "cy": 239.5
2706
+ }
2707
+ },
2708
+ {
2709
+ "frame_index": 77,
2710
+ "c2w": [
2711
+ [
2712
+ 0.05097174644470215,
2713
+ -0.8469457626342773,
2714
+ 0.5292304158210754,
2715
+ 0.011077414266765118
2716
+ ],
2717
+ [
2718
+ -0.9987001419067383,
2719
+ -0.043226465582847595,
2720
+ 0.0270109660923481,
2721
+ 3.4611847400665283
2722
+ ],
2723
+ [
2724
+ -3.152493732727635e-08,
2725
+ -0.5299192667007446,
2726
+ -0.8480480909347534,
2727
+ 1.4672683477401733
2728
+ ],
2729
+ [
2730
+ 0.0,
2731
+ 0.0,
2732
+ 0.0,
2733
+ 1.0
2734
+ ]
2735
+ ],
2736
+ "intrinsics": {
2737
+ "fx": 416.0,
2738
+ "fy": 416.0,
2739
+ "cx": 415.5,
2740
+ "cy": 239.5
2741
+ }
2742
+ },
2743
+ {
2744
+ "frame_index": 78,
2745
+ "c2w": [
2746
+ [
2747
+ 0.07562388479709625,
2748
+ -0.8456196188926697,
2749
+ 0.5284018516540527,
2750
+ 0.01223748829215765
2751
+ ],
2752
+ [
2753
+ -0.9971364736557007,
2754
+ -0.0641326829791069,
2755
+ 0.04007457569241524,
2756
+ 3.4428956508636475
2757
+ ],
2758
+ [
2759
+ -9.76358549564793e-10,
2760
+ -0.5299193263053894,
2761
+ -0.8480480313301086,
2762
+ 1.4672683477401733
2763
+ ],
2764
+ [
2765
+ 0.0,
2766
+ 0.0,
2767
+ 0.0,
2768
+ 1.0
2769
+ ]
2770
+ ],
2771
+ "intrinsics": {
2772
+ "fx": 416.0,
2773
+ "fy": 416.0,
2774
+ "cx": 415.5,
2775
+ "cy": 239.5
2776
+ }
2777
+ },
2778
+ {
2779
+ "frame_index": 79,
2780
+ "c2w": [
2781
+ [
2782
+ 0.10022982954978943,
2783
+ -0.8437775373458862,
2784
+ 0.5272507667541504,
2785
+ 0.013848943635821342
2786
+ ],
2787
+ [
2788
+ -0.9949643015861511,
2789
+ -0.0849997028708458,
2790
+ 0.05311372131109238,
2791
+ 3.4246408939361572
2792
+ ],
2793
+ [
2794
+ -2.4413829180502944e-08,
2795
+ -0.5299192667007446,
2796
+ -0.8480480909347534,
2797
+ 1.4672683477401733
2798
+ ],
2799
+ [
2800
+ 0.0,
2801
+ 0.0,
2802
+ 0.0,
2803
+ 1.0
2804
+ ]
2805
+ ],
2806
+ "intrinsics": {
2807
+ "fx": 416.0,
2808
+ "fy": 416.0,
2809
+ "cx": 415.5,
2810
+ "cy": 239.5
2811
+ }
2812
+ },
2813
+ {
2814
+ "frame_index": 80,
2815
+ "c2w": [
2816
+ [
2817
+ 0.12477458268404007,
2818
+ -0.8414207696914673,
2819
+ 0.5257779955863953,
2820
+ 0.0159107968211174
2821
+ ],
2822
+ [
2823
+ -0.9921851754188538,
2824
+ -0.1058148667216301,
2825
+ 0.0661204382777214,
2826
+ 3.406431198120117
2827
+ ],
2828
+ [
2829
+ 3.978462359555124e-08,
2830
+ -0.5299192667007446,
2831
+ -0.8480480909347534,
2832
+ 1.4672683477401733
2833
+ ],
2834
+ [
2835
+ 0.0,
2836
+ 0.0,
2837
+ 0.0,
2838
+ 1.0
2839
+ ]
2840
+ ],
2841
+ "intrinsics": {
2842
+ "fx": 416.0,
2843
+ "fy": 416.0,
2844
+ "cx": 415.5,
2845
+ "cy": 239.5
2846
+ }
2847
+ }
2848
+ ]
2849
+ }
blenderobj_eval/target/scene_000041__traj002__zigzag/caption.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ Various household items, including cups, boxes, and electronic devices, are suspended in mid-air against a dark background, gradually falling and scattering across the floor in a chaotic, disorganized manner. A weaving figure-eight camera move. The camera traces a figure-eight path over the sphere surrounding the scene, rising above and dipping below its 32° center elevation as it advances in azimuth, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). The viewing height rises and falls smoothly through the shot, so the objects are seen from alternating high and low angles while staying centered in frame. The motion of the scene plays forward and then rewinds back to where it started.
dycheck_eval/source/paper-windmill__camera_2/rgb_video/00036.png ADDED

Git LFS Details

  • SHA256: 83886c852a1c6ec9225a74a6feadf18d0e6350b75d57d33f0cae0f8c36206a3c
  • Pointer size: 131 Bytes
  • Size of remote file: 597 kB
dycheck_eval/source/paper-windmill__camera_2/rgb_video/00039.png ADDED

Git LFS Details

  • SHA256: 8d91bdf9afffa822cbae69b5671b9a1b95eb19045968cc59a14bdd46a3510cb8
  • Pointer size: 131 Bytes
  • Size of remote file: 604 kB
dycheck_eval/source/paper-windmill__camera_2/rgb_video/00094.png ADDED

Git LFS Details

  • SHA256: 1663f722db1274f9d138fc5972414bf53079cebdf77e81afb26f2bf4e3923426
  • Pointer size: 131 Bytes
  • Size of remote file: 589 kB
dycheck_eval/source/paper-windmill__camera_2/rgb_video/00144.png ADDED

Git LFS Details

  • SHA256: 96a5cb5e74be7d254bbe24b51e0e3b94da2da5370e1b716f11efcdad24f1bfef
  • Pointer size: 131 Bytes
  • Size of remote file: 611 kB
dynpose_eval/camera_controls/72917cb2-0ad8-4d69-ba98-f212978f8734/boom_down/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/72917cb2-0ad8-4d69-ba98-f212978f8734/tilt_up/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/b3ff61f8-94d4-434c-b090-16f5f38c1ef5/boom_up/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/b3ff61f8-94d4-434c-b090-16f5f38c1ef5/move_left/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/b3ff61f8-94d4-434c-b090-16f5f38c1ef5/move_right/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/b3ff61f8-94d4-434c-b090-16f5f38c1ef5/orbit_left/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/b3ff61f8-94d4-434c-b090-16f5f38c1ef5/orbit_right/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/b3ff61f8-94d4-434c-b090-16f5f38c1ef5/pan_right/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/b3ff61f8-94d4-434c-b090-16f5f38c1ef5/pull_out/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/b3ff61f8-94d4-434c-b090-16f5f38c1ef5/push_in/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/b3ff61f8-94d4-434c-b090-16f5f38c1ef5/tilt_down/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/b3ff61f8-94d4-434c-b090-16f5f38c1ef5/tilt_up/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/cff9518c-3ce5-4309-ab36-83ebfd174bba/boom_down/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/cff9518c-3ce5-4309-ab36-83ebfd174bba/move_right/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/cff9518c-3ce5-4309-ab36-83ebfd174bba/tilt_up/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/d8532271-1f3b-40fe-815b-8c043680f8b0/boom_down/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/d8532271-1f3b-40fe-815b-8c043680f8b0/boom_up/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/d8532271-1f3b-40fe-815b-8c043680f8b0/pan_left/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/d8532271-1f3b-40fe-815b-8c043680f8b0/pan_right/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/d8532271-1f3b-40fe-815b-8c043680f8b0/pull_out/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/d8532271-1f3b-40fe-815b-8c043680f8b0/tilt_down/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/camera_controls/d8532271-1f3b-40fe-815b-8c043680f8b0/tilt_up/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/source/285c9ac3-d4be-44d8-9201-e34fe50c3377/caption.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ A man is cutting a pumpkin in a kitchen with a knife.
dynpose_eval/source/285c9ac3-d4be-44d8-9201-e34fe50c3377/extras/source_metadata.json ADDED
@@ -0,0 +1,33 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sequence": "285c9ac3-d4be-44d8-9201-e34fe50c3377",
3
+ "tar_name": "dpsp-c0723f66",
4
+ "youtube_link": "https://www.youtube.com/watch?v=2ePP3hLkfE0",
5
+ "youtube_timestamp": "0:01:43.040-0:01:51.560",
6
+ "num_frames": 213,
7
+ "original_canvas_hw": [
8
+ 720,
9
+ 1280
10
+ ],
11
+ "spatial_transform": {
12
+ "input_hw": [
13
+ 720,
14
+ 1280
15
+ ],
16
+ "crop_xywh": [
17
+ 16,
18
+ 0,
19
+ 1248,
20
+ 720
21
+ ],
22
+ "scale_xy": [
23
+ 0.6666666666666666,
24
+ 0.6666666666666666
25
+ ],
26
+ "output_hw": [
27
+ 480,
28
+ 832
29
+ ]
30
+ },
31
+ "rgb_status": "complete",
32
+ "focal_sign_correction": "none"
33
+ }
dynpose_eval/source/285c9ac3-d4be-44d8-9201-e34fe50c3377/transforms.json ADDED
The diff for this file is too large to render. See raw diff
 
dynpose_eval/source/5019f170-69b0-47aa-bf67-47aa2756d344/caption.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ A man is wearing a gray sweatshirt and a gray hat, and he is standing in a room with a white background.
dynpose_eval/source/5019f170-69b0-47aa-bf67-47aa2756d344/extras/source_metadata.json ADDED
@@ -0,0 +1,33 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "sequence": "5019f170-69b0-47aa-bf67-47aa2756d344",
3
+ "tar_name": "dpsp-41e3e4ca",
4
+ "youtube_link": "https://www.youtube.com/watch?v=-dSpy82CXg0",
5
+ "youtube_timestamp": "0:01:00.593-0:01:04.631",
6
+ "num_frames": 122,
7
+ "original_canvas_hw": [
8
+ 720,
9
+ 1280
10
+ ],
11
+ "spatial_transform": {
12
+ "input_hw": [
13
+ 720,
14
+ 1280
15
+ ],
16
+ "crop_xywh": [
17
+ 16,
18
+ 0,
19
+ 1248,
20
+ 720
21
+ ],
22
+ "scale_xy": [
23
+ 0.6666666666666666,
24
+ 0.6666666666666666
25
+ ],
26
+ "output_hw": [
27
+ 480,
28
+ 832
29
+ ]
30
+ },
31
+ "rgb_status": "complete",
32
+ "focal_sign_correction": "none"
33
+ }
dynpose_eval/source/5019f170-69b0-47aa-bf67-47aa2756d344/transforms.json ADDED
@@ -0,0 +1,4283 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "format_version": "1.0",
3
+ "camera_model": "opencv_pinhole",
4
+ "pose_type": "c2w",
5
+ "coordinate_system": "opencv",
6
+ "image_hw": [
7
+ 480,
8
+ 832
9
+ ],
10
+ "num_frames": 122,
11
+ "frames": [
12
+ {
13
+ "frame_index": 0,
14
+ "c2w": [
15
+ [
16
+ 1.0,
17
+ -0.00018981192260980606,
18
+ 0.0001436011225450784,
19
+ -0.00014842934615444392
20
+ ],
21
+ [
22
+ 0.0001898200425785035,
23
+ 1.0,
24
+ -5.659838279825635e-05,
25
+ 0.00011317944154143333
26
+ ],
27
+ [
28
+ -0.00014359038323163986,
29
+ 5.6625638535479084e-05,
30
+ 1.0,
31
+ 8.654150587972254e-05
32
+ ],
33
+ [
34
+ 0.0,
35
+ 0.0,
36
+ 0.0,
37
+ 1.0
38
+ ]
39
+ ],
40
+ "intrinsics": {
41
+ "fx": 660.0055745442708,
42
+ "fy": 659.9339599609375,
43
+ "cx": 416.0,
44
+ "cy": 240.0
45
+ }
46
+ },
47
+ {
48
+ "frame_index": 1,
49
+ "c2w": [
50
+ [
51
+ 0.9996761083602905,
52
+ -0.014202475547790527,
53
+ -0.021118054166436195,
54
+ 0.003465361427515745
55
+ ],
56
+ [
57
+ 0.014185139909386635,
58
+ 0.9998989105224609,
59
+ -0.0009704797412268817,
60
+ -0.0182506050914526
61
+ ],
62
+ [
63
+ 0.021129703149199486,
64
+ 0.0006706028361804783,
65
+ 0.9997765421867371,
66
+ 0.01991105079650879
67
+ ],
68
+ [
69
+ 0.0,
70
+ 0.0,
71
+ 0.0,
72
+ 1.0
73
+ ]
74
+ ],
75
+ "intrinsics": {
76
+ "fx": 660.0055745442708,
77
+ "fy": 659.9339599609375,
78
+ "cx": 416.0,
79
+ "cy": 240.0
80
+ }
81
+ },
82
+ {
83
+ "frame_index": 2,
84
+ "c2w": [
85
+ [
86
+ 0.9991067051887512,
87
+ -0.025064051151275635,
88
+ -0.034023381769657135,
89
+ 0.023782698437571526
90
+ ],
91
+ [
92
+ 0.024985529482364655,
93
+ 0.9996840953826904,
94
+ -0.002731204265728593,
95
+ -0.040579356253147125
96
+ ],
97
+ [
98
+ 0.03408108651638031,
99
+ 0.0018786725122481585,
100
+ 0.9994173049926758,
101
+ 0.03262615576386452
102
+ ],
103
+ [
104
+ 0.0,
105
+ 0.0,
106
+ 0.0,
107
+ 1.0
108
+ ]
109
+ ],
110
+ "intrinsics": {
111
+ "fx": 660.0055745442708,
112
+ "fy": 659.9339599609375,
113
+ "cx": 416.0,
114
+ "cy": 240.0
115
+ }
116
+ },
117
+ {
118
+ "frame_index": 3,
119
+ "c2w": [
120
+ [
121
+ 0.9989562034606934,
122
+ -0.030737346038222313,
123
+ -0.03378886356949806,
124
+ 0.03317241370677948
125
+ ],
126
+ [
127
+ 0.030590971931815147,
128
+ 0.9995202422142029,
129
+ -0.004840592388063669,
130
+ -0.06947246938943863
131
+ ],
132
+ [
133
+ 0.033921439200639725,
134
+ 0.0038019060157239437,
135
+ 0.999417245388031,
136
+ 0.02655845880508423
137
+ ],
138
+ [
139
+ 0.0,
140
+ 0.0,
141
+ 0.0,
142
+ 1.0
143
+ ]
144
+ ],
145
+ "intrinsics": {
146
+ "fx": 660.0055745442708,
147
+ "fy": 659.9339599609375,
148
+ "cx": 416.0,
149
+ "cy": 240.0
150
+ }
151
+ },
152
+ {
153
+ "frame_index": 4,
154
+ "c2w": [
155
+ [
156
+ 0.9990758299827576,
157
+ -0.03721653297543526,
158
+ -0.021503230556845665,
159
+ 0.02841564267873764
160
+ ],
161
+ [
162
+ 0.03703251853585243,
163
+ 0.999274492263794,
164
+ -0.008893569000065327,
165
+ -0.09306595474481583
166
+ ],
167
+ [
168
+ 0.02181861735880375,
169
+ 0.008089031092822552,
170
+ 0.9997292160987854,
171
+ 0.04545261710882187
172
+ ],
173
+ [
174
+ 0.0,
175
+ 0.0,
176
+ 0.0,
177
+ 1.0
178
+ ]
179
+ ],
180
+ "intrinsics": {
181
+ "fx": 660.0055745442708,
182
+ "fy": 659.9339599609375,
183
+ "cx": 416.0,
184
+ "cy": 240.0
185
+ }
186
+ },
187
+ {
188
+ "frame_index": 5,
189
+ "c2w": [
190
+ [
191
+ 0.9989027380943298,
192
+ -0.04538355767726898,
193
+ -0.011559254489839077,
194
+ 0.003962485119700432
195
+ ],
196
+ [
197
+ 0.04525061696767807,
198
+ 0.9989092946052551,
199
+ -0.011513718403875828,
200
+ -0.12538059055805206
201
+ ],
202
+ [
203
+ 0.01206917967647314,
204
+ 0.010978021658957005,
205
+ 0.9998669028282166,
206
+ 0.04911070689558983
207
+ ],
208
+ [
209
+ 0.0,
210
+ 0.0,
211
+ 0.0,
212
+ 1.0
213
+ ]
214
+ ],
215
+ "intrinsics": {
216
+ "fx": 660.0055745442708,
217
+ "fy": 659.9339599609375,
218
+ "cx": 416.0,
219
+ "cy": 240.0
220
+ }
221
+ },
222
+ {
223
+ "frame_index": 6,
224
+ "c2w": [
225
+ [
226
+ 0.998354971408844,
227
+ -0.05618484690785408,
228
+ -0.011430535465478897,
229
+ -0.012666004709899426
230
+ ],
231
+ [
232
+ 0.056021641939878464,
233
+ 0.9983295798301697,
234
+ -0.014129629358649254,
235
+ -0.1520790010690689
236
+ ],
237
+ [
238
+ 0.01220531202852726,
239
+ 0.01346602849662304,
240
+ 0.9998348355293274,
241
+ 0.07065042108297348
242
+ ],
243
+ [
244
+ 0.0,
245
+ 0.0,
246
+ 0.0,
247
+ 1.0
248
+ ]
249
+ ],
250
+ "intrinsics": {
251
+ "fx": 660.0055745442708,
252
+ "fy": 659.9339599609375,
253
+ "cx": 416.0,
254
+ "cy": 240.0
255
+ }
256
+ },
257
+ {
258
+ "frame_index": 7,
259
+ "c2w": [
260
+ [
261
+ 0.9975633025169373,
262
+ -0.06668300181627274,
263
+ -0.020514819771051407,
264
+ -0.025319939479231834
265
+ ],
266
+ [
267
+ 0.06641396135091782,
268
+ 0.9977004528045654,
269
+ -0.01352827437222004,
270
+ -0.18626774847507477
271
+ ],
272
+ [
273
+ 0.021369751542806625,
274
+ 0.012132840231060982,
275
+ 0.9996980428695679,
276
+ 0.08409645408391953
277
+ ],
278
+ [
279
+ 0.0,
280
+ 0.0,
281
+ 0.0,
282
+ 1.0
283
+ ]
284
+ ],
285
+ "intrinsics": {
286
+ "fx": 660.0055745442708,
287
+ "fy": 659.9339599609375,
288
+ "cx": 416.0,
289
+ "cy": 240.0
290
+ }
291
+ },
292
+ {
293
+ "frame_index": 8,
294
+ "c2w": [
295
+ [
296
+ 0.9968793392181396,
297
+ -0.07225650548934937,
298
+ -0.031789250671863556,
299
+ -0.020529432222247124
300
+ ],
301
+ [
302
+ 0.07191029191017151,
303
+ 0.9973400831222534,
304
+ -0.011904310435056686,
305
+ -0.2170121818780899
306
+ ],
307
+ [
308
+ 0.032564856112003326,
309
+ 0.0095811877399683,
310
+ 0.9994236826896667,
311
+ 0.08320501446723938
312
+ ],
313
+ [
314
+ 0.0,
315
+ 0.0,
316
+ 0.0,
317
+ 1.0
318
+ ]
319
+ ],
320
+ "intrinsics": {
321
+ "fx": 660.0055745442708,
322
+ "fy": 659.9339599609375,
323
+ "cx": 416.0,
324
+ "cy": 240.0
325
+ }
326
+ },
327
+ {
328
+ "frame_index": 9,
329
+ "c2w": [
330
+ [
331
+ 0.9970263242721558,
332
+ -0.07026311755180359,
333
+ -0.03164788335561752,
334
+ -0.014433612115681171
335
+ ],
336
+ [
337
+ 0.0700225979089737,
338
+ 0.9975079298019409,
339
+ -0.008646450936794281,
340
+ -0.24469050765037537
341
+ ],
342
+ [
343
+ 0.03217653930187225,
344
+ 0.006404672283679247,
345
+ 0.9994616508483887,
346
+ 0.07757996767759323
347
+ ],
348
+ [
349
+ 0.0,
350
+ 0.0,
351
+ 0.0,
352
+ 1.0
353
+ ]
354
+ ],
355
+ "intrinsics": {
356
+ "fx": 660.0055745442708,
357
+ "fy": 659.9339599609375,
358
+ "cx": 416.0,
359
+ "cy": 240.0
360
+ }
361
+ },
362
+ {
363
+ "frame_index": 10,
364
+ "c2w": [
365
+ [
366
+ 0.9979434013366699,
367
+ -0.06198495626449585,
368
+ -0.01633518561720848,
369
+ -0.01840447075664997
370
+ ],
371
+ [
372
+ 0.061920516192913055,
373
+ 0.9980713129043579,
374
+ -0.004421813413500786,
375
+ -0.27079641819000244
376
+ ],
377
+ [
378
+ 0.016577765345573425,
379
+ 0.0034012366086244583,
380
+ 0.9998567700386047,
381
+ 0.07300465553998947
382
+ ],
383
+ [
384
+ 0.0,
385
+ 0.0,
386
+ 0.0,
387
+ 1.0
388
+ ]
389
+ ],
390
+ "intrinsics": {
391
+ "fx": 660.0055745442708,
392
+ "fy": 659.9339599609375,
393
+ "cx": 416.0,
394
+ "cy": 240.0
395
+ }
396
+ },
397
+ {
398
+ "frame_index": 11,
399
+ "c2w": [
400
+ [
401
+ 0.9985878467559814,
402
+ -0.0526432991027832,
403
+ 0.007142514456063509,
404
+ -0.05172785371541977
405
+ ],
406
+ [
407
+ 0.05265146493911743,
408
+ 0.9986124634742737,
409
+ -0.0009595553856343031,
410
+ -0.2939738631248474
411
+ ],
412
+ [
413
+ -0.007082090247422457,
414
+ 0.001334264175966382,
415
+ 0.9999740123748779,
416
+ 0.08534716814756393
417
+ ],
418
+ [
419
+ 0.0,
420
+ 0.0,
421
+ 0.0,
422
+ 1.0
423
+ ]
424
+ ],
425
+ "intrinsics": {
426
+ "fx": 660.0055745442708,
427
+ "fy": 659.9339599609375,
428
+ "cx": 416.0,
429
+ "cy": 240.0
430
+ }
431
+ },
432
+ {
433
+ "frame_index": 12,
434
+ "c2w": [
435
+ [
436
+ 0.9988733530044556,
437
+ -0.04355648159980774,
438
+ 0.018836304545402527,
439
+ -0.05771837756037712
440
+ ],
441
+ [
442
+ 0.04353939741849899,
443
+ 0.9990508556365967,
444
+ 0.0013165100244805217,
445
+ -0.3138613998889923
446
+ ],
447
+ [
448
+ -0.018875770270824432,
449
+ -0.0004949053982272744,
450
+ 0.9998217225074768,
451
+ 0.10249602049589157
452
+ ],
453
+ [
454
+ 0.0,
455
+ 0.0,
456
+ 0.0,
457
+ 1.0
458
+ ]
459
+ ],
460
+ "intrinsics": {
461
+ "fx": 660.0055745442708,
462
+ "fy": 659.9339599609375,
463
+ "cx": 416.0,
464
+ "cy": 240.0
465
+ }
466
+ },
467
+ {
468
+ "frame_index": 13,
469
+ "c2w": [
470
+ [
471
+ 0.999059796333313,
472
+ -0.035409700125455856,
473
+ 0.025014102458953857,
474
+ -0.07612094283103943
475
+ ],
476
+ [
477
+ 0.035388004034757614,
478
+ 0.9993727803230286,
479
+ 0.001309533603489399,
480
+ -0.322711318731308
481
+ ],
482
+ [
483
+ -0.02504478394985199,
484
+ -0.0004231032798998058,
485
+ 0.9996862411499023,
486
+ 0.11935142427682877
487
+ ],
488
+ [
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 1.0
493
+ ]
494
+ ],
495
+ "intrinsics": {
496
+ "fx": 660.0055745442708,
497
+ "fy": 659.9339599609375,
498
+ "cx": 416.0,
499
+ "cy": 240.0
500
+ }
501
+ },
502
+ {
503
+ "frame_index": 14,
504
+ "c2w": [
505
+ [
506
+ 0.9993420243263245,
507
+ -0.030552128329873085,
508
+ 0.019546501338481903,
509
+ -0.0842587798833847
510
+ ],
511
+ [
512
+ 0.030512729659676552,
513
+ 0.9995316863059998,
514
+ 0.002310853684321046,
515
+ -0.3415987193584442
516
+ ],
517
+ [
518
+ -0.019607950001955032,
519
+ -0.001712916186079383,
520
+ 0.99980628490448,
521
+ 0.1538553088903427
522
+ ],
523
+ [
524
+ 0.0,
525
+ 0.0,
526
+ 0.0,
527
+ 1.0
528
+ ]
529
+ ],
530
+ "intrinsics": {
531
+ "fx": 660.0055745442708,
532
+ "fy": 659.9339599609375,
533
+ "cx": 416.0,
534
+ "cy": 240.0
535
+ }
536
+ },
537
+ {
538
+ "frame_index": 15,
539
+ "c2w": [
540
+ [
541
+ 0.9996398687362671,
542
+ -0.02681068144738674,
543
+ 0.0011439514346420765,
544
+ -0.09181290864944458
545
+ ],
546
+ [
547
+ 0.026808498427271843,
548
+ 0.9996387958526611,
549
+ 0.0018838637042790651,
550
+ -0.35630282759666443
551
+ ],
552
+ [
553
+ -0.0011940458789467812,
554
+ -0.0018525177147239447,
555
+ 0.9999975562095642,
556
+ 0.16909728944301605
557
+ ],
558
+ [
559
+ 0.0,
560
+ 0.0,
561
+ 0.0,
562
+ 1.0
563
+ ]
564
+ ],
565
+ "intrinsics": {
566
+ "fx": 660.0055745442708,
567
+ "fy": 659.9339599609375,
568
+ "cx": 416.0,
569
+ "cy": 240.0
570
+ }
571
+ },
572
+ {
573
+ "frame_index": 16,
574
+ "c2w": [
575
+ [
576
+ 0.9995532631874084,
577
+ -0.022438745945692062,
578
+ -0.019742891192436218,
579
+ -0.09964990615844727
580
+ ],
581
+ [
582
+ 0.022453807294368744,
583
+ 0.9997477531433105,
584
+ 0.0005415495252236724,
585
+ -0.3672494888305664
586
+ ],
587
+ [
588
+ 0.019725758582353592,
589
+ -0.0009846106404438615,
590
+ 0.9998049139976501,
591
+ 0.17794929444789886
592
+ ],
593
+ [
594
+ 0.0,
595
+ 0.0,
596
+ 0.0,
597
+ 1.0
598
+ ]
599
+ ],
600
+ "intrinsics": {
601
+ "fx": 660.0055745442708,
602
+ "fy": 659.9339599609375,
603
+ "cx": 416.0,
604
+ "cy": 240.0
605
+ }
606
+ },
607
+ {
608
+ "frame_index": 17,
609
+ "c2w": [
610
+ [
611
+ 0.9991233348846436,
612
+ -0.01689734496176243,
613
+ -0.038301631808280945,
614
+ -0.10676886141300201
615
+ ],
616
+ [
617
+ 0.016840433701872826,
618
+ 0.9998565316200256,
619
+ -0.0018079958390444517,
620
+ -0.37469661235809326
621
+ ],
622
+ [
623
+ 0.0383266881108284,
624
+ 0.001161394640803337,
625
+ 0.9992645978927612,
626
+ 0.17724864184856415
627
+ ],
628
+ [
629
+ 0.0,
630
+ 0.0,
631
+ 0.0,
632
+ 1.0
633
+ ]
634
+ ],
635
+ "intrinsics": {
636
+ "fx": 660.0055745442708,
637
+ "fy": 659.9339599609375,
638
+ "cx": 416.0,
639
+ "cy": 240.0
640
+ }
641
+ },
642
+ {
643
+ "frame_index": 18,
644
+ "c2w": [
645
+ [
646
+ 0.9985703825950623,
647
+ -0.009803345426917076,
648
+ -0.05254599079489708,
649
+ -0.11615966260433197
650
+ ],
651
+ [
652
+ 0.00963667407631874,
653
+ 0.999947726726532,
654
+ -0.0034243371337652206,
655
+ -0.3855529725551605
656
+ ],
657
+ [
658
+ 0.05257681384682655,
659
+ 0.002913073170930147,
660
+ 0.998612642288208,
661
+ 0.18925927579402924
662
+ ],
663
+ [
664
+ 0.0,
665
+ 0.0,
666
+ 0.0,
667
+ 1.0
668
+ ]
669
+ ],
670
+ "intrinsics": {
671
+ "fx": 660.0055745442708,
672
+ "fy": 659.9339599609375,
673
+ "cx": 416.0,
674
+ "cy": 240.0
675
+ }
676
+ },
677
+ {
678
+ "frame_index": 19,
679
+ "c2w": [
680
+ [
681
+ 0.9979202747344971,
682
+ -0.0031197865027934313,
683
+ -0.06438475847244263,
684
+ -0.12498749047517776
685
+ ],
686
+ [
687
+ 0.0027981156017631292,
688
+ 0.9999831318855286,
689
+ -0.005085641052573919,
690
+ -0.39504337310791016
691
+ ],
692
+ [
693
+ 0.06439954042434692,
694
+ 0.0048949080519378185,
695
+ 0.9979121685028076,
696
+ 0.19555313885211945
697
+ ],
698
+ [
699
+ 0.0,
700
+ 0.0,
701
+ 0.0,
702
+ 1.0
703
+ ]
704
+ ],
705
+ "intrinsics": {
706
+ "fx": 660.0055745442708,
707
+ "fy": 659.9339599609375,
708
+ "cx": 416.0,
709
+ "cy": 240.0
710
+ }
711
+ },
712
+ {
713
+ "frame_index": 20,
714
+ "c2w": [
715
+ [
716
+ 0.9973502159118652,
717
+ 0.0040270136669278145,
718
+ -0.07263869792222977,
719
+ -0.13048741221427917
720
+ ],
721
+ [
722
+ -0.00454480666667223,
723
+ 0.9999654293060303,
724
+ -0.006964458618313074,
725
+ -0.40208473801612854
726
+ ],
727
+ [
728
+ 0.07260813564062119,
729
+ 0.007276133168488741,
730
+ 0.9973340034484863,
731
+ 0.19956664741039276
732
+ ],
733
+ [
734
+ 0.0,
735
+ 0.0,
736
+ 0.0,
737
+ 1.0
738
+ ]
739
+ ],
740
+ "intrinsics": {
741
+ "fx": 660.0055745442708,
742
+ "fy": 659.9339599609375,
743
+ "cx": 416.0,
744
+ "cy": 240.0
745
+ }
746
+ },
747
+ {
748
+ "frame_index": 21,
749
+ "c2w": [
750
+ [
751
+ 0.9968039393424988,
752
+ 0.008795070461928844,
753
+ -0.07940120995044708,
754
+ -0.13958533108234406
755
+ ],
756
+ [
757
+ -0.009555784054100513,
758
+ 0.9999119639396667,
759
+ -0.009205751121044159,
760
+ -0.40428802371025085
761
+ ],
762
+ [
763
+ 0.0793132483959198,
764
+ 0.00993506982922554,
765
+ 0.9968002438545227,
766
+ 0.2029539942741394
767
+ ],
768
+ [
769
+ 0.0,
770
+ 0.0,
771
+ 0.0,
772
+ 1.0
773
+ ]
774
+ ],
775
+ "intrinsics": {
776
+ "fx": 660.0055745442708,
777
+ "fy": 659.9339599609375,
778
+ "cx": 416.0,
779
+ "cy": 240.0
780
+ }
781
+ },
782
+ {
783
+ "frame_index": 22,
784
+ "c2w": [
785
+ [
786
+ 0.9961832165718079,
787
+ 0.012182754464447498,
788
+ -0.08643285185098648,
789
+ -0.14240388572216034
790
+ ],
791
+ [
792
+ -0.013131785206496716,
793
+ 0.9998594522476196,
794
+ -0.010419893078505993,
795
+ -0.41110044717788696
796
+ ],
797
+ [
798
+ 0.0862937644124031,
799
+ 0.011515139602124691,
800
+ 0.9962031841278076,
801
+ 0.19969801604747772
802
+ ],
803
+ [
804
+ 0.0,
805
+ 0.0,
806
+ 0.0,
807
+ 1.0
808
+ ]
809
+ ],
810
+ "intrinsics": {
811
+ "fx": 660.0055745442708,
812
+ "fy": 659.9339599609375,
813
+ "cx": 416.0,
814
+ "cy": 240.0
815
+ }
816
+ },
817
+ {
818
+ "frame_index": 23,
819
+ "c2w": [
820
+ [
821
+ 0.9959194660186768,
822
+ 0.014933288097381592,
823
+ -0.08900252729654312,
824
+ -0.14742222428321838
825
+ ],
826
+ [
827
+ -0.01604009047150612,
828
+ 0.9998025298118591,
829
+ -0.01173336897045374,
830
+ -0.41575491428375244
831
+ ],
832
+ [
833
+ 0.08880973607301712,
834
+ 0.01311309915035963,
835
+ 0.9959622621536255,
836
+ 0.19564573466777802
837
+ ],
838
+ [
839
+ 0.0,
840
+ 0.0,
841
+ 0.0,
842
+ 1.0
843
+ ]
844
+ ],
845
+ "intrinsics": {
846
+ "fx": 660.0055745442708,
847
+ "fy": 659.9339599609375,
848
+ "cx": 416.0,
849
+ "cy": 240.0
850
+ }
851
+ },
852
+ {
853
+ "frame_index": 24,
854
+ "c2w": [
855
+ [
856
+ 0.9958750605583191,
857
+ 0.01732688769698143,
858
+ -0.08906551450490952,
859
+ -0.15143278241157532
860
+ ],
861
+ [
862
+ -0.018588997423648834,
863
+ 0.9997379183769226,
864
+ -0.013360613957047462,
865
+ -0.4170241355895996
866
+ ],
867
+ [
868
+ 0.08881067484617233,
869
+ 0.014961140230298042,
870
+ 0.9959361553192139,
871
+ 0.19142650067806244
872
+ ],
873
+ [
874
+ 0.0,
875
+ 0.0,
876
+ 0.0,
877
+ 1.0
878
+ ]
879
+ ],
880
+ "intrinsics": {
881
+ "fx": 660.0055745442708,
882
+ "fy": 659.9339599609375,
883
+ "cx": 416.0,
884
+ "cy": 240.0
885
+ }
886
+ },
887
+ {
888
+ "frame_index": 25,
889
+ "c2w": [
890
+ [
891
+ 0.9959044456481934,
892
+ 0.018300918862223625,
893
+ -0.0885404646396637,
894
+ -0.1508701741695404
895
+ ],
896
+ [
897
+ -0.019636956974864006,
898
+ 0.9997057318687439,
899
+ -0.014242054894566536,
900
+ -0.4192507565021515
901
+ ],
902
+ [
903
+ 0.08825376629829407,
904
+ 0.015922389924526215,
905
+ 0.9959707856178284,
906
+ 0.1890679895877838
907
+ ],
908
+ [
909
+ 0.0,
910
+ 0.0,
911
+ 0.0,
912
+ 1.0
913
+ ]
914
+ ],
915
+ "intrinsics": {
916
+ "fx": 660.0055745442708,
917
+ "fy": 659.9339599609375,
918
+ "cx": 416.0,
919
+ "cy": 240.0
920
+ }
921
+ },
922
+ {
923
+ "frame_index": 26,
924
+ "c2w": [
925
+ [
926
+ 0.9960107803344727,
927
+ 0.01755344308912754,
928
+ -0.08748975396156311,
929
+ -0.1495618224143982
930
+ ],
931
+ [
932
+ -0.01884697563946247,
933
+ 0.9997246265411377,
934
+ -0.0139808664098382,
935
+ -0.4203846752643585
936
+ ],
937
+ [
938
+ 0.08722025156021118,
939
+ 0.015574011020362377,
940
+ 0.9960672855377197,
941
+ 0.18546314537525177
942
+ ],
943
+ [
944
+ 0.0,
945
+ 0.0,
946
+ 0.0,
947
+ 1.0
948
+ ]
949
+ ],
950
+ "intrinsics": {
951
+ "fx": 660.0055745442708,
952
+ "fy": 659.9339599609375,
953
+ "cx": 416.0,
954
+ "cy": 240.0
955
+ }
956
+ },
957
+ {
958
+ "frame_index": 27,
959
+ "c2w": [
960
+ [
961
+ 0.9963475465774536,
962
+ 0.015780963003635406,
963
+ -0.08391966670751572,
964
+ -0.1487138718366623
965
+ ],
966
+ [
967
+ -0.016806144267320633,
968
+ 0.9997923374176025,
969
+ -0.011523837223649025,
970
+ -0.4205491542816162
971
+ ],
972
+ [
973
+ 0.0837203785777092,
974
+ 0.012892112135887146,
975
+ 0.9964058995246887,
976
+ 0.1813703179359436
977
+ ],
978
+ [
979
+ 0.0,
980
+ 0.0,
981
+ 0.0,
982
+ 1.0
983
+ ]
984
+ ],
985
+ "intrinsics": {
986
+ "fx": 660.0055745442708,
987
+ "fy": 659.9339599609375,
988
+ "cx": 416.0,
989
+ "cy": 240.0
990
+ }
991
+ },
992
+ {
993
+ "frame_index": 28,
994
+ "c2w": [
995
+ [
996
+ 0.9968993663787842,
997
+ 0.015703488141298294,
998
+ -0.0771038755774498,
999
+ -0.14803962409496307
1000
+ ],
1001
+ [
1002
+ -0.01630277931690216,
1003
+ 0.999841570854187,
1004
+ -0.007149180397391319,
1005
+ -0.42081815004348755
1006
+ ],
1007
+ [
1008
+ 0.0769793912768364,
1009
+ 0.008384020999073982,
1010
+ 0.9969974160194397,
1011
+ 0.17063093185424805
1012
+ ],
1013
+ [
1014
+ 0.0,
1015
+ 0.0,
1016
+ 0.0,
1017
+ 1.0
1018
+ ]
1019
+ ],
1020
+ "intrinsics": {
1021
+ "fx": 660.0055745442708,
1022
+ "fy": 659.9339599609375,
1023
+ "cx": 416.0,
1024
+ "cy": 240.0
1025
+ }
1026
+ },
1027
+ {
1028
+ "frame_index": 29,
1029
+ "c2w": [
1030
+ [
1031
+ 0.9973174929618835,
1032
+ 0.014450742863118649,
1033
+ -0.07175669819116592,
1034
+ -0.12236400693655014
1035
+ ],
1036
+ [
1037
+ -0.014750306494534016,
1038
+ 0.9998845458030701,
1039
+ -0.0036465502344071865,
1040
+ -0.4106225371360779
1041
+ ],
1042
+ [
1043
+ 0.0716957226395607,
1044
+ 0.004695201758295298,
1045
+ 0.9974154829978943,
1046
+ 0.2061132937669754
1047
+ ],
1048
+ [
1049
+ 0.0,
1050
+ 0.0,
1051
+ 0.0,
1052
+ 1.0
1053
+ ]
1054
+ ],
1055
+ "intrinsics": {
1056
+ "fx": 660.0055745442708,
1057
+ "fy": 659.9339599609375,
1058
+ "cx": 416.0,
1059
+ "cy": 240.0
1060
+ }
1061
+ },
1062
+ {
1063
+ "frame_index": 30,
1064
+ "c2w": [
1065
+ [
1066
+ 0.9982998967170715,
1067
+ 0.014644274488091469,
1068
+ -0.056416891515254974,
1069
+ -0.1377391368150711
1070
+ ],
1071
+ [
1072
+ -0.014438135549426079,
1073
+ 0.9998875260353088,
1074
+ 0.00405972870066762,
1075
+ -0.4250100553035736
1076
+ ],
1077
+ [
1078
+ 0.05646999925374985,
1079
+ -0.0032382721547037363,
1080
+ 0.998399019241333,
1081
+ 0.19406820833683014
1082
+ ],
1083
+ [
1084
+ 0.0,
1085
+ 0.0,
1086
+ 0.0,
1087
+ 1.0
1088
+ ]
1089
+ ],
1090
+ "intrinsics": {
1091
+ "fx": 660.0055745442708,
1092
+ "fy": 659.9339599609375,
1093
+ "cx": 416.0,
1094
+ "cy": 240.0
1095
+ }
1096
+ },
1097
+ {
1098
+ "frame_index": 31,
1099
+ "c2w": [
1100
+ [
1101
+ 0.9988015294075012,
1102
+ 0.014374911785125732,
1103
+ -0.0467858649790287,
1104
+ -0.1356802135705948
1105
+ ],
1106
+ [
1107
+ -0.013854822143912315,
1108
+ 0.9998387694358826,
1109
+ 0.011421765200793743,
1110
+ -0.431133896112442
1111
+ ],
1112
+ [
1113
+ 0.04694250598549843,
1114
+ -0.010759866796433926,
1115
+ 0.9988396167755127,
1116
+ 0.20761500298976898
1117
+ ],
1118
+ [
1119
+ 0.0,
1120
+ 0.0,
1121
+ 0.0,
1122
+ 1.0
1123
+ ]
1124
+ ],
1125
+ "intrinsics": {
1126
+ "fx": 660.0055745442708,
1127
+ "fy": 659.9339599609375,
1128
+ "cx": 416.0,
1129
+ "cy": 240.0
1130
+ }
1131
+ },
1132
+ {
1133
+ "frame_index": 32,
1134
+ "c2w": [
1135
+ [
1136
+ 0.9989469647407532,
1137
+ 0.013039532117545605,
1138
+ -0.043987713754177094,
1139
+ -0.13720691204071045
1140
+ ],
1141
+ [
1142
+ -0.012299333699047565,
1143
+ 0.9997788667678833,
1144
+ 0.017056265845894814,
1145
+ -0.4240679144859314
1146
+ ],
1147
+ [
1148
+ 0.044200390577316284,
1149
+ -0.016497286036610603,
1150
+ 0.9988864660263062,
1151
+ 0.23580507934093475
1152
+ ],
1153
+ [
1154
+ 0.0,
1155
+ 0.0,
1156
+ 0.0,
1157
+ 1.0
1158
+ ]
1159
+ ],
1160
+ "intrinsics": {
1161
+ "fx": 660.0055745442708,
1162
+ "fy": 659.9339599609375,
1163
+ "cx": 416.0,
1164
+ "cy": 240.0
1165
+ }
1166
+ },
1167
+ {
1168
+ "frame_index": 33,
1169
+ "c2w": [
1170
+ [
1171
+ 0.9983206987380981,
1172
+ 0.010002680122852325,
1173
+ -0.05705871433019638,
1174
+ -0.08030569553375244
1175
+ ],
1176
+ [
1177
+ -0.008861374109983444,
1178
+ 0.9997562766075134,
1179
+ 0.02022038958966732,
1180
+ -0.38781556487083435
1181
+ ],
1182
+ [
1183
+ 0.057247065007686615,
1184
+ -0.019680814817547798,
1185
+ 0.998166024684906,
1186
+ 0.3454630672931671
1187
+ ],
1188
+ [
1189
+ 0.0,
1190
+ 0.0,
1191
+ 0.0,
1192
+ 1.0
1193
+ ]
1194
+ ],
1195
+ "intrinsics": {
1196
+ "fx": 660.0055745442708,
1197
+ "fy": 659.9339599609375,
1198
+ "cx": 416.0,
1199
+ "cy": 240.0
1200
+ }
1201
+ },
1202
+ {
1203
+ "frame_index": 34,
1204
+ "c2w": [
1205
+ [
1206
+ 0.9980514049530029,
1207
+ 0.011228060349822044,
1208
+ -0.06137887388467789,
1209
+ -0.05781879648566246
1210
+ ],
1211
+ [
1212
+ -0.009481076151132584,
1213
+ 0.9995436668395996,
1214
+ 0.028679829090833664,
1215
+ -0.38614723086357117
1216
+ ],
1217
+ [
1218
+ 0.0616728812456131,
1219
+ -0.028042003512382507,
1220
+ 0.997702419757843,
1221
+ 0.37761613726615906
1222
+ ],
1223
+ [
1224
+ 0.0,
1225
+ 0.0,
1226
+ 0.0,
1227
+ 1.0
1228
+ ]
1229
+ ],
1230
+ "intrinsics": {
1231
+ "fx": 660.0055745442708,
1232
+ "fy": 659.9339599609375,
1233
+ "cx": 416.0,
1234
+ "cy": 240.0
1235
+ }
1236
+ },
1237
+ {
1238
+ "frame_index": 35,
1239
+ "c2w": [
1240
+ [
1241
+ 0.999008297920227,
1242
+ 0.00583968311548233,
1243
+ -0.04413992166519165,
1244
+ -0.13659878075122833
1245
+ ],
1246
+ [
1247
+ -0.0038534021005034447,
1248
+ 0.9989817142486572,
1249
+ 0.04495152458548546,
1250
+ -0.42715099453926086
1251
+ ],
1252
+ [
1253
+ 0.044357478618621826,
1254
+ -0.04473685845732689,
1255
+ 0.9980135560035706,
1256
+ 0.298635333776474
1257
+ ],
1258
+ [
1259
+ 0.0,
1260
+ 0.0,
1261
+ 0.0,
1262
+ 1.0
1263
+ ]
1264
+ ],
1265
+ "intrinsics": {
1266
+ "fx": 660.0055745442708,
1267
+ "fy": 659.9339599609375,
1268
+ "cx": 416.0,
1269
+ "cy": 240.0
1270
+ }
1271
+ },
1272
+ {
1273
+ "frame_index": 36,
1274
+ "c2w": [
1275
+ [
1276
+ 0.998870313167572,
1277
+ 0.010091004893183708,
1278
+ -0.04643627256155014,
1279
+ -0.08176321536302567
1280
+ ],
1281
+ [
1282
+ -0.007915027439594269,
1283
+ 0.9988725781440735,
1284
+ 0.04680702090263367,
1285
+ -0.3816511631011963
1286
+ ],
1287
+ [
1288
+ 0.04685624688863754,
1289
+ -0.04638659954071045,
1290
+ 0.9978240132331848,
1291
+ 0.3485557734966278
1292
+ ],
1293
+ [
1294
+ 0.0,
1295
+ 0.0,
1296
+ 0.0,
1297
+ 1.0
1298
+ ]
1299
+ ],
1300
+ "intrinsics": {
1301
+ "fx": 660.0055745442708,
1302
+ "fy": 659.9339599609375,
1303
+ "cx": 416.0,
1304
+ "cy": 240.0
1305
+ }
1306
+ },
1307
+ {
1308
+ "frame_index": 37,
1309
+ "c2w": [
1310
+ [
1311
+ 0.9990049600601196,
1312
+ 0.006780525203794241,
1313
+ -0.0440811812877655,
1314
+ -0.03328949585556984
1315
+ ],
1316
+ [
1317
+ -0.004333446267992258,
1318
+ 0.9984562993049622,
1319
+ 0.05537337809801102,
1320
+ -0.3625892698764801
1321
+ ],
1322
+ [
1323
+ 0.04438859224319458,
1324
+ -0.055127255618572235,
1325
+ 0.9974921941757202,
1326
+ 0.44802936911582947
1327
+ ],
1328
+ [
1329
+ 0.0,
1330
+ 0.0,
1331
+ 0.0,
1332
+ 1.0
1333
+ ]
1334
+ ],
1335
+ "intrinsics": {
1336
+ "fx": 660.0055745442708,
1337
+ "fy": 659.9339599609375,
1338
+ "cx": 416.0,
1339
+ "cy": 240.0
1340
+ }
1341
+ },
1342
+ {
1343
+ "frame_index": 38,
1344
+ "c2w": [
1345
+ [
1346
+ 0.9990841150283813,
1347
+ 0.010329172015190125,
1348
+ -0.0415242537856102,
1349
+ -0.030954884365200996
1350
+ ],
1351
+ [
1352
+ -0.007658630609512329,
1353
+ 0.9979227781295776,
1354
+ 0.06396502256393433,
1355
+ -0.36848247051239014
1356
+ ],
1357
+ [
1358
+ 0.04209870100021362,
1359
+ -0.06358842551708221,
1360
+ 0.997087836265564,
1361
+ 0.44693607091903687
1362
+ ],
1363
+ [
1364
+ 0.0,
1365
+ 0.0,
1366
+ 0.0,
1367
+ 1.0
1368
+ ]
1369
+ ],
1370
+ "intrinsics": {
1371
+ "fx": 660.0055745442708,
1372
+ "fy": 659.9339599609375,
1373
+ "cx": 416.0,
1374
+ "cy": 240.0
1375
+ }
1376
+ },
1377
+ {
1378
+ "frame_index": 39,
1379
+ "c2w": [
1380
+ [
1381
+ 0.9989475011825562,
1382
+ 0.008050313219428062,
1383
+ -0.04515676945447922,
1384
+ -0.02667807601392269
1385
+ ],
1386
+ [
1387
+ -0.004684810061007738,
1388
+ 0.997236430644989,
1389
+ 0.0741458386182785,
1390
+ -0.36593177914619446
1391
+ ],
1392
+ [
1393
+ 0.0456288680434227,
1394
+ -0.07385624945163727,
1395
+ 0.9962245225906372,
1396
+ 0.479654461145401
1397
+ ],
1398
+ [
1399
+ 0.0,
1400
+ 0.0,
1401
+ 0.0,
1402
+ 1.0
1403
+ ]
1404
+ ],
1405
+ "intrinsics": {
1406
+ "fx": 660.0055745442708,
1407
+ "fy": 659.9339599609375,
1408
+ "cx": 416.0,
1409
+ "cy": 240.0
1410
+ }
1411
+ },
1412
+ {
1413
+ "frame_index": 40,
1414
+ "c2w": [
1415
+ [
1416
+ 0.9986180663108826,
1417
+ 0.006233444437384605,
1418
+ -0.05218297988176346,
1419
+ -0.019915170967578888
1420
+ ],
1421
+ [
1422
+ -0.0018736154306679964,
1423
+ 0.9965324401855469,
1424
+ 0.08318426460027695,
1425
+ -0.3681238889694214
1426
+ ],
1427
+ [
1428
+ 0.05252055823802948,
1429
+ -0.08297153562307358,
1430
+ 0.9951669573783875,
1431
+ 0.4969676733016968
1432
+ ],
1433
+ [
1434
+ 0.0,
1435
+ 0.0,
1436
+ 0.0,
1437
+ 1.0
1438
+ ]
1439
+ ],
1440
+ "intrinsics": {
1441
+ "fx": 660.0055745442708,
1442
+ "fy": 659.9339599609375,
1443
+ "cx": 416.0,
1444
+ "cy": 240.0
1445
+ }
1446
+ },
1447
+ {
1448
+ "frame_index": 41,
1449
+ "c2w": [
1450
+ [
1451
+ 0.9981905817985535,
1452
+ 0.003821736201643944,
1453
+ -0.06000785529613495,
1454
+ -0.014784631319344044
1455
+ ],
1456
+ [
1457
+ 0.0015911433147266507,
1458
+ 0.9959498047828674,
1459
+ 0.08989693224430084,
1460
+ -0.37396156787872314
1461
+ ],
1462
+ [
1463
+ 0.06010837107896805,
1464
+ -0.08982975780963898,
1465
+ 0.9941416382789612,
1466
+ 0.5141192078590393
1467
+ ],
1468
+ [
1469
+ 0.0,
1470
+ 0.0,
1471
+ 0.0,
1472
+ 1.0
1473
+ ]
1474
+ ],
1475
+ "intrinsics": {
1476
+ "fx": 660.0055745442708,
1477
+ "fy": 659.9339599609375,
1478
+ "cx": 416.0,
1479
+ "cy": 240.0
1480
+ }
1481
+ },
1482
+ {
1483
+ "frame_index": 42,
1484
+ "c2w": [
1485
+ [
1486
+ 0.9976864457130432,
1487
+ 0.005008850246667862,
1488
+ -0.06779831647872925,
1489
+ -0.011772687546908855
1490
+ ],
1491
+ [
1492
+ 0.0012404135195538402,
1493
+ 0.9957748651504517,
1494
+ 0.09181984513998032,
1495
+ -0.3778988718986511
1496
+ ],
1497
+ [
1498
+ 0.06797176599502563,
1499
+ -0.0916915163397789,
1500
+ 0.9934648871421814,
1501
+ 0.5398519039154053
1502
+ ],
1503
+ [
1504
+ 0.0,
1505
+ 0.0,
1506
+ 0.0,
1507
+ 1.0
1508
+ ]
1509
+ ],
1510
+ "intrinsics": {
1511
+ "fx": 660.0055745442708,
1512
+ "fy": 659.9339599609375,
1513
+ "cx": 416.0,
1514
+ "cy": 240.0
1515
+ }
1516
+ },
1517
+ {
1518
+ "frame_index": 43,
1519
+ "c2w": [
1520
+ [
1521
+ 0.9971880912780762,
1522
+ 0.006721540354192257,
1523
+ -0.07463733851909637,
1524
+ -0.011904971674084663
1525
+ ],
1526
+ [
1527
+ -6.58188946545124e-05,
1528
+ 0.9960476160049438,
1529
+ 0.08882070332765579,
1530
+ -0.38295212388038635
1531
+ ],
1532
+ [
1533
+ 0.07493935525417328,
1534
+ -0.08856604248285294,
1535
+ 0.9932472705841064,
1536
+ 0.5528995990753174
1537
+ ],
1538
+ [
1539
+ 0.0,
1540
+ 0.0,
1541
+ 0.0,
1542
+ 1.0
1543
+ ]
1544
+ ],
1545
+ "intrinsics": {
1546
+ "fx": 660.0055745442708,
1547
+ "fy": 659.9339599609375,
1548
+ "cx": 416.0,
1549
+ "cy": 240.0
1550
+ }
1551
+ },
1552
+ {
1553
+ "frame_index": 44,
1554
+ "c2w": [
1555
+ [
1556
+ 0.99628084897995,
1557
+ 0.00821717269718647,
1558
+ -0.08577274531126022,
1559
+ -0.010805056430399418
1560
+ ],
1561
+ [
1562
+ -0.0011130890343338251,
1563
+ 0.9965866804122925,
1564
+ 0.08254575729370117,
1565
+ -0.38808324933052063
1566
+ ],
1567
+ [
1568
+ 0.08615826815366745,
1569
+ -0.08214327692985535,
1570
+ 0.9928893446922302,
1571
+ 0.565174400806427
1572
+ ],
1573
+ [
1574
+ 0.0,
1575
+ 0.0,
1576
+ 0.0,
1577
+ 1.0
1578
+ ]
1579
+ ],
1580
+ "intrinsics": {
1581
+ "fx": 660.0055745442708,
1582
+ "fy": 659.9339599609375,
1583
+ "cx": 416.0,
1584
+ "cy": 240.0
1585
+ }
1586
+ },
1587
+ {
1588
+ "frame_index": 45,
1589
+ "c2w": [
1590
+ [
1591
+ 0.9949981570243835,
1592
+ 0.008628658019006252,
1593
+ -0.09951986372470856,
1594
+ -0.014012105762958527
1595
+ ],
1596
+ [
1597
+ -0.0011534730438143015,
1598
+ 0.9971883893013,
1599
+ 0.07492668181657791,
1600
+ -0.38872480392456055
1601
+ ],
1602
+ [
1603
+ 0.09988656640052795,
1604
+ -0.07443711906671524,
1605
+ 0.9922105669975281,
1606
+ 0.5842310786247253
1607
+ ],
1608
+ [
1609
+ 0.0,
1610
+ 0.0,
1611
+ 0.0,
1612
+ 1.0
1613
+ ]
1614
+ ],
1615
+ "intrinsics": {
1616
+ "fx": 660.0055745442708,
1617
+ "fy": 659.9339599609375,
1618
+ "cx": 416.0,
1619
+ "cy": 240.0
1620
+ }
1621
+ },
1622
+ {
1623
+ "frame_index": 46,
1624
+ "c2w": [
1625
+ [
1626
+ 0.9933220744132996,
1627
+ 0.009863816201686859,
1628
+ -0.11495187878608704,
1629
+ -0.005773480515927076
1630
+ ],
1631
+ [
1632
+ -0.0020939388778060675,
1633
+ 0.9977158308029175,
1634
+ 0.06751808524131775,
1635
+ -0.39005130529403687
1636
+ ],
1637
+ [
1638
+ 0.11535529792308807,
1639
+ -0.06682650744915009,
1640
+ 0.9910738468170166,
1641
+ 0.6015653610229492
1642
+ ],
1643
+ [
1644
+ 0.0,
1645
+ 0.0,
1646
+ 0.0,
1647
+ 1.0
1648
+ ]
1649
+ ],
1650
+ "intrinsics": {
1651
+ "fx": 660.0055745442708,
1652
+ "fy": 659.9339599609375,
1653
+ "cx": 416.0,
1654
+ "cy": 240.0
1655
+ }
1656
+ },
1657
+ {
1658
+ "frame_index": 47,
1659
+ "c2w": [
1660
+ [
1661
+ 0.9920904040336609,
1662
+ 0.013100181706249714,
1663
+ -0.1248399019241333,
1664
+ 0.00304324715398252
1665
+ ],
1666
+ [
1667
+ -0.0054658399894833565,
1668
+ 0.9981043934822083,
1669
+ 0.06130044907331467,
1670
+ -0.3875678777694702
1671
+ ],
1672
+ [
1673
+ 0.12540629506111145,
1674
+ -0.06013323366641998,
1675
+ 0.9902814030647278,
1676
+ 0.6240009069442749
1677
+ ],
1678
+ [
1679
+ 0.0,
1680
+ 0.0,
1681
+ 0.0,
1682
+ 1.0
1683
+ ]
1684
+ ],
1685
+ "intrinsics": {
1686
+ "fx": 660.0055745442708,
1687
+ "fy": 659.9339599609375,
1688
+ "cx": 416.0,
1689
+ "cy": 240.0
1690
+ }
1691
+ },
1692
+ {
1693
+ "frame_index": 48,
1694
+ "c2w": [
1695
+ [
1696
+ 0.9915509819984436,
1697
+ 0.019719524309039116,
1698
+ -0.1282099187374115,
1699
+ 0.0129180196672678
1700
+ ],
1701
+ [
1702
+ -0.012608201242983341,
1703
+ 0.9983487129211426,
1704
+ 0.05604316294193268,
1705
+ -0.3854636251926422
1706
+ ],
1707
+ [
1708
+ 0.12910336256027222,
1709
+ -0.053953155875205994,
1710
+ 0.9901623129844666,
1711
+ 0.6429452300071716
1712
+ ],
1713
+ [
1714
+ 0.0,
1715
+ 0.0,
1716
+ 0.0,
1717
+ 1.0
1718
+ ]
1719
+ ],
1720
+ "intrinsics": {
1721
+ "fx": 660.0055745442708,
1722
+ "fy": 659.9339599609375,
1723
+ "cx": 416.0,
1724
+ "cy": 240.0
1725
+ }
1726
+ },
1727
+ {
1728
+ "frame_index": 49,
1729
+ "c2w": [
1730
+ [
1731
+ 0.991436779499054,
1732
+ 0.031065208837389946,
1733
+ -0.12683863937854767,
1734
+ 0.02544354647397995
1735
+ ],
1736
+ [
1737
+ -0.024541383609175682,
1738
+ 0.9983099699020386,
1739
+ 0.052677005529403687,
1740
+ -0.3858200013637543
1741
+ ],
1742
+ [
1743
+ 0.12826071679592133,
1744
+ -0.04911312460899353,
1745
+ 0.990523636341095,
1746
+ 0.6630076766014099
1747
+ ],
1748
+ [
1749
+ 0.0,
1750
+ 0.0,
1751
+ 0.0,
1752
+ 1.0
1753
+ ]
1754
+ ],
1755
+ "intrinsics": {
1756
+ "fx": 660.0055745442708,
1757
+ "fy": 659.9339599609375,
1758
+ "cx": 416.0,
1759
+ "cy": 240.0
1760
+ }
1761
+ },
1762
+ {
1763
+ "frame_index": 50,
1764
+ "c2w": [
1765
+ [
1766
+ 0.9920250177383423,
1767
+ 0.040692586451768875,
1768
+ -0.11929169297218323,
1769
+ 0.033771611750125885
1770
+ ],
1771
+ [
1772
+ -0.03483329340815544,
1773
+ 0.9981012940406799,
1774
+ 0.05079836770892143,
1775
+ -0.38253477215766907
1776
+ ],
1777
+ [
1778
+ 0.12113231420516968,
1779
+ -0.04623792693018913,
1780
+ 0.9915589094161987,
1781
+ 0.6805018782615662
1782
+ ],
1783
+ [
1784
+ 0.0,
1785
+ 0.0,
1786
+ 0.0,
1787
+ 1.0
1788
+ ]
1789
+ ],
1790
+ "intrinsics": {
1791
+ "fx": 660.0055745442708,
1792
+ "fy": 659.9339599609375,
1793
+ "cx": 416.0,
1794
+ "cy": 240.0
1795
+ }
1796
+ },
1797
+ {
1798
+ "frame_index": 51,
1799
+ "c2w": [
1800
+ [
1801
+ 0.9928125739097595,
1802
+ 0.0516374334692955,
1803
+ -0.10796663165092468,
1804
+ 0.03448503091931343
1805
+ ],
1806
+ [
1807
+ -0.046396538615226746,
1808
+ 0.9976455569267273,
1809
+ 0.050504423677921295,
1810
+ -0.3782748281955719
1811
+ ],
1812
+ [
1813
+ 0.11032034456729889,
1814
+ -0.045132145285606384,
1815
+ 0.9928708672523499,
1816
+ 0.6995558738708496
1817
+ ],
1818
+ [
1819
+ 0.0,
1820
+ 0.0,
1821
+ 0.0,
1822
+ 1.0
1823
+ ]
1824
+ ],
1825
+ "intrinsics": {
1826
+ "fx": 660.0055745442708,
1827
+ "fy": 659.9339599609375,
1828
+ "cx": 416.0,
1829
+ "cy": 240.0
1830
+ }
1831
+ },
1832
+ {
1833
+ "frame_index": 52,
1834
+ "c2w": [
1835
+ [
1836
+ 0.9935876131057739,
1837
+ 0.06200492009520531,
1838
+ -0.09454627335071564,
1839
+ 0.03944502770900726
1840
+ ],
1841
+ [
1842
+ -0.05730738118290901,
1843
+ 0.9970212578773499,
1844
+ 0.051618289202451706,
1845
+ -0.3707577586174011
1846
+ ],
1847
+ [
1848
+ 0.09746523201465607,
1849
+ -0.045869093388319016,
1850
+ 0.9941813349723816,
1851
+ 0.724333643913269
1852
+ ],
1853
+ [
1854
+ 0.0,
1855
+ 0.0,
1856
+ 0.0,
1857
+ 1.0
1858
+ ]
1859
+ ],
1860
+ "intrinsics": {
1861
+ "fx": 660.0055745442708,
1862
+ "fy": 659.9339599609375,
1863
+ "cx": 416.0,
1864
+ "cy": 240.0
1865
+ }
1866
+ },
1867
+ {
1868
+ "frame_index": 53,
1869
+ "c2w": [
1870
+ [
1871
+ 0.9940541386604309,
1872
+ 0.07257115840911865,
1873
+ -0.08117743581533432,
1874
+ 0.054413121193647385
1875
+ ],
1876
+ [
1877
+ -0.06813941895961761,
1878
+ 0.9960975646972656,
1879
+ 0.056095488369464874,
1880
+ -0.37373805046081543
1881
+ ],
1882
+ [
1883
+ 0.08493155986070633,
1884
+ -0.05023057013750076,
1885
+ 0.9951198697090149,
1886
+ 0.732836127281189
1887
+ ],
1888
+ [
1889
+ 0.0,
1890
+ 0.0,
1891
+ 0.0,
1892
+ 1.0
1893
+ ]
1894
+ ],
1895
+ "intrinsics": {
1896
+ "fx": 660.0055745442708,
1897
+ "fy": 659.9339599609375,
1898
+ "cx": 416.0,
1899
+ "cy": 240.0
1900
+ }
1901
+ },
1902
+ {
1903
+ "frame_index": 54,
1904
+ "c2w": [
1905
+ [
1906
+ 0.99481201171875,
1907
+ 0.07849503308534622,
1908
+ -0.0647113174200058,
1909
+ 0.06798812747001648
1910
+ ],
1911
+ [
1912
+ -0.0745636597275734,
1913
+ 0.9953437447547913,
1914
+ 0.06108240410685539,
1915
+ -0.36985519528388977
1916
+ ],
1917
+ [
1918
+ 0.0692046731710434,
1919
+ -0.055940400809049606,
1920
+ 0.9960328340530396,
1921
+ 0.7567837238311768
1922
+ ],
1923
+ [
1924
+ 0.0,
1925
+ 0.0,
1926
+ 0.0,
1927
+ 1.0
1928
+ ]
1929
+ ],
1930
+ "intrinsics": {
1931
+ "fx": 660.0055745442708,
1932
+ "fy": 659.9339599609375,
1933
+ "cx": 416.0,
1934
+ "cy": 240.0
1935
+ }
1936
+ },
1937
+ {
1938
+ "frame_index": 55,
1939
+ "c2w": [
1940
+ [
1941
+ 0.9962641596794128,
1942
+ 0.0753529816865921,
1943
+ -0.042185988277196884,
1944
+ 0.05669884756207466
1945
+ ],
1946
+ [
1947
+ -0.07255285978317261,
1948
+ 0.9952846765518188,
1949
+ 0.06437820941209793,
1950
+ -0.3709739148616791
1951
+ ],
1952
+ [
1953
+ 0.04683815315365791,
1954
+ -0.06107699126005173,
1955
+ 0.9970334768295288,
1956
+ 0.7929015755653381
1957
+ ],
1958
+ [
1959
+ 0.0,
1960
+ 0.0,
1961
+ 0.0,
1962
+ 1.0
1963
+ ]
1964
+ ],
1965
+ "intrinsics": {
1966
+ "fx": 660.0055745442708,
1967
+ "fy": 659.9339599609375,
1968
+ "cx": 416.0,
1969
+ "cy": 240.0
1970
+ }
1971
+ },
1972
+ {
1973
+ "frame_index": 56,
1974
+ "c2w": [
1975
+ [
1976
+ 0.99750155210495,
1977
+ 0.06530050188302994,
1978
+ -0.02695271000266075,
1979
+ 0.05241753160953522
1980
+ ],
1981
+ [
1982
+ -0.063578300178051,
1983
+ 0.9961444139480591,
1984
+ 0.06044939160346985,
1985
+ -0.3736172318458557
1986
+ ],
1987
+ [
1988
+ 0.030796166509389877,
1989
+ -0.05858475714921951,
1990
+ 0.9978073239326477,
1991
+ 0.8084272742271423
1992
+ ],
1993
+ [
1994
+ 0.0,
1995
+ 0.0,
1996
+ 0.0,
1997
+ 1.0
1998
+ ]
1999
+ ],
2000
+ "intrinsics": {
2001
+ "fx": 660.0055745442708,
2002
+ "fy": 659.9339599609375,
2003
+ "cx": 416.0,
2004
+ "cy": 240.0
2005
+ }
2006
+ },
2007
+ {
2008
+ "frame_index": 57,
2009
+ "c2w": [
2010
+ [
2011
+ 0.9981812834739685,
2012
+ 0.055350255221128464,
2013
+ -0.023884758353233337,
2014
+ 0.04711800441145897
2015
+ ],
2016
+ [
2017
+ -0.054044853895902634,
2018
+ 0.9971722960472107,
2019
+ 0.052216432988643646,
2020
+ -0.36982765793800354
2021
+ ],
2022
+ [
2023
+ 0.02670741081237793,
2024
+ -0.05083061754703522,
2025
+ 0.9983501434326172,
2026
+ 0.837020218372345
2027
+ ],
2028
+ [
2029
+ 0.0,
2030
+ 0.0,
2031
+ 0.0,
2032
+ 1.0
2033
+ ]
2034
+ ],
2035
+ "intrinsics": {
2036
+ "fx": 660.0055745442708,
2037
+ "fy": 659.9339599609375,
2038
+ "cx": 416.0,
2039
+ "cy": 240.0
2040
+ }
2041
+ },
2042
+ {
2043
+ "frame_index": 58,
2044
+ "c2w": [
2045
+ [
2046
+ 0.9983488321304321,
2047
+ 0.05152922496199608,
2048
+ -0.025384079664945602,
2049
+ 0.06627108156681061
2050
+ ],
2051
+ [
2052
+ -0.050387877970933914,
2053
+ 0.9977723956108093,
2054
+ 0.04371876269578934,
2055
+ -0.3686104714870453
2056
+ ],
2057
+ [
2058
+ 0.027580328285694122,
2059
+ -0.04236752539873123,
2060
+ 0.9987213611602783,
2061
+ 0.871105432510376
2062
+ ],
2063
+ [
2064
+ 0.0,
2065
+ 0.0,
2066
+ 0.0,
2067
+ 1.0
2068
+ ]
2069
+ ],
2070
+ "intrinsics": {
2071
+ "fx": 660.0055745442708,
2072
+ "fy": 659.9339599609375,
2073
+ "cx": 416.0,
2074
+ "cy": 240.0
2075
+ }
2076
+ },
2077
+ {
2078
+ "frame_index": 59,
2079
+ "c2w": [
2080
+ [
2081
+ 0.9982691407203674,
2082
+ 0.05579795315861702,
2083
+ -0.018582187592983246,
2084
+ 0.08755509555339813
2085
+ ],
2086
+ [
2087
+ -0.05517170950770378,
2088
+ 0.9979425072669983,
2089
+ 0.032662130892276764,
2090
+ -0.3684733510017395
2091
+ ],
2092
+ [
2093
+ 0.020366434007883072,
2094
+ -0.03158038854598999,
2095
+ 0.9992936849594116,
2096
+ 0.8989243507385254
2097
+ ],
2098
+ [
2099
+ 0.0,
2100
+ 0.0,
2101
+ 0.0,
2102
+ 1.0
2103
+ ]
2104
+ ],
2105
+ "intrinsics": {
2106
+ "fx": 660.0055745442708,
2107
+ "fy": 659.9339599609375,
2108
+ "cx": 416.0,
2109
+ "cy": 240.0
2110
+ }
2111
+ },
2112
+ {
2113
+ "frame_index": 60,
2114
+ "c2w": [
2115
+ [
2116
+ 0.9979872107505798,
2117
+ 0.06340043991804123,
2118
+ -0.0013882617931813002,
2119
+ 0.08000926673412323
2120
+ ],
2121
+ [
2122
+ -0.06335554271936417,
2123
+ 0.9977552890777588,
2124
+ 0.021689437329769135,
2125
+ -0.3654283881187439
2126
+ ],
2127
+ [
2128
+ 0.0027602652553468943,
2129
+ -0.021557826548814774,
2130
+ 0.9997637867927551,
2131
+ 0.9228837490081787
2132
+ ],
2133
+ [
2134
+ 0.0,
2135
+ 0.0,
2136
+ 0.0,
2137
+ 1.0
2138
+ ]
2139
+ ],
2140
+ "intrinsics": {
2141
+ "fx": 660.0055745442708,
2142
+ "fy": 659.9339599609375,
2143
+ "cx": 416.0,
2144
+ "cy": 240.0
2145
+ }
2146
+ },
2147
+ {
2148
+ "frame_index": 61,
2149
+ "c2w": [
2150
+ [
2151
+ 0.9978316426277161,
2152
+ 0.06547811627388,
2153
+ 0.006684332620352507,
2154
+ 0.09659247100353241
2155
+ ],
2156
+ [
2157
+ -0.06559054553508759,
2158
+ 0.9976792335510254,
2159
+ 0.018277237191796303,
2160
+ -0.3599971532821655
2161
+ ],
2162
+ [
2163
+ -0.0054720607586205006,
2164
+ -0.01867603324353695,
2165
+ 0.9998106360435486,
2166
+ 0.9712361693382263
2167
+ ],
2168
+ [
2169
+ 0.0,
2170
+ 0.0,
2171
+ 0.0,
2172
+ 1.0
2173
+ ]
2174
+ ],
2175
+ "intrinsics": {
2176
+ "fx": 660.0055745442708,
2177
+ "fy": 659.9339599609375,
2178
+ "cx": 416.0,
2179
+ "cy": 240.0
2180
+ }
2181
+ },
2182
+ {
2183
+ "frame_index": 62,
2184
+ "c2w": [
2185
+ [
2186
+ 0.9978542923927307,
2187
+ 0.06432193517684937,
2188
+ 0.012229329906404018,
2189
+ 0.11117184162139893
2190
+ ],
2191
+ [
2192
+ -0.06457196176052094,
2193
+ 0.9976860284805298,
2194
+ 0.021285749971866608,
2195
+ -0.3592086732387543
2196
+ ],
2197
+ [
2198
+ -0.010831891559064388,
2199
+ -0.02202974632382393,
2200
+ 0.9996986389160156,
2201
+ 1.0090032815933228
2202
+ ],
2203
+ [
2204
+ 0.0,
2205
+ 0.0,
2206
+ 0.0,
2207
+ 1.0
2208
+ ]
2209
+ ],
2210
+ "intrinsics": {
2211
+ "fx": 660.0055745442708,
2212
+ "fy": 659.9339599609375,
2213
+ "cx": 416.0,
2214
+ "cy": 240.0
2215
+ }
2216
+ },
2217
+ {
2218
+ "frame_index": 63,
2219
+ "c2w": [
2220
+ [
2221
+ 0.9975440502166748,
2222
+ 0.06482352316379547,
2223
+ 0.026529917493462563,
2224
+ 0.11810844391584396
2225
+ ],
2226
+ [
2227
+ -0.065498486161232,
2228
+ 0.9975289106369019,
2229
+ 0.025416113436222076,
2230
+ -0.3583802580833435
2231
+ ],
2232
+ [
2233
+ -0.02481679804623127,
2234
+ -0.027091361582279205,
2235
+ 0.9993248581886292,
2236
+ 1.0171077251434326
2237
+ ],
2238
+ [
2239
+ 0.0,
2240
+ 0.0,
2241
+ 0.0,
2242
+ 1.0
2243
+ ]
2244
+ ],
2245
+ "intrinsics": {
2246
+ "fx": 660.0055745442708,
2247
+ "fy": 659.9339599609375,
2248
+ "cx": 416.0,
2249
+ "cy": 240.0
2250
+ }
2251
+ },
2252
+ {
2253
+ "frame_index": 64,
2254
+ "c2w": [
2255
+ [
2256
+ 0.9969527125358582,
2257
+ 0.06462112069129944,
2258
+ 0.04369620978832245,
2259
+ 0.1914624720811844
2260
+ ],
2261
+ [
2262
+ -0.06614048779010773,
2263
+ 0.9972217082977295,
2264
+ 0.03426743298768997,
2265
+ -0.35146188735961914
2266
+ ],
2267
+ [
2268
+ -0.04136040806770325,
2269
+ -0.037053100764751434,
2270
+ 0.9984570145606995,
2271
+ 1.1048227548599243
2272
+ ],
2273
+ [
2274
+ 0.0,
2275
+ 0.0,
2276
+ 0.0,
2277
+ 1.0
2278
+ ]
2279
+ ],
2280
+ "intrinsics": {
2281
+ "fx": 660.0055745442708,
2282
+ "fy": 659.9339599609375,
2283
+ "cx": 416.0,
2284
+ "cy": 240.0
2285
+ }
2286
+ },
2287
+ {
2288
+ "frame_index": 65,
2289
+ "c2w": [
2290
+ [
2291
+ 0.9951587915420532,
2292
+ 0.0706367939710617,
2293
+ 0.06833310425281525,
2294
+ 0.1802123785018921
2295
+ ],
2296
+ [
2297
+ -0.07378077507019043,
2298
+ 0.9962751865386963,
2299
+ 0.04463288187980652,
2300
+ -0.3530443608760834
2301
+ ],
2302
+ [
2303
+ -0.06492584943771362,
2304
+ -0.049458473920822144,
2305
+ 0.9966636896133423,
2306
+ 1.1333463191986084
2307
+ ],
2308
+ [
2309
+ 0.0,
2310
+ 0.0,
2311
+ 0.0,
2312
+ 1.0
2313
+ ]
2314
+ ],
2315
+ "intrinsics": {
2316
+ "fx": 660.0055745442708,
2317
+ "fy": 659.9339599609375,
2318
+ "cx": 416.0,
2319
+ "cy": 240.0
2320
+ }
2321
+ },
2322
+ {
2323
+ "frame_index": 66,
2324
+ "c2w": [
2325
+ [
2326
+ 0.9940325021743774,
2327
+ 0.07469338923692703,
2328
+ 0.07949987053871155,
2329
+ 0.1762683093547821
2330
+ ],
2331
+ [
2332
+ -0.07928315550088882,
2333
+ 0.9952649474143982,
2334
+ 0.05623061582446098,
2335
+ -0.3478609323501587
2336
+ ],
2337
+ [
2338
+ -0.07492338120937347,
2339
+ -0.06219806149601936,
2340
+ 0.9952476620674133,
2341
+ 1.1669367551803589
2342
+ ],
2343
+ [
2344
+ 0.0,
2345
+ 0.0,
2346
+ 0.0,
2347
+ 1.0
2348
+ ]
2349
+ ],
2350
+ "intrinsics": {
2351
+ "fx": 660.0055745442708,
2352
+ "fy": 659.9339599609375,
2353
+ "cx": 416.0,
2354
+ "cy": 240.0
2355
+ }
2356
+ },
2357
+ {
2358
+ "frame_index": 67,
2359
+ "c2w": [
2360
+ [
2361
+ 0.9936695694923401,
2362
+ 0.07616062462329865,
2363
+ 0.08258505165576935,
2364
+ 0.18210187554359436
2365
+ ],
2366
+ [
2367
+ -0.0819225162267685,
2368
+ 0.9942625164985657,
2369
+ 0.0687807947397232,
2370
+ -0.3442673087120056
2371
+ ],
2372
+ [
2373
+ -0.0768728256225586,
2374
+ -0.07511095702648163,
2375
+ 0.9942076802253723,
2376
+ 1.198970079421997
2377
+ ],
2378
+ [
2379
+ 0.0,
2380
+ 0.0,
2381
+ 0.0,
2382
+ 1.0
2383
+ ]
2384
+ ],
2385
+ "intrinsics": {
2386
+ "fx": 660.0055745442708,
2387
+ "fy": 659.9339599609375,
2388
+ "cx": 416.0,
2389
+ "cy": 240.0
2390
+ }
2391
+ },
2392
+ {
2393
+ "frame_index": 68,
2394
+ "c2w": [
2395
+ [
2396
+ 0.9937725067138672,
2397
+ 0.07075271010398865,
2398
+ 0.08608269691467285,
2399
+ 0.18934676051139832
2400
+ ],
2401
+ [
2402
+ -0.07752850651741028,
2403
+ 0.9939267635345459,
2404
+ 0.07809572666883469,
2405
+ -0.34662318229675293
2406
+ ],
2407
+ [
2408
+ -0.08003440499305725,
2409
+ -0.0842832550406456,
2410
+ 0.9932224750518799,
2411
+ 1.2281460762023926
2412
+ ],
2413
+ [
2414
+ 0.0,
2415
+ 0.0,
2416
+ 0.0,
2417
+ 1.0
2418
+ ]
2419
+ ],
2420
+ "intrinsics": {
2421
+ "fx": 660.0055745442708,
2422
+ "fy": 659.9339599609375,
2423
+ "cx": 416.0,
2424
+ "cy": 240.0
2425
+ }
2426
+ },
2427
+ {
2428
+ "frame_index": 69,
2429
+ "c2w": [
2430
+ [
2431
+ 0.9935650825500488,
2432
+ 0.06598219275474548,
2433
+ 0.09205859899520874,
2434
+ 0.2087513655424118
2435
+ ],
2436
+ [
2437
+ -0.0735124796628952,
2438
+ 0.9940028190612793,
2439
+ 0.080958791077137,
2440
+ -0.33989059925079346
2441
+ ],
2442
+ [
2443
+ -0.08616466820240021,
2444
+ -0.08720528334379196,
2445
+ 0.9924569725990295,
2446
+ 1.2643617391586304
2447
+ ],
2448
+ [
2449
+ 0.0,
2450
+ 0.0,
2451
+ 0.0,
2452
+ 1.0
2453
+ ]
2454
+ ],
2455
+ "intrinsics": {
2456
+ "fx": 660.0055745442708,
2457
+ "fy": 659.9339599609375,
2458
+ "cx": 416.0,
2459
+ "cy": 240.0
2460
+ }
2461
+ },
2462
+ {
2463
+ "frame_index": 70,
2464
+ "c2w": [
2465
+ [
2466
+ 0.9930463433265686,
2467
+ 0.06141034886240959,
2468
+ 0.1004374548792839,
2469
+ 0.21061837673187256
2470
+ ],
2471
+ [
2472
+ -0.07004813104867935,
2473
+ 0.9939271807670593,
2474
+ 0.0848650336265564,
2475
+ -0.3401876986026764
2476
+ ],
2477
+ [
2478
+ -0.09461592882871628,
2479
+ -0.09131036698818207,
2480
+ 0.9913174510002136,
2481
+ 1.2893918752670288
2482
+ ],
2483
+ [
2484
+ 0.0,
2485
+ 0.0,
2486
+ 0.0,
2487
+ 1.0
2488
+ ]
2489
+ ],
2490
+ "intrinsics": {
2491
+ "fx": 660.0055745442708,
2492
+ "fy": 659.9339599609375,
2493
+ "cx": 416.0,
2494
+ "cy": 240.0
2495
+ }
2496
+ },
2497
+ {
2498
+ "frame_index": 71,
2499
+ "c2w": [
2500
+ [
2501
+ 0.9927089810371399,
2502
+ 0.06037580966949463,
2503
+ 0.10432467609643936,
2504
+ 0.22746798396110535
2505
+ ],
2506
+ [
2507
+ -0.06967668235301971,
2508
+ 0.9936861395835876,
2509
+ 0.0879376083612442,
2510
+ -0.3326581120491028
2511
+ ],
2512
+ [
2513
+ -0.0983566865324974,
2514
+ -0.09456545114517212,
2515
+ 0.9906479120254517,
2516
+ 1.3273074626922607
2517
+ ],
2518
+ [
2519
+ 0.0,
2520
+ 0.0,
2521
+ 0.0,
2522
+ 1.0
2523
+ ]
2524
+ ],
2525
+ "intrinsics": {
2526
+ "fx": 660.0055745442708,
2527
+ "fy": 659.9339599609375,
2528
+ "cx": 416.0,
2529
+ "cy": 240.0
2530
+ }
2531
+ },
2532
+ {
2533
+ "frame_index": 72,
2534
+ "c2w": [
2535
+ [
2536
+ 0.9920140504837036,
2537
+ 0.06279062479734421,
2538
+ 0.1093866303563118,
2539
+ 0.23698563873767853
2540
+ ],
2541
+ [
2542
+ -0.07260315865278244,
2543
+ 0.9934568405151367,
2544
+ 0.08816049993038177,
2545
+ -0.31885525584220886
2546
+ ],
2547
+ [
2548
+ -0.10313525050878525,
2549
+ -0.09539827704429626,
2550
+ 0.9900819659233093,
2551
+ 1.3576221466064453
2552
+ ],
2553
+ [
2554
+ 0.0,
2555
+ 0.0,
2556
+ 0.0,
2557
+ 1.0
2558
+ ]
2559
+ ],
2560
+ "intrinsics": {
2561
+ "fx": 660.0055745442708,
2562
+ "fy": 659.9339599609375,
2563
+ "cx": 416.0,
2564
+ "cy": 240.0
2565
+ }
2566
+ },
2567
+ {
2568
+ "frame_index": 73,
2569
+ "c2w": [
2570
+ [
2571
+ 0.991599440574646,
2572
+ 0.06163309887051582,
2573
+ 0.11371878534555435,
2574
+ 0.22754649817943573
2575
+ ],
2576
+ [
2577
+ -0.072067029774189,
2578
+ 0.9933268427848816,
2579
+ 0.09004505723714828,
2580
+ -0.3238595426082611
2581
+ ],
2582
+ [
2583
+ -0.10741017013788223,
2584
+ -0.09748400002717972,
2585
+ 0.9894240498542786,
2586
+ 1.3750725984573364
2587
+ ],
2588
+ [
2589
+ 0.0,
2590
+ 0.0,
2591
+ 0.0,
2592
+ 1.0
2593
+ ]
2594
+ ],
2595
+ "intrinsics": {
2596
+ "fx": 660.0055745442708,
2597
+ "fy": 659.9339599609375,
2598
+ "cx": 416.0,
2599
+ "cy": 240.0
2600
+ }
2601
+ },
2602
+ {
2603
+ "frame_index": 74,
2604
+ "c2w": [
2605
+ [
2606
+ 0.9926644563674927,
2607
+ 0.0543796680867672,
2608
+ 0.10798206180334091,
2609
+ 0.24434493482112885
2610
+ ],
2611
+ [
2612
+ -0.06416971236467361,
2613
+ 0.9939299821853638,
2614
+ 0.08936122804880142,
2615
+ -0.3211783766746521
2616
+ ],
2617
+ [
2618
+ -0.10246717184782028,
2619
+ -0.09563488513231277,
2620
+ 0.9901285171508789,
2621
+ 1.421762466430664
2622
+ ],
2623
+ [
2624
+ 0.0,
2625
+ 0.0,
2626
+ 0.0,
2627
+ 1.0
2628
+ ]
2629
+ ],
2630
+ "intrinsics": {
2631
+ "fx": 660.0055745442708,
2632
+ "fy": 659.9339599609375,
2633
+ "cx": 416.0,
2634
+ "cy": 240.0
2635
+ }
2636
+ },
2637
+ {
2638
+ "frame_index": 75,
2639
+ "c2w": [
2640
+ [
2641
+ 0.9942989945411682,
2642
+ 0.04797444865107536,
2643
+ 0.09522568434476852,
2644
+ 0.27156567573547363
2645
+ ],
2646
+ [
2647
+ -0.05607958510518074,
2648
+ 0.9948569536209106,
2649
+ 0.084348663687706,
2650
+ -0.3057364523410797
2651
+ ],
2652
+ [
2653
+ -0.09068935364484787,
2654
+ -0.08920800685882568,
2655
+ 0.9918757081031799,
2656
+ 1.4722373485565186
2657
+ ],
2658
+ [
2659
+ 0.0,
2660
+ 0.0,
2661
+ 0.0,
2662
+ 1.0
2663
+ ]
2664
+ ],
2665
+ "intrinsics": {
2666
+ "fx": 660.0055745442708,
2667
+ "fy": 659.9339599609375,
2668
+ "cx": 416.0,
2669
+ "cy": 240.0
2670
+ }
2671
+ },
2672
+ {
2673
+ "frame_index": 76,
2674
+ "c2w": [
2675
+ [
2676
+ 0.9954098463058472,
2677
+ 0.044417526572942734,
2678
+ 0.08477208763360977,
2679
+ 0.2807833254337311
2680
+ ],
2681
+ [
2682
+ -0.05132065340876579,
2683
+ 0.9953862428665161,
2684
+ 0.0810701921582222,
2685
+ -0.3055337071418762
2686
+ ],
2687
+ [
2688
+ -0.0807800367474556,
2689
+ -0.0850486233830452,
2690
+ 0.9930968284606934,
2691
+ 1.4970070123672485
2692
+ ],
2693
+ [
2694
+ 0.0,
2695
+ 0.0,
2696
+ 0.0,
2697
+ 1.0
2698
+ ]
2699
+ ],
2700
+ "intrinsics": {
2701
+ "fx": 660.0055745442708,
2702
+ "fy": 659.9339599609375,
2703
+ "cx": 416.0,
2704
+ "cy": 240.0
2705
+ }
2706
+ },
2707
+ {
2708
+ "frame_index": 77,
2709
+ "c2w": [
2710
+ [
2711
+ 0.9962387681007385,
2712
+ 0.038982491940259933,
2713
+ 0.07738648355007172,
2714
+ 0.2922019362449646
2715
+ ],
2716
+ [
2717
+ -0.04463867470622063,
2718
+ 0.996350109577179,
2719
+ 0.07275906950235367,
2720
+ -0.3111981451511383
2721
+ ],
2722
+ [
2723
+ -0.07426770031452179,
2724
+ -0.07593984156847,
2725
+ 0.9943427443504333,
2726
+ 1.5294783115386963
2727
+ ],
2728
+ [
2729
+ 0.0,
2730
+ 0.0,
2731
+ 0.0,
2732
+ 1.0
2733
+ ]
2734
+ ],
2735
+ "intrinsics": {
2736
+ "fx": 660.0055745442708,
2737
+ "fy": 659.9339599609375,
2738
+ "cx": 416.0,
2739
+ "cy": 240.0
2740
+ }
2741
+ },
2742
+ {
2743
+ "frame_index": 78,
2744
+ "c2w": [
2745
+ [
2746
+ 0.9968178272247314,
2747
+ 0.028939031064510345,
2748
+ 0.07427483797073364,
2749
+ 0.2938993573188782
2750
+ ],
2751
+ [
2752
+ -0.03367015719413757,
2753
+ 0.9974291324615479,
2754
+ 0.06325670331716537,
2755
+ -0.3301212191581726
2756
+ ],
2757
+ [
2758
+ -0.07225330173969269,
2759
+ -0.06555625051259995,
2760
+ 0.9952295422554016,
2761
+ 1.5523120164871216
2762
+ ],
2763
+ [
2764
+ 0.0,
2765
+ 0.0,
2766
+ 0.0,
2767
+ 1.0
2768
+ ]
2769
+ ],
2770
+ "intrinsics": {
2771
+ "fx": 660.0055745442708,
2772
+ "fy": 659.9339599609375,
2773
+ "cx": 416.0,
2774
+ "cy": 240.0
2775
+ }
2776
+ },
2777
+ {
2778
+ "frame_index": 79,
2779
+ "c2w": [
2780
+ [
2781
+ 0.997113823890686,
2782
+ 0.024094367399811745,
2783
+ 0.07199600338935852,
2784
+ 0.30398228764533997
2785
+ ],
2786
+ [
2787
+ -0.027764147147536278,
2788
+ 0.9983424544334412,
2789
+ 0.05041372403502464,
2790
+ -0.33122074604034424
2791
+ ],
2792
+ [
2793
+ -0.07066197693347931,
2794
+ -0.052267130464315414,
2795
+ 0.9961300492286682,
2796
+ 1.5787588357925415
2797
+ ],
2798
+ [
2799
+ 0.0,
2800
+ 0.0,
2801
+ 0.0,
2802
+ 1.0
2803
+ ]
2804
+ ],
2805
+ "intrinsics": {
2806
+ "fx": 660.0055745442708,
2807
+ "fy": 659.9339599609375,
2808
+ "cx": 416.0,
2809
+ "cy": 240.0
2810
+ }
2811
+ },
2812
+ {
2813
+ "frame_index": 80,
2814
+ "c2w": [
2815
+ [
2816
+ 0.9968625903129578,
2817
+ 0.02662222646176815,
2818
+ 0.07453996688127518,
2819
+ 0.31656765937805176
2820
+ ],
2821
+ [
2822
+ -0.02972407452762127,
2823
+ 0.9987244009971619,
2824
+ 0.04081770032644272,
2825
+ -0.32136771082878113
2826
+ ],
2827
+ [
2828
+ -0.07335823029279709,
2829
+ -0.04290527105331421,
2830
+ 0.9963822960853577,
2831
+ 1.591598391532898
2832
+ ],
2833
+ [
2834
+ 0.0,
2835
+ 0.0,
2836
+ 0.0,
2837
+ 1.0
2838
+ ]
2839
+ ],
2840
+ "intrinsics": {
2841
+ "fx": 660.0055745442708,
2842
+ "fy": 659.9339599609375,
2843
+ "cx": 416.0,
2844
+ "cy": 240.0
2845
+ }
2846
+ },
2847
+ {
2848
+ "frame_index": 81,
2849
+ "c2w": [
2850
+ [
2851
+ 0.9948034286499023,
2852
+ 0.03404862806200981,
2853
+ 0.09595248848199844,
2854
+ 0.3152815103530884
2855
+ ],
2856
+ [
2857
+ -0.038134362548589706,
2858
+ 0.9984281659126282,
2859
+ 0.04107331112027168,
2860
+ -0.320108026266098
2861
+ ],
2862
+ [
2863
+ -0.09440317004919052,
2864
+ -0.044518958777189255,
2865
+ 0.9945381283760071,
2866
+ 1.5975302457809448
2867
+ ],
2868
+ [
2869
+ 0.0,
2870
+ 0.0,
2871
+ 0.0,
2872
+ 1.0
2873
+ ]
2874
+ ],
2875
+ "intrinsics": {
2876
+ "fx": 660.0055745442708,
2877
+ "fy": 659.9339599609375,
2878
+ "cx": 416.0,
2879
+ "cy": 240.0
2880
+ }
2881
+ },
2882
+ {
2883
+ "frame_index": 82,
2884
+ "c2w": [
2885
+ [
2886
+ 0.9929451942443848,
2887
+ 0.028363268822431564,
2888
+ 0.11513213068246841,
2889
+ 0.32661888003349304
2890
+ ],
2891
+ [
2892
+ -0.0343884713947773,
2893
+ 0.9981222748756409,
2894
+ 0.05068834498524666,
2895
+ -0.3397430181503296
2896
+ ],
2897
+ [
2898
+ -0.11347826570272446,
2899
+ -0.054289963096380234,
2900
+ 0.9920560717582703,
2901
+ 1.6439398527145386
2902
+ ],
2903
+ [
2904
+ 0.0,
2905
+ 0.0,
2906
+ 0.0,
2907
+ 1.0
2908
+ ]
2909
+ ],
2910
+ "intrinsics": {
2911
+ "fx": 660.0055745442708,
2912
+ "fy": 659.9339599609375,
2913
+ "cx": 416.0,
2914
+ "cy": 240.0
2915
+ }
2916
+ },
2917
+ {
2918
+ "frame_index": 83,
2919
+ "c2w": [
2920
+ [
2921
+ 0.9934191703796387,
2922
+ 0.011834276840090752,
2923
+ 0.11392243206501007,
2924
+ 0.3522278368473053
2925
+ ],
2926
+ [
2927
+ -0.017935916781425476,
2928
+ 0.9984501004219055,
2929
+ 0.052684515714645386,
2930
+ -0.35044151544570923
2931
+ ],
2932
+ [
2933
+ -0.11312238872051239,
2934
+ -0.0543811097741127,
2935
+ 0.992091715335846,
2936
+ 1.6239981651306152
2937
+ ],
2938
+ [
2939
+ 0.0,
2940
+ 0.0,
2941
+ 0.0,
2942
+ 1.0
2943
+ ]
2944
+ ],
2945
+ "intrinsics": {
2946
+ "fx": 660.0055745442708,
2947
+ "fy": 659.9339599609375,
2948
+ "cx": 416.0,
2949
+ "cy": 240.0
2950
+ }
2951
+ },
2952
+ {
2953
+ "frame_index": 84,
2954
+ "c2w": [
2955
+ [
2956
+ 0.9956703782081604,
2957
+ -0.006594636011868715,
2958
+ 0.0927201583981514,
2959
+ 0.36299607157707214
2960
+ ],
2961
+ [
2962
+ 0.001839988399296999,
2963
+ 0.9986830353736877,
2964
+ 0.05127180367708206,
2965
+ -0.3621498942375183
2966
+ ],
2967
+ [
2968
+ -0.09293616563081741,
2969
+ -0.050879210233688354,
2970
+ 0.994371235370636,
2971
+ 1.6272865533828735
2972
+ ],
2973
+ [
2974
+ 0.0,
2975
+ 0.0,
2976
+ 0.0,
2977
+ 1.0
2978
+ ]
2979
+ ],
2980
+ "intrinsics": {
2981
+ "fx": 660.0055745442708,
2982
+ "fy": 659.9339599609375,
2983
+ "cx": 416.0,
2984
+ "cy": 240.0
2985
+ }
2986
+ },
2987
+ {
2988
+ "frame_index": 85,
2989
+ "c2w": [
2990
+ [
2991
+ 0.9969954490661621,
2992
+ 0.008413190953433514,
2993
+ 0.07700159400701523,
2994
+ 0.3604694902896881
2995
+ ],
2996
+ [
2997
+ -0.012033418752253056,
2998
+ 0.9988377690315247,
2999
+ 0.04667243734002113,
3000
+ -0.3724384009838104
3001
+ ],
3002
+ [
3003
+ -0.0765194371342659,
3004
+ -0.04745880141854286,
3005
+ 0.9959379434585571,
3006
+ 1.5985699892044067
3007
+ ],
3008
+ [
3009
+ 0.0,
3010
+ 0.0,
3011
+ 0.0,
3012
+ 1.0
3013
+ ]
3014
+ ],
3015
+ "intrinsics": {
3016
+ "fx": 660.0055745442708,
3017
+ "fy": 659.9339599609375,
3018
+ "cx": 416.0,
3019
+ "cy": 240.0
3020
+ }
3021
+ },
3022
+ {
3023
+ "frame_index": 86,
3024
+ "c2w": [
3025
+ [
3026
+ 0.9966191053390503,
3027
+ 0.025212420150637627,
3028
+ 0.07819633185863495,
3029
+ 0.3605969548225403
3030
+ ],
3031
+ [
3032
+ -0.028295980766415596,
3033
+ 0.9988548159599304,
3034
+ 0.03857938572764397,
3035
+ -0.33079370856285095
3036
+ ],
3037
+ [
3038
+ -0.07713410258293152,
3039
+ -0.04066159203648567,
3040
+ 0.9961912035942078,
3041
+ 1.6492201089859009
3042
+ ],
3043
+ [
3044
+ 0.0,
3045
+ 0.0,
3046
+ 0.0,
3047
+ 1.0
3048
+ ]
3049
+ ],
3050
+ "intrinsics": {
3051
+ "fx": 660.0055745442708,
3052
+ "fy": 659.9339599609375,
3053
+ "cx": 416.0,
3054
+ "cy": 240.0
3055
+ }
3056
+ },
3057
+ {
3058
+ "frame_index": 87,
3059
+ "c2w": [
3060
+ [
3061
+ 0.9948781728744507,
3062
+ 0.025991210713982582,
3063
+ 0.09768281131982803,
3064
+ 0.36607226729393005
3065
+ ],
3066
+ [
3067
+ -0.030686477199196815,
3068
+ 0.9984292984008789,
3069
+ 0.04687539115548134,
3070
+ -0.3275568187236786
3071
+ ],
3072
+ [
3073
+ -0.09631102532148361,
3074
+ -0.04963284358382225,
3075
+ 0.994113028049469,
3076
+ 1.7162967920303345
3077
+ ],
3078
+ [
3079
+ 0.0,
3080
+ 0.0,
3081
+ 0.0,
3082
+ 1.0
3083
+ ]
3084
+ ],
3085
+ "intrinsics": {
3086
+ "fx": 660.0055745442708,
3087
+ "fy": 659.9339599609375,
3088
+ "cx": 416.0,
3089
+ "cy": 240.0
3090
+ }
3091
+ },
3092
+ {
3093
+ "frame_index": 88,
3094
+ "c2w": [
3095
+ [
3096
+ 0.9939258694648743,
3097
+ 0.01506713405251503,
3098
+ 0.10901518166065216,
3099
+ 0.3952104449272156
3100
+ ],
3101
+ [
3102
+ -0.021544121205806732,
3103
+ 0.9980559945106506,
3104
+ 0.058481913059949875,
3105
+ -0.3299719989299774
3106
+ ],
3107
+ [
3108
+ -0.10792209208011627,
3109
+ -0.06047532334923744,
3110
+ 0.9923182725906372,
3111
+ 1.7367587089538574
3112
+ ],
3113
+ [
3114
+ 0.0,
3115
+ 0.0,
3116
+ 0.0,
3117
+ 1.0
3118
+ ]
3119
+ ],
3120
+ "intrinsics": {
3121
+ "fx": 660.0055745442708,
3122
+ "fy": 659.9339599609375,
3123
+ "cx": 416.0,
3124
+ "cy": 240.0
3125
+ }
3126
+ },
3127
+ {
3128
+ "frame_index": 89,
3129
+ "c2w": [
3130
+ [
3131
+ 0.9940236806869507,
3132
+ 0.004168596584349871,
3133
+ 0.10908501595258713,
3134
+ 0.4218628704547882
3135
+ ],
3136
+ [
3137
+ -0.011700665578246117,
3138
+ 0.9975825548171997,
3139
+ 0.06849904358386993,
3140
+ -0.3238794505596161
3141
+ ],
3142
+ [
3143
+ -0.1085357591509819,
3144
+ -0.06936603784561157,
3145
+ 0.9916694760322571,
3146
+ 1.7878679037094116
3147
+ ],
3148
+ [
3149
+ 0.0,
3150
+ 0.0,
3151
+ 0.0,
3152
+ 1.0
3153
+ ]
3154
+ ],
3155
+ "intrinsics": {
3156
+ "fx": 660.0055745442708,
3157
+ "fy": 659.9339599609375,
3158
+ "cx": 416.0,
3159
+ "cy": 240.0
3160
+ }
3161
+ },
3162
+ {
3163
+ "frame_index": 90,
3164
+ "c2w": [
3165
+ [
3166
+ 0.9930249452590942,
3167
+ 0.003645936958491802,
3168
+ 0.11784824728965759,
3169
+ 0.4259575307369232
3170
+ ],
3171
+ [
3172
+ -0.012878159992396832,
3173
+ 0.9968956708908081,
3174
+ 0.07767374813556671,
3175
+ -0.32020649313926697
3176
+ ],
3177
+ [
3178
+ -0.11719921231269836,
3179
+ -0.07864964008331299,
3180
+ 0.989989161491394,
3181
+ 1.783754587173462
3182
+ ],
3183
+ [
3184
+ 0.0,
3185
+ 0.0,
3186
+ 0.0,
3187
+ 1.0
3188
+ ]
3189
+ ],
3190
+ "intrinsics": {
3191
+ "fx": 660.0055745442708,
3192
+ "fy": 659.9339599609375,
3193
+ "cx": 416.0,
3194
+ "cy": 240.0
3195
+ }
3196
+ },
3197
+ {
3198
+ "frame_index": 91,
3199
+ "c2w": [
3200
+ [
3201
+ 0.9918608665466309,
3202
+ 0.015632856637239456,
3203
+ 0.1263633519411087,
3204
+ 0.4506217837333679
3205
+ ],
3206
+ [
3207
+ -0.025824908167123795,
3208
+ 0.9965062141418457,
3209
+ 0.07942553609609604,
3210
+ -0.28221645951271057
3211
+ ],
3212
+ [
3213
+ -0.12468021363019943,
3214
+ -0.0820424035191536,
3215
+ 0.9887992143630981,
3216
+ 1.8961162567138672
3217
+ ],
3218
+ [
3219
+ 0.0,
3220
+ 0.0,
3221
+ 0.0,
3222
+ 1.0
3223
+ ]
3224
+ ],
3225
+ "intrinsics": {
3226
+ "fx": 660.0055745442708,
3227
+ "fy": 659.9339599609375,
3228
+ "cx": 416.0,
3229
+ "cy": 240.0
3230
+ }
3231
+ },
3232
+ {
3233
+ "frame_index": 92,
3234
+ "c2w": [
3235
+ [
3236
+ 0.9893009066581726,
3237
+ 0.02836264856159687,
3238
+ 0.14310580492019653,
3239
+ 0.46530184149742126
3240
+ ],
3241
+ [
3242
+ -0.040822144597768784,
3243
+ 0.9955533742904663,
3244
+ 0.08489422500133514,
3245
+ -0.28409990668296814
3246
+ ],
3247
+ [
3248
+ -0.1400616466999054,
3249
+ -0.08982782065868378,
3250
+ 0.9860596656799316,
3251
+ 1.9172872304916382
3252
+ ],
3253
+ [
3254
+ 0.0,
3255
+ 0.0,
3256
+ 0.0,
3257
+ 1.0
3258
+ ]
3259
+ ],
3260
+ "intrinsics": {
3261
+ "fx": 660.0055745442708,
3262
+ "fy": 659.9339599609375,
3263
+ "cx": 416.0,
3264
+ "cy": 240.0
3265
+ }
3266
+ },
3267
+ {
3268
+ "frame_index": 93,
3269
+ "c2w": [
3270
+ [
3271
+ 0.9869809150695801,
3272
+ 0.04284541681408882,
3273
+ 0.15502549707889557,
3274
+ 0.48152977228164673
3275
+ ],
3276
+ [
3277
+ -0.056847285479307175,
3278
+ 0.9945812225341797,
3279
+ 0.08704333752393723,
3280
+ -0.28519153594970703
3281
+ ],
3282
+ [
3283
+ -0.15045605599880219,
3284
+ -0.09472288936376572,
3285
+ 0.9840683937072754,
3286
+ 1.965789556503296
3287
+ ],
3288
+ [
3289
+ 0.0,
3290
+ 0.0,
3291
+ 0.0,
3292
+ 1.0
3293
+ ]
3294
+ ],
3295
+ "intrinsics": {
3296
+ "fx": 660.0055745442708,
3297
+ "fy": 659.9339599609375,
3298
+ "cx": 416.0,
3299
+ "cy": 240.0
3300
+ }
3301
+ },
3302
+ {
3303
+ "frame_index": 94,
3304
+ "c2w": [
3305
+ [
3306
+ 0.986548900604248,
3307
+ 0.04620654881000519,
3308
+ 0.1568000763654709,
3309
+ 0.5008386373519897
3310
+ ],
3311
+ [
3312
+ -0.06035776436328888,
3313
+ 0.9944024682044983,
3314
+ 0.08672178536653519,
3315
+ -0.28697043657302856
3316
+ ],
3317
+ [
3318
+ -0.1519152671098709,
3319
+ -0.0950193777680397,
3320
+ 0.9838155508041382,
3321
+ 2.0397346019744873
3322
+ ],
3323
+ [
3324
+ 0.0,
3325
+ 0.0,
3326
+ 0.0,
3327
+ 1.0
3328
+ ]
3329
+ ],
3330
+ "intrinsics": {
3331
+ "fx": 660.0055745442708,
3332
+ "fy": 659.9339599609375,
3333
+ "cx": 416.0,
3334
+ "cy": 240.0
3335
+ }
3336
+ },
3337
+ {
3338
+ "frame_index": 95,
3339
+ "c2w": [
3340
+ [
3341
+ 0.9875466823577881,
3342
+ 0.04333864152431488,
3343
+ 0.15123920142650604,
3344
+ 0.5056865215301514
3345
+ ],
3346
+ [
3347
+ -0.05615166574716568,
3348
+ 0.9950900077819824,
3349
+ 0.08150364458560944,
3350
+ -0.2946012318134308
3351
+ ],
3352
+ [
3353
+ -0.14696435630321503,
3354
+ -0.08898098766803741,
3355
+ 0.9851313829421997,
3356
+ 2.088916778564453
3357
+ ],
3358
+ [
3359
+ 0.0,
3360
+ 0.0,
3361
+ 0.0,
3362
+ 1.0
3363
+ ]
3364
+ ],
3365
+ "intrinsics": {
3366
+ "fx": 660.0055745442708,
3367
+ "fy": 659.9339599609375,
3368
+ "cx": 416.0,
3369
+ "cy": 240.0
3370
+ }
3371
+ },
3372
+ {
3373
+ "frame_index": 96,
3374
+ "c2w": [
3375
+ [
3376
+ 0.9877229332923889,
3377
+ 0.04931670427322388,
3378
+ 0.14822690188884735,
3379
+ 0.5114518404006958
3380
+ ],
3381
+ [
3382
+ -0.06086497753858566,
3383
+ 0.9953686594963074,
3384
+ 0.07440914958715439,
3385
+ -0.301901251077652
3386
+ ],
3387
+ [
3388
+ -0.1438707858324051,
3389
+ -0.08251745253801346,
3390
+ 0.9861501455307007,
3391
+ 2.119424819946289
3392
+ ],
3393
+ [
3394
+ 0.0,
3395
+ 0.0,
3396
+ 0.0,
3397
+ 1.0
3398
+ ]
3399
+ ],
3400
+ "intrinsics": {
3401
+ "fx": 660.0055745442708,
3402
+ "fy": 659.9339599609375,
3403
+ "cx": 416.0,
3404
+ "cy": 240.0
3405
+ }
3406
+ },
3407
+ {
3408
+ "frame_index": 97,
3409
+ "c2w": [
3410
+ [
3411
+ 0.982982873916626,
3412
+ 0.0927562490105629,
3413
+ 0.15855905413627625,
3414
+ 0.5218114256858826
3415
+ ],
3416
+ [
3417
+ -0.1012619361281395,
3418
+ 0.9937763810157776,
3419
+ 0.046416617929935455,
3420
+ -0.2678677439689636
3421
+ ],
3422
+ [
3423
+ -0.1532668173313141,
3424
+ -0.06168273091316223,
3425
+ 0.9862578511238098,
3426
+ 2.1625568866729736
3427
+ ],
3428
+ [
3429
+ 0.0,
3430
+ 0.0,
3431
+ 0.0,
3432
+ 1.0
3433
+ ]
3434
+ ],
3435
+ "intrinsics": {
3436
+ "fx": 660.0055745442708,
3437
+ "fy": 659.9339599609375,
3438
+ "cx": 416.0,
3439
+ "cy": 240.0
3440
+ }
3441
+ },
3442
+ {
3443
+ "frame_index": 98,
3444
+ "c2w": [
3445
+ [
3446
+ 0.9768765568733215,
3447
+ 0.10815602540969849,
3448
+ 0.18443018198013306,
3449
+ 0.5310930013656616
3450
+ ],
3451
+ [
3452
+ -0.11775721609592438,
3453
+ 0.9921583533287048,
3454
+ 0.04189317673444748,
3455
+ -0.257409006357193
3456
+ ],
3457
+ [
3458
+ -0.17845293879508972,
3459
+ -0.06264244765043259,
3460
+ 0.9819523692131042,
3461
+ 2.2194149494171143
3462
+ ],
3463
+ [
3464
+ 0.0,
3465
+ 0.0,
3466
+ 0.0,
3467
+ 1.0
3468
+ ]
3469
+ ],
3470
+ "intrinsics": {
3471
+ "fx": 660.0055745442708,
3472
+ "fy": 659.9339599609375,
3473
+ "cx": 416.0,
3474
+ "cy": 240.0
3475
+ }
3476
+ },
3477
+ {
3478
+ "frame_index": 99,
3479
+ "c2w": [
3480
+ [
3481
+ 0.9718202948570251,
3482
+ 0.10659893602132797,
3483
+ 0.21024277806282043,
3484
+ 0.5613617300987244
3485
+ ],
3486
+ [
3487
+ -0.11960766464471817,
3488
+ 0.9915550947189331,
3489
+ 0.050125107169151306,
3490
+ -0.2740958034992218
3491
+ ],
3492
+ [
3493
+ -0.2031240165233612,
3494
+ -0.07385924458503723,
3495
+ 0.9763633608818054,
3496
+ 2.2660884857177734
3497
+ ],
3498
+ [
3499
+ 0.0,
3500
+ 0.0,
3501
+ 0.0,
3502
+ 1.0
3503
+ ]
3504
+ ],
3505
+ "intrinsics": {
3506
+ "fx": 660.0055745442708,
3507
+ "fy": 659.9339599609375,
3508
+ "cx": 416.0,
3509
+ "cy": 240.0
3510
+ }
3511
+ },
3512
+ {
3513
+ "frame_index": 100,
3514
+ "c2w": [
3515
+ [
3516
+ 0.9698079824447632,
3517
+ 0.09783492237329483,
3518
+ 0.22338487207889557,
3519
+ 0.5806955099105835
3520
+ ],
3521
+ [
3522
+ -0.11414016038179398,
3523
+ 0.9915744066238403,
3524
+ 0.06125496327877045,
3525
+ -0.2988883852958679
3526
+ ],
3527
+ [
3528
+ -0.21550984680652618,
3529
+ -0.08490273356437683,
3530
+ 0.9728037118911743,
3531
+ 2.318028211593628
3532
+ ],
3533
+ [
3534
+ 0.0,
3535
+ 0.0,
3536
+ 0.0,
3537
+ 1.0
3538
+ ]
3539
+ ],
3540
+ "intrinsics": {
3541
+ "fx": 660.0055745442708,
3542
+ "fy": 659.9339599609375,
3543
+ "cx": 416.0,
3544
+ "cy": 240.0
3545
+ }
3546
+ },
3547
+ {
3548
+ "frame_index": 101,
3549
+ "c2w": [
3550
+ [
3551
+ 0.9717453122138977,
3552
+ 0.07699507474899292,
3553
+ 0.2231205701828003,
3554
+ 0.6041867733001709
3555
+ ],
3556
+ [
3557
+ -0.09496445953845978,
3558
+ 0.9929494857788086,
3559
+ 0.0709439367055893,
3560
+ -0.3229503929615021
3561
+ ],
3562
+ [
3563
+ -0.21608513593673706,
3564
+ -0.09012795984745026,
3565
+ 0.9722058176994324,
3566
+ 2.3416383266448975
3567
+ ],
3568
+ [
3569
+ 0.0,
3570
+ 0.0,
3571
+ 0.0,
3572
+ 1.0
3573
+ ]
3574
+ ],
3575
+ "intrinsics": {
3576
+ "fx": 660.0055745442708,
3577
+ "fy": 659.9339599609375,
3578
+ "cx": 416.0,
3579
+ "cy": 240.0
3580
+ }
3581
+ },
3582
+ {
3583
+ "frame_index": 102,
3584
+ "c2w": [
3585
+ [
3586
+ 0.974979043006897,
3587
+ 0.07151548564434052,
3588
+ 0.21047890186309814,
3589
+ 0.6213492751121521
3590
+ ],
3591
+ [
3592
+ -0.08728821575641632,
3593
+ 0.993953287601471,
3594
+ 0.06661538779735565,
3595
+ -0.3215979039669037
3596
+ ],
3597
+ [
3598
+ -0.20444217324256897,
3599
+ -0.08332093060016632,
3600
+ 0.9753261208534241,
3601
+ 2.395562171936035
3602
+ ],
3603
+ [
3604
+ 0.0,
3605
+ 0.0,
3606
+ 0.0,
3607
+ 1.0
3608
+ ]
3609
+ ],
3610
+ "intrinsics": {
3611
+ "fx": 660.0055745442708,
3612
+ "fy": 659.9339599609375,
3613
+ "cx": 416.0,
3614
+ "cy": 240.0
3615
+ }
3616
+ },
3617
+ {
3618
+ "frame_index": 103,
3619
+ "c2w": [
3620
+ [
3621
+ 0.9744255542755127,
3622
+ 0.08531498163938522,
3623
+ 0.2078850269317627,
3624
+ 0.6350765824317932
3625
+ ],
3626
+ [
3627
+ -0.09761390835046768,
3628
+ 0.9939865469932556,
3629
+ 0.049621373414993286,
3630
+ -0.31379351019859314
3631
+ ],
3632
+ [
3633
+ -0.20240145921707153,
3634
+ -0.06864480674266815,
3635
+ 0.9768938422203064,
3636
+ 2.43424129486084
3637
+ ],
3638
+ [
3639
+ 0.0,
3640
+ 0.0,
3641
+ 0.0,
3642
+ 1.0
3643
+ ]
3644
+ ],
3645
+ "intrinsics": {
3646
+ "fx": 660.0055745442708,
3647
+ "fy": 659.9339599609375,
3648
+ "cx": 416.0,
3649
+ "cy": 240.0
3650
+ }
3651
+ },
3652
+ {
3653
+ "frame_index": 104,
3654
+ "c2w": [
3655
+ [
3656
+ 0.9711153507232666,
3657
+ 0.0844215601682663,
3658
+ 0.22317704558372498,
3659
+ 0.6356543898582458
3660
+ ],
3661
+ [
3662
+ -0.0964779406785965,
3663
+ 0.9943770170211792,
3664
+ 0.04366200044751167,
3665
+ -0.32652419805526733
3666
+ ],
3667
+ [
3668
+ -0.21823611855506897,
3669
+ -0.06393250077962875,
3670
+ 0.9737995862960815,
3671
+ 2.498067855834961
3672
+ ],
3673
+ [
3674
+ 0.0,
3675
+ 0.0,
3676
+ 0.0,
3677
+ 1.0
3678
+ ]
3679
+ ],
3680
+ "intrinsics": {
3681
+ "fx": 660.0055745442708,
3682
+ "fy": 659.9339599609375,
3683
+ "cx": 416.0,
3684
+ "cy": 240.0
3685
+ }
3686
+ },
3687
+ {
3688
+ "frame_index": 105,
3689
+ "c2w": [
3690
+ [
3691
+ 0.9693280458450317,
3692
+ 0.0827060341835022,
3693
+ 0.23143643140792847,
3694
+ 0.6662984490394592
3695
+ ],
3696
+ [
3697
+ -0.09320379793643951,
3698
+ 0.9950394034385681,
3699
+ 0.03477972745895386,
3700
+ -0.3209909200668335
3701
+ ],
3702
+ [
3703
+ -0.22741186618804932,
3704
+ -0.055283717811107635,
3705
+ 0.9722281694412231,
3706
+ 2.5443129539489746
3707
+ ],
3708
+ [
3709
+ 0.0,
3710
+ 0.0,
3711
+ 0.0,
3712
+ 1.0
3713
+ ]
3714
+ ],
3715
+ "intrinsics": {
3716
+ "fx": 660.0055745442708,
3717
+ "fy": 659.9339599609375,
3718
+ "cx": 416.0,
3719
+ "cy": 240.0
3720
+ }
3721
+ },
3722
+ {
3723
+ "frame_index": 106,
3724
+ "c2w": [
3725
+ [
3726
+ 0.9684057831764221,
3727
+ 0.06838254630565643,
3728
+ 0.23982086777687073,
3729
+ 0.6959947347640991
3730
+ ],
3731
+ [
3732
+ -0.08103860914707184,
3733
+ 0.9957698583602905,
3734
+ 0.04330306500196457,
3735
+ -0.330977201461792
3736
+ ],
3737
+ [
3738
+ -0.23584520816802979,
3739
+ -0.06136968731880188,
3740
+ 0.9698508977890015,
3741
+ 2.5685057640075684
3742
+ ],
3743
+ [
3744
+ 0.0,
3745
+ 0.0,
3746
+ 0.0,
3747
+ 1.0
3748
+ ]
3749
+ ],
3750
+ "intrinsics": {
3751
+ "fx": 660.0055745442708,
3752
+ "fy": 659.9339599609375,
3753
+ "cx": 416.0,
3754
+ "cy": 240.0
3755
+ }
3756
+ },
3757
+ {
3758
+ "frame_index": 107,
3759
+ "c2w": [
3760
+ [
3761
+ 0.9684539437294006,
3762
+ 0.055410612374544144,
3763
+ 0.24295394122600555,
3764
+ 0.7250543236732483
3765
+ ],
3766
+ [
3767
+ -0.06942997127771378,
3768
+ 0.9963570237159729,
3769
+ 0.04951959475874901,
3770
+ -0.32185810804367065
3771
+ ],
3772
+ [
3773
+ -0.23932494223117828,
3774
+ -0.06482572853565216,
3775
+ 0.9687730669975281,
3776
+ 2.624152898788452
3777
+ ],
3778
+ [
3779
+ 0.0,
3780
+ 0.0,
3781
+ 0.0,
3782
+ 1.0
3783
+ ]
3784
+ ],
3785
+ "intrinsics": {
3786
+ "fx": 660.0055745442708,
3787
+ "fy": 659.9339599609375,
3788
+ "cx": 416.0,
3789
+ "cy": 240.0
3790
+ }
3791
+ },
3792
+ {
3793
+ "frame_index": 108,
3794
+ "c2w": [
3795
+ [
3796
+ 0.9707857966423035,
3797
+ 0.031567368656396866,
3798
+ 0.23786219954490662,
3799
+ 0.7494626641273499
3800
+ ],
3801
+ [
3802
+ -0.042415644973516464,
3803
+ 0.9982736706733704,
3804
+ 0.040627021342515945,
3805
+ -0.267554372549057
3806
+ ],
3807
+ [
3808
+ -0.23616909980773926,
3809
+ -0.04952921345829964,
3810
+ 0.9704488515853882,
3811
+ 2.670785903930664
3812
+ ],
3813
+ [
3814
+ 0.0,
3815
+ 0.0,
3816
+ 0.0,
3817
+ 1.0
3818
+ ]
3819
+ ],
3820
+ "intrinsics": {
3821
+ "fx": 660.0055745442708,
3822
+ "fy": 659.9339599609375,
3823
+ "cx": 416.0,
3824
+ "cy": 240.0
3825
+ }
3826
+ },
3827
+ {
3828
+ "frame_index": 109,
3829
+ "c2w": [
3830
+ [
3831
+ 0.9731430411338806,
3832
+ 0.009602081030607224,
3833
+ 0.23000100255012512,
3834
+ 0.7477720379829407
3835
+ ],
3836
+ [
3837
+ -0.018638355657458305,
3838
+ 0.9991359710693359,
3839
+ 0.03714767098426819,
3840
+ -0.2733389139175415
3841
+ ],
3842
+ [
3843
+ -0.22944557666778564,
3844
+ -0.04043683409690857,
3845
+ 0.9724811315536499,
3846
+ 2.699969530105591
3847
+ ],
3848
+ [
3849
+ 0.0,
3850
+ 0.0,
3851
+ 0.0,
3852
+ 1.0
3853
+ ]
3854
+ ],
3855
+ "intrinsics": {
3856
+ "fx": 660.0055745442708,
3857
+ "fy": 659.9339599609375,
3858
+ "cx": 416.0,
3859
+ "cy": 240.0
3860
+ }
3861
+ },
3862
+ {
3863
+ "frame_index": 110,
3864
+ "c2w": [
3865
+ [
3866
+ 0.9753401875495911,
3867
+ 0.007638851646333933,
3868
+ 0.2205745279788971,
3869
+ 0.7623531222343445
3870
+ ],
3871
+ [
3872
+ -0.013424718752503395,
3873
+ 0.9996036887168884,
3874
+ 0.024743765592575073,
3875
+ -0.26477184891700745
3876
+ ],
3877
+ [
3878
+ -0.22029811143875122,
3879
+ -0.02709474042057991,
3880
+ 0.9750562310218811,
3881
+ 2.6507887840270996
3882
+ ],
3883
+ [
3884
+ 0.0,
3885
+ 0.0,
3886
+ 0.0,
3887
+ 1.0
3888
+ ]
3889
+ ],
3890
+ "intrinsics": {
3891
+ "fx": 660.0055745442708,
3892
+ "fy": 659.9339599609375,
3893
+ "cx": 416.0,
3894
+ "cy": 240.0
3895
+ }
3896
+ },
3897
+ {
3898
+ "frame_index": 111,
3899
+ "c2w": [
3900
+ [
3901
+ 0.975105881690979,
3902
+ 0.017071980983018875,
3903
+ 0.2210814654827118,
3904
+ 0.7541413307189941
3905
+ ],
3906
+ [
3907
+ -0.01657942682504654,
3908
+ 0.9998542070388794,
3909
+ -0.004083540290594101,
3910
+ -0.1905108541250229
3911
+ ],
3912
+ [
3913
+ -0.2211189568042755,
3914
+ 0.00031648040749132633,
3915
+ 0.975246787071228,
3916
+ 2.656935930252075
3917
+ ],
3918
+ [
3919
+ 0.0,
3920
+ 0.0,
3921
+ 0.0,
3922
+ 1.0
3923
+ ]
3924
+ ],
3925
+ "intrinsics": {
3926
+ "fx": 660.0055745442708,
3927
+ "fy": 659.9339599609375,
3928
+ "cx": 416.0,
3929
+ "cy": 240.0
3930
+ }
3931
+ },
3932
+ {
3933
+ "frame_index": 112,
3934
+ "c2w": [
3935
+ [
3936
+ 0.9799854159355164,
3937
+ 0.01960010826587677,
3938
+ 0.1981019377708435,
3939
+ 0.8560669422149658
3940
+ ],
3941
+ [
3942
+ -0.024592917412519455,
3943
+ 0.9994381070137024,
3944
+ 0.022774172946810722,
3945
+ -0.29151853919029236
3946
+ ],
3947
+ [
3948
+ -0.19754424691200256,
3949
+ -0.02719026245176792,
3950
+ 0.9799168109893799,
3951
+ 2.753481149673462
3952
+ ],
3953
+ [
3954
+ 0.0,
3955
+ 0.0,
3956
+ 0.0,
3957
+ 1.0
3958
+ ]
3959
+ ],
3960
+ "intrinsics": {
3961
+ "fx": 660.0055745442708,
3962
+ "fy": 659.9339599609375,
3963
+ "cx": 416.0,
3964
+ "cy": 240.0
3965
+ }
3966
+ },
3967
+ {
3968
+ "frame_index": 113,
3969
+ "c2w": [
3970
+ [
3971
+ 0.9737472534179688,
3972
+ 0.024311238899827003,
3973
+ 0.22632989287376404,
3974
+ 0.7780903577804565
3975
+ ],
3976
+ [
3977
+ -0.02216157503426075,
3978
+ 0.9996819496154785,
3979
+ -0.012034349143505096,
3980
+ -0.18124353885650635
3981
+ ],
3982
+ [
3983
+ -0.22655048966407776,
3984
+ 0.006702588405460119,
3985
+ 0.9739763736724854,
3986
+ 2.7069761753082275
3987
+ ],
3988
+ [
3989
+ 0.0,
3990
+ 0.0,
3991
+ 0.0,
3992
+ 1.0
3993
+ ]
3994
+ ],
3995
+ "intrinsics": {
3996
+ "fx": 660.0055745442708,
3997
+ "fy": 659.9339599609375,
3998
+ "cx": 416.0,
3999
+ "cy": 240.0
4000
+ }
4001
+ },
4002
+ {
4003
+ "frame_index": 114,
4004
+ "c2w": [
4005
+ [
4006
+ 0.978597104549408,
4007
+ 0.0167823638767004,
4008
+ 0.20510010421276093,
4009
+ 0.8414683938026428
4010
+ ],
4011
+ [
4012
+ -0.022938618436455727,
4013
+ 0.9993537664413452,
4014
+ 0.02767500840127468,
4015
+ -0.30630916357040405
4016
+ ],
4017
+ [
4018
+ -0.2045031040906906,
4019
+ -0.03178739547729492,
4020
+ 0.9783496260643005,
4021
+ 2.7683193683624268
4022
+ ],
4023
+ [
4024
+ 0.0,
4025
+ 0.0,
4026
+ 0.0,
4027
+ 1.0
4028
+ ]
4029
+ ],
4030
+ "intrinsics": {
4031
+ "fx": 660.0055745442708,
4032
+ "fy": 659.9339599609375,
4033
+ "cx": 416.0,
4034
+ "cy": 240.0
4035
+ }
4036
+ },
4037
+ {
4038
+ "frame_index": 115,
4039
+ "c2w": [
4040
+ [
4041
+ 0.983393132686615,
4042
+ 0.012820517644286156,
4043
+ 0.181034654378891,
4044
+ 0.888810396194458
4045
+ ],
4046
+ [
4047
+ -0.020756447687745094,
4048
+ 0.9989015460014343,
4049
+ 0.04201025515794754,
4050
+ -0.3341825604438782
4051
+ ],
4052
+ [
4053
+ -0.18029719591140747,
4054
+ -0.04507023096084595,
4055
+ 0.9825790524482727,
4056
+ 2.8125553131103516
4057
+ ],
4058
+ [
4059
+ 0.0,
4060
+ 0.0,
4061
+ 0.0,
4062
+ 1.0
4063
+ ]
4064
+ ],
4065
+ "intrinsics": {
4066
+ "fx": 660.0055745442708,
4067
+ "fy": 659.9339599609375,
4068
+ "cx": 416.0,
4069
+ "cy": 240.0
4070
+ }
4071
+ },
4072
+ {
4073
+ "frame_index": 116,
4074
+ "c2w": [
4075
+ [
4076
+ 0.9882746338844299,
4077
+ 0.00508926622569561,
4078
+ 0.15260209143161774,
4079
+ 0.9131702184677124
4080
+ ],
4081
+ [
4082
+ -0.013822348788380623,
4083
+ 0.998322606086731,
4084
+ 0.05622168630361557,
4085
+ -0.35760268568992615
4086
+ ],
4087
+ [
4088
+ -0.15205998718738556,
4089
+ -0.05767178535461426,
4090
+ 0.9866872429847717,
4091
+ 2.809453010559082
4092
+ ],
4093
+ [
4094
+ 0.0,
4095
+ 0.0,
4096
+ 0.0,
4097
+ 1.0
4098
+ ]
4099
+ ],
4100
+ "intrinsics": {
4101
+ "fx": 660.0055745442708,
4102
+ "fy": 659.9339599609375,
4103
+ "cx": 416.0,
4104
+ "cy": 240.0
4105
+ }
4106
+ },
4107
+ {
4108
+ "frame_index": 117,
4109
+ "c2w": [
4110
+ [
4111
+ 0.9942864775657654,
4112
+ 0.01983642764389515,
4113
+ 0.10488499701023102,
4114
+ 0.9391215443611145
4115
+ ],
4116
+ [
4117
+ -0.02602325938642025,
4118
+ 0.9979801774024963,
4119
+ 0.05795121565461159,
4120
+ -0.36940157413482666
4121
+ ],
4122
+ [
4123
+ -0.10352359712123871,
4124
+ -0.06034955754876137,
4125
+ 0.9927944540977478,
4126
+ 2.843691349029541
4127
+ ],
4128
+ [
4129
+ 0.0,
4130
+ 0.0,
4131
+ 0.0,
4132
+ 1.0
4133
+ ]
4134
+ ],
4135
+ "intrinsics": {
4136
+ "fx": 660.0055745442708,
4137
+ "fy": 659.9339599609375,
4138
+ "cx": 416.0,
4139
+ "cy": 240.0
4140
+ }
4141
+ },
4142
+ {
4143
+ "frame_index": 118,
4144
+ "c2w": [
4145
+ [
4146
+ 0.997795045375824,
4147
+ 0.04473143815994263,
4148
+ 0.04903167858719826,
4149
+ 1.0008422136306763
4150
+ ],
4151
+ [
4152
+ -0.047221504151821136,
4153
+ 0.9975887537002563,
4154
+ 0.050861164927482605,
4155
+ -0.35391512513160706
4156
+ ],
4157
+ [
4158
+ -0.046638358384370804,
4159
+ -0.05306436866521835,
4160
+ 0.9975013732910156,
4161
+ 2.8708746433258057
4162
+ ],
4163
+ [
4164
+ 0.0,
4165
+ 0.0,
4166
+ 0.0,
4167
+ 1.0
4168
+ ]
4169
+ ],
4170
+ "intrinsics": {
4171
+ "fx": 660.0055745442708,
4172
+ "fy": 659.9339599609375,
4173
+ "cx": 416.0,
4174
+ "cy": 240.0
4175
+ }
4176
+ },
4177
+ {
4178
+ "frame_index": 119,
4179
+ "c2w": [
4180
+ [
4181
+ 0.996345579624176,
4182
+ 0.0854114219546318,
4183
+ 0.0005812837043777108,
4184
+ 1.0791020393371582
4185
+ ],
4186
+ [
4187
+ -0.08539818972349167,
4188
+ 0.9960166811943054,
4189
+ 0.025650493800640106,
4190
+ -0.2839132845401764
4191
+ ],
4192
+ [
4193
+ 0.0016118766507133842,
4194
+ -0.025606397539377213,
4195
+ 0.9996708035469055,
4196
+ 2.9091670513153076
4197
+ ],
4198
+ [
4199
+ 0.0,
4200
+ 0.0,
4201
+ 0.0,
4202
+ 1.0
4203
+ ]
4204
+ ],
4205
+ "intrinsics": {
4206
+ "fx": 660.0055745442708,
4207
+ "fy": 659.9339599609375,
4208
+ "cx": 416.0,
4209
+ "cy": 240.0
4210
+ }
4211
+ },
4212
+ {
4213
+ "frame_index": 120,
4214
+ "c2w": [
4215
+ [
4216
+ 0.9934629797935486,
4217
+ 0.11398258060216904,
4218
+ 0.006267494056373835,
4219
+ 1.1319063901901245
4220
+ ],
4221
+ [
4222
+ -0.11404477804899216,
4223
+ 0.993418276309967,
4224
+ 0.010671061463654041,
4225
+ -0.2112617939710617
4226
+ ],
4227
+ [
4228
+ -0.005009928252547979,
4229
+ -0.011316078715026379,
4230
+ 0.9999234080314636,
4231
+ 2.8636794090270996
4232
+ ],
4233
+ [
4234
+ 0.0,
4235
+ 0.0,
4236
+ 0.0,
4237
+ 1.0
4238
+ ]
4239
+ ],
4240
+ "intrinsics": {
4241
+ "fx": 660.0055745442708,
4242
+ "fy": 659.9339599609375,
4243
+ "cx": 416.0,
4244
+ "cy": 240.0
4245
+ }
4246
+ },
4247
+ {
4248
+ "frame_index": 121,
4249
+ "c2w": [
4250
+ [
4251
+ 0.9876126050949097,
4252
+ 0.15229915082454681,
4253
+ 0.037766654044389725,
4254
+ 1.1270893812179565
4255
+ ],
4256
+ [
4257
+ -0.15316443145275116,
4258
+ 0.9879739284515381,
4259
+ 0.021170683205127716,
4260
+ -0.20811165869235992
4261
+ ],
4262
+ [
4263
+ -0.03408819064497948,
4264
+ -0.026692941784858704,
4265
+ 0.9990622997283936,
4266
+ 2.943049430847168
4267
+ ],
4268
+ [
4269
+ 0.0,
4270
+ 0.0,
4271
+ 0.0,
4272
+ 1.0
4273
+ ]
4274
+ ],
4275
+ "intrinsics": {
4276
+ "fx": 660.0055745442708,
4277
+ "fy": 659.9339599609375,
4278
+ "cx": 416.0,
4279
+ "cy": 240.0
4280
+ }
4281
+ }
4282
+ ]
4283
+ }